2008b

²ÝÂꣲ¡§ ¡Á¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¤ÎÀ©ºî¡Á

¡þ Ìܼ¡ ¡þ

²ÝÂêÆâÍÆ

'¡ü¥Á¡¼¥à¤ÇºîÀ®¤·¤¿¥³¡¼¥¹¤Ë±è¤Ã¤ÆÆ°¤¯¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë¡ü
¡¡[¾ò·ï]
¡¡¡¦Â®¤µ¤ÈÀµ³Î¤µ¤òÄɵ᤹¤ë¤³¤È
¡¡¡¦¸òº¹ÅÀ¤ÇÍ¥À覤òÁö¤Ã¤Æ¤¤¤Ê¤¤¾ì¹ç¤Ë¤Ï¡¢°ì»þÄä»ß¤¹¤ë¤³¤È
¡¡¡¦Á°Êý¤Ë¤¢¤ë¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤ËÀÜ¿¨¤·¤¿¾ì¹ç¤Ë¤ÏÄä»ß¤·¤ÆÁê¼ê¤Î¥í¥Ü¥Ã¥È¤¬Ä̤ê²á¤®¤ë¡¢¤¢¤ë¤¤¤Ïµ÷Î¥¤¬Î¥¤ì¤ë¤Î¤òÂԤĤ³¤È
¡¡¡¦¥³¡¼¥¹¤ò2¼þ¤·¤¿¤é¼«Æ°Åª¤Ë»ß¤Þ¤ë¤³¤È

¥³¡¼¥¹ÀâÌÀ

²¼¤¬º£²óºîÀ®¤·¤¿¥³¡¼¥¹¤ÎÁ´ËƤȤʤê¤Þ¤¹¡£ ľÀþ¥é¥¤¥ó¤¬Â¿¤¯¡¢¸÷¥»¥ó¥µ¡¼¤Î³èÌö¤Î¾ì¤¬¾¯¤Ê¤¯¸«¤¨¤Þ¤¹¤¬¡¢
¥³¡¼¥Ê¥ê¥ó¥°¤Ï¤«¤Ê¤êµÞ¤Ê¤Î¤Ç¥Þ¥·¥ó¤¬Â®¤¤¤ÈæÀþ¤Î²ÄǽÀ­¤¬Â礭¤¯¤Ê¤ê¤Þ¤¹¡£
¤Þ¤¿º¸±¦¤ÇÍ¥ÀèÂÓ¤òÊѤ¨¤Æ¤¤¤Þ¤¹¡£

¥³¡¼¥¹.JPG

¸òº¹ÅÀ³ÈÂç¼Ì¿¿

½½»úÏ©.jpg

¹©É×ÅÀ

¡¦Â¾¤Î¥Á¡¼¥à¤ÏÍ¥À襳¡¼¥¹¤Î¼êÁ°¤ËÀþ¤òÆþ¤ì¤ë¤³¤È¤Ç¥í¥Ü¥Ã¥È¤òÄä»ß¤µ¤»¤Æ¤¤¤¿¤¬¡¢
¼«Ê¬¤¿¤Á¤ÏÍ¥Àèƻϩ¤ò¥í¥Ü¥Ã¥È¤¬Ç§¼±¤·¥Ð¥Ã¥¯¤µ¤»¤ë¤³¤È¤Ç¾×ÆͤòËɤ°¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
¤½¤ÎÂå¤ï¤êñ½ã¤Ë¸òº¹¤ò½½»ú·Á¤Ë¤¹¤ë¤³¤È¤Ç¥Ð¥Ã¥¯Æ°ºî¤Ê¤É¤Ë¤è¤ë¸íº¹¤Î±Æ¶Á¤ò¼õ¤±¤Ë¤¯¤¯¤·¤¿¡£

¡¦¹õÀþ¤¬ºÙ¤á¤Ç¤¢¤ë¤¬¡¢¸÷¥»¥ó¥µ¡¼¤¬¹õÀþ¤ò¶´¤ß¹þ¤àÊý¼°¤ÇÁö¤ë¥Þ¥·¥ó¤Ë¤·¤¿¤Î¤Ç¥»¥ó¥µ¡¼´Ö³Ö¤Ë;͵¤¬¤Ç¤­¡¢
µ°Æ»½¤Àµ¤¬¾¯¤Ê¤¯¤Ê¤ëʬ¥Þ¥·¥ó¤Î¹â®²½¤Ë¤Ä¤Ê¤¬¤Ã¤¿¤È»×¤¦¡£

¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¤Î¾Ò²ð

¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎÁü

Á´ÂÎ.jpg

¤³¤ì¤¬»î¹Ôºø¸í¤ÎËö¤ÎºÇ½ªÅª¤ÊÀ©ºî¥í¥Ü¥Ã¥È¤Ç¤¹¡£

¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ

sensor.jpg

º£²ó¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë²áÄø¤Ç¸÷¥»¥ó¥µ¡¼¤È¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ò»ÈÍѤ·¤Þ¤·¤¿¡£
¸÷¥»¥ó¥µ¡¼¤ÎÉý¤ÏÄ´Àᤷ¤ä¤¹¤¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

¡¦¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ï¿Þ¤Î¼êÁ°¤Î²«¿§¤¤¥À¥ó¥Ñ¡¼Éôʬ¤ËÀÜ¿¨¤¬¤¢¤ë¤È¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬
²¡¤µ¤ì¤ë¤³¤È¤Ç¥Þ¥·¥ó¤ËÅÁ¤ï¤ê¿®¹æ¤¬ÅÁ¤ï¤êÀÜ¿¨¡¦ÈóÀÜ¿¨¤ò¶èÊ̤¹¤ë»ÅÁȤߤǤ¹¡£

lightS.jpg

¡¦¸÷¥»¥ó¥µ¡¼¤ÏÊÒÊý¤Î¥é¥ó¥×¤«¤éÀÖ¤¤¸÷¤¬¾È¼Í¤µ¤ì¡¢ÊªÂΤˤè¤ê¸÷¤ÎÈ¿¼ÍÎ̤˰㤤¤¬¤¢¤ë¤Î¤Ç
¤½¤ì¤ò¤â¤¦ÊÒÊý¤Î¥Õ¥©¥È¥È¥é¥ó¥¸¥¹¥¿¡¼¤Ç´¶ÃΤ·¡¢¹õÀþ¤ÈÇò¤¤Éôʬ¤òÃͤǶèÊ̽ÐÍè¤Þ¤¹¡£

¼«Ê¬¤¿¤Á¤Ï»Ï¤á¤Î¼Ì¿¿¤Î¤è¤¦¤Ë¥»¥ó¥µ¡¼¤ò¤«¤Ê¤êÄ㤯¤¹¤ë¤³¤È¤Ç¤«¤Ê¤ê¥»¥ó¥µ¡¼¤Î´¶ÅÙ¤¬Îɤ¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£
¡Ê¹â¤¤¤È¡¡ÌÀ°Åº¹¡§Ìó10¡¡¢ª¡¡Ä㤤¤È¡¡ÌÀ°Åº¹¡§Ìó20¡Ë

¡¦À©ºî²áÄø¡¦

·ÁÂÖ

­¡»Ï¤á¤ÏÁ°²ó¤Î²ÝÂê¤ÇÀ©ºî¤·¤¿¥Þ¥·¥ó¤ò¤½¤Î¤Þ»È¤ª¤¦¤È»ÍÎØ·ÁÂÖ¤ò¹Í¤¨¤¿¡£
¤·¤«¤·»ÍÎضîÆ°¤Ç¤ÏË໤¤¬Â礭¤¯¡¢µ°Æ»½¤Àµ¤¬Â¿¤¤¾ì¹ç¥¹¥Ô¡¼¥É¤òÄɵ᤹¤ëÌÌ¤Ç ÉÔÍø¤È¹Í¤¨ÅÓÃæ¤Ç¼è¤ê¤ä¤á¤¿¡£

­¢»ÍÎØ·¿¤ÎÀ©ºî¤òƧ¤Þ¤¨¡¢¼¡¤ËÆóÎضîÆ°»°ÅÀ»Ø¼¨(¤¤¤ï¤æ¤ë»°Îؼ֡ˤÎÊý¼°¤ÎÀ©ºî¤ËÀÚ¤êÂؤ¨¤Þ¤·¤¿¡£
¤µ¤é¤ËÉáÄ̤μ«Æ°¼Ö¤Ê¤É¤ÈƱ¤¸¤è¤¦¤ËÁ°ÎؤÎÂɤò¥â¡¼¥¿¡¼¤Ë¤Ç¼è¤é¤»¤ëÊý¼°¤ò¹Í¤¨¤Þ¤·¤¿¡£
¤³¤ì¤Ê¤é¤Ðº¸±¦¤Î¥¿¥¤¥ä¤Î²óž¤ò»ß¤á¤º¡¢µ°Æ»½¤Àµ¤È¿Ê¹Ô¤¬Æ±»þ¤Ë¹Ô¤¦¤³¤È¤¬½ÐÍè¤ë¤Î¤Ç®¤µµÚ¤Ó¥Þ¥·¥ó¤ÎÆ°¤­¤¬¤Ê¤á¤é¤«¤Ë¤Ê¤ê¤Þ¤¹¡£

²áÄø1.jpg

¤·¤«¤·¤³¤³¤Ç
¡¦ÂÉÀÚ¤ê¤ò¹Ô¤¦¥â¡¼¥¿¤ÎÄ´À᤬Æñ¤·¤¯¡¢Âɤ¬ÀÚ¤ì²á¤®¤Æ¤·¤Þ¤¦¡£
¡¦¥¿¥¤¥ä¤Ë½½Ê¬¤ÊË໤¤¬¼è¤ì¤Ê¤¤¡£
¡¦¥Þ¥·¥ó¤È¥»¥ó¥µ¡¼¤È¤ÎϢư¤¬¼è¤ê¤Ë¤¯¤¤¡£
¤Ê¤É¤ÎÌäÂê¤ÎÄ´À᤬¼è¤ì¤º»þ´ÖŪ¤Ëº£²ó¤Ï¤³¤ÎÊý¼°¤Ï¸«Á÷¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£

­£ºÇ½ªÅª¤Ë¼Ì¿¿¤Î¤è¤¦¤ÊÁ°ÎØÆó¤Ä¤Ç¶îÆ°¤·¡¢¸åÎؤϥޥ·¥ó¤ò»Ù¤¨¤ë¤À¤±¤Î»°Îؼ֤ηÁÂ֤ˤ¹¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£
¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤È¶¦¤Ë¸÷¥»¥ó¥µ¡¼¤âÁ°Êý¤ËÇÛÃÖ¤¹¤ë¤è¤¦¤Ë¤·¤Æ¥Þ¥·¥ó¤¬¥³¡¼¥¹¤«¤é¤º¤ì¤ëÁ°¤Ëµ°Æ»½¤Àµ¤ò¹Ô¤¦¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£
»Ï¤á¤Ï¹õÀþ¤òÆɤ߼è¤ë·Á¼°¤Ë¤·¤Æ¤¤¤Þ¤·¤¿¤¬¸òº¹ÅÀ¤ÈæÀþ¤Î¶èÊ̤¬ÉÕ¤­¤Ë¤¯¤¤¤¿¤á
ÇòÀþÉôʬ¤òξ¦¤Î¸÷¥»¥ó¥µ¡¼¤ÇÆɤ߼è¤ë·Á¼°¤ËÊѹ¹¤·¤Þ¤·¤¿¡£

ÁȤßΩ¤Æ¹©É×ÅÀ

¡¦¥®¥¢ÈæºÇÄã

gear.JPG

¥Þ¥·¥ó¤¬Â®¤¤¤È¤É¤¦¤·¤Æ¤â¥¨¥é¡¼¤¬Áö¹ÔÃæ¤ËÀ¸¤¸¤Æ¤·¤Þ¤¦¤¿¤á¡¢°ÂÄêÁö¹Ô¤È´°Áö¤Î¤¿¤á¤Ë¤È
ºÇ¾®¤ÈºÇÂç¤Î¥®¥¢Èæ¤Ë¤·¤Æ¥¿¥¤¥ä¤â¾®¤µ¤á¤Ë¤·¤Þ¤·¤¿¡£
¤·¤«¤·¤³¤ì¤ò¼ÂºÝ¤ËÁö¤é¤»¤Æ¸«¤ë¤È¸íºîÆ°¤¬Á´¤¯¤Ê¤¤¤Î¤Ë²Ã¤¨¡¢µ°Æ»½¤Àµ¤¬¾¯¤Ê¤¯¤Ê¤ê
·ë²ÌŪ¤Ë¥Þ¥·¥ó¥¹¥Ô¡¼¥É¤¬Â®¤¯¤Ê¤ë¤È¤¤¤¦·ë²Ì¤¬ÆÀ¤é¤ì¤Þ¤·¤¿¡£

move.jpg

¡¦¥í¥Ü¥Ã¥È¤ÏÀ©ºîÃæ¤ä»ý¤Á±¿¤Ó¤Ë¤ª¤¤¤Æ²õ¤ì°×¤¤¤Î¤Ç¡¢½ÐÍè¤ë¤À¤±¶¯¸Ç¤Ë¤È
¥í¥´¤ò¸ß¤¤¤Ë¤Ê¤ë¤Ù¤¯³ú¤ß¹ç¤ï¤»¤¿¤êÁ°¸å¤«¤é¶´¤ß¹þ¤à¤è¤¦¤Ë¤·¤ÆÂѵ×À­¤ò¶¯¤á¤Þ¤·¤¿¡£
¤·¤«¤·¡¢²¼¿Þ¤Î¤è¤¦¤ËÅÅÃÓ¸ò´¹»þ¤Ï¥Þ¥·¥ó¤ò¤Û¤È¤ó¤Éʬ²ò¤»¤º¤Ë½ÐÍè¤Þ¤¹¡£

body1.jpg

¥×¥í¥°¥é¥à

º£²ó¤Î¥×¥í¥°¥é¥à¤ÇɬÍפÊÍ×ÁǤò¤Þ¤È¤á¤ë¤È
£±¡¢±¦¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢±¦¤Ë¶Ê¤¬¤ë
£²¡¢º¸¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢º¸¤Ë¶Ê¤¬¤ë
£³¡¢Î¾Êý¤Î¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ·¤¿»þ¡¢Ä¾¿Ê¤¹¤ë
£´¡¢Î¾Êý¤Î¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢Ää»ß¤¹¤ë
£µ¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤­¡¢Ää»ß¤¹¤ë
¤³¤Î£µ¤Ä¤Ë¤Ê¤ê¤Þ¤¹¡£¤è¤Ã¤Æ¤Þ¤º¤Ï¤³¤Î£µ¤Ä¤ò¥×¥í¥°¥é¥à¤ËÁȤ߹þ¤à¤³¤È¤Ë¤·¤Þ¤¹¡£

¥×¥í¥°¥é¥àÂè°ì¹æ¤È¤½¤ÎÌäÂêÅÀ

¤Þ¤º¤Ñ¤Ã¤Èºî¤Ã¤¿·Á¤¬¤³¤ì¤Ë¤Ê¤ê¤Þ¤¹¡£

#define RUN_TIME 200//Áö¤ë»þ´Ö
#define L1 40//¥»¥ó¥µ¡¼£±¤Î¸÷ÅÙ
#define L3 40//¥»¥ó¥µ¡¼£²¤Î¸÷ÅÙ

task main()
{
    SetSensor(SENSOR_2,SENSOR_TOUCH);
    
    SetSensor(SENSOR_1,SENSOR_LIGHT);
    SetSensor(SENSOR_3,SENSOR_LIGHT);
    /*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/
    
    ClearTimer(0);
    int runtime=RUN_TIME;
    OnRev(OUT_A+OUT_C);
    
    
    while(Timer(0)<=runtime){//runtime»þ´ÖÃæÁö¤ê³¤±¤ë
                             if((SENSOR_1<=L1 && SENSOR_3<=L3) || (SENSOR_2==1)){~
                                              //ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤­
                                              //Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë
                                             ClearTimer(1);
                                             Off(OUT_A+OUT_C);
                                             Wait(100);
                                             OnFwd(OUT_A+OUT_C);
                                             Wait(20);
                                             Off(OUT_A+OUT_C);
                                             Wait(100);
                                             runtime=runtime+Timer(1);//¤³¤Î½èÍý»þ´Öʬ¤òÁö¹Ô»þ´Ö¤Ë¥×¥é¥¹¤¹¤ë
                             }
                             else if(SENSOR_1<=L1){
                                             //¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤­
                                             
                                             OnFwd(OUT_C);
                                             OnRev(OUT_A);
                             }
                             else if(SENSOR_3<=L3){
                                             //¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤­
                                             
                                             OnFwd(OUT_A);
                                             OnRev(OUT_C);
                             }
                             else if(SENSOR_1>L1 && SENSOR_3>L3){
                                             //ξÊýÇòÀþ¤Î¤È¤­
                                             
                                             OnRev(OUT_A+OUT_C);
                             }
    }
    Off(OUT_A+OUT_C);
}

¹©Éפ·¤¿ÅÀ¤È¤·¤Æ¤Ï¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤­¡¢µÚ¤Ó¸òº¹ÅÀ¤ËÆþ¤Ã¤¿»þ¤ÎÄä»ß½èÍý¤Ç¤¹¡£

ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(20);
Off(OUT_A+OUT_C);
Wait(100);
runtime=runtime+Timer(1);

¾å¤Î¼Ì¿¿¤ò¸«¤Æ¤ï¤«¤ë¤È¤ª¤ê¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬¸÷¥»¥ó¥µ¡¼¤è¤êÁ°¤Ë¾è¤ê½Ð¤¹·Á¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£¤½¤Î¤¿¤á¡¢¸òº¹ÅÀ¤Ç¤¿¤ÀÄä»ß¤¹¤ë¤À¤±¤Ç¤Ï¡¢¡ÖÁê¼ê¤ËÆ»¤ò¾ù¤ë¡×¤È¤¤¤¦ÌÜŪ¤ò²Ì¤¿¤»¤Ê¤¤¤È»×¤¤¡¢Ää»ß¸å¥Ð¥Ã¥¯¤·¤·¤Ð¤é¤¯ÂԤġ¢¤È¤¤¤¦½èÍý¤òÁȤ߹þ¤ß¤Þ¤·¤¿¡£
¤Þ¤¿¡¢¸òº¹ÅÀ¤Ç¤ÎÄä»ß¤Ï¤È¤â¤«¤¯¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ï¤¤¤Ä¡¢²¿²óÆþ¤ë¤«¤ï¤«¤é¤Ê¤¤¤¿¤á¡¢¡Ö£²½µÁö¤Ã¤¿¤é»ß¤Þ¤ë¤è¤¦¤Ë¤¹¤ë¡×¤È¤¤¤¦½èÍý¤Î»þ´ÖÀßÄê¤Ë»Ù¾ã¤ò¤­¤¿¤¹¤È»×¤¤¡¢¤³¤Î°ìÏ¢¤Î½èÍý¤ò¤ä¤Ã¤Æ¤ë´Ö¤Î»þ´Ö¤òÁö¹Ô»þ´Ö¤Ë¥×¥é¥¹¤¹¤ë¤È¤¤¤¦½èÍý¤â²Ã¤¨¤Þ¤·¤¿¡£

¤·¤«¤·¡¢¤³¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤¿¤È¤³¤í¡¢¸òº¹ÅÀ¤Ç²¿²ó¤â¤³¤Î½èÍý¤Ë´Ù¤ê¡¢Àè¤Ë¿Ê¤Þ¤Ê¤¤¤È¤¤¤¦»öÂÖ¤¬È¯À¸¤·¤Þ¤·¤¿¡£

¤¨¤é¡¼.gif

¤â¤Á¤í¤ó¡¢°ìö¸åÂह¤ë¤È¤¤¤¦½èÍý¤ò¼è¤ê½ü¤¤¤Æ¤·¤Þ¤¨¤Ð°ì·ïÍîÃå¤Ê¤Î¤Ç¤¹¤¬¡¢¤³¤³¤Ï¹©Éפ·¤¿ÅÀ¤È¤·¤Æ»Ä¤·¤¿¤¤¤È»×¤¤¡¢¸åÂà½èÍý¤ò»Ä¤·¤¿¤Þ¤Þ¤³¤ÎÌäÂê¤Î²ò·è¤Ë¤È¤ê¤«¤«¤ê¤Þ¤·¤¿¡£

ÌäÂê¤Î²ò·è

¤³¤ÎÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¡¢¤Þ¤º¼¡¤ÎÆó¤Ä¤ÎÊýË¡¤ò¤È¤ê¤Þ¤·¤¿¡£
£±¡¢¸òº¹ÅÀ¤ÇÄä»ß½èÍý¸å¡¢°ìÄê»þ´Ö¥»¥ó¥µ¡¼¤¬Î¾Êý¹õÀþ¤Ë¾è¤Ã¤Æ¤âÄä»ß½èÍý¤ò¹Ô¤ï¤Ê¤¤
£²¡¢º¸ÀÞ¡¢±¦Àޤξò·ï¼°¤ÎÊѹ¹

£±È֤ϡ¢Ää»ß½èÍý¤ÎÉôʬ¤ò°Ê²¼¤Î¤è¤¦¤Ë½ñ¤­´¹¤¨¤ë¤³¤È¤Ç¼Â¸½¤µ¤»¤Þ¤·¤¿¡£

if( (SENSOR_1<=L1 && SENSOR_3<=L3 && (Timer(0)-tim2>30)) || (SENSOR_2==1)){
ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(50);
OnFwd(OUT_A+OUT_C);
Wait(70);
Off(OUT_A+OUT_C);
Wait(50);
tim2=Timer(0);
runtime=runtime+Timer(1);
....


ÂÀ»úÉô¤¬¼ç¤ÊÊѹ¹ÅÀ¤Ç¤¹¡£
¤³¤ì¤Ë¤è¤ê¡¢°ìÅÙ¸òº¹ÅÀ¤ÇÄä»ß½èÍý¤ò¹Ô¤Ã¤¿¤¢¤È¡¢°ìÄê»þ´ÖÆâ¤ÏξÊý¤Î¥»¥ó¥µ¡¼¤¬¹õ¤Ë¤Ê¤Ã¤Æ¤âÄä»ß½èÍý¤ò¹Ô¤ï¤Ê¤¤¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
¤â¤Á¤í¤ó¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿»þ¤Ë¤Ï¸òº¹ÅÀ¤ÎÄä»ß½èÍý¸å¤«Èݤ«¤Ë¤«¤«¤ï¤é¤ºÄä»ß½èÍý¤ò¹Ô¤¦É¬Íפ¬¤¢¤ë¤¿¤á¡¢¾ò·ï¼°¤Ç¸÷¥»¥ó¥µ¡¼¤ÎÊý¤Ë¤À¤±È½Äê¤ò¤Ä¤±¤Þ¤·¤¿¡£

¼¡¤Ë£²È֤ϡ¢¶ñÂÎŪ¤Ë¤½¤ì¤¾¤ì¾ò·ï¼°¤ò¼¡¤Î¤è¤¦¤Ë½ñ¤­´¹¤¨¤Þ¤·¤¿¡£

else if((SENSOR_1<=L1)&&(SENSOR_3>=L3)){


else if((SENSOR_1>=L1)&&(SENSOR_3<=L3)){


¡ÖÊÒÊý¤Î¥»¥ó¥µ¡¼¤¬¹õ¤Î»þ¡×¤È¤¤¤¦¾ò·ï¼°¤Ë²Ã¤¨¡¢¡Ö¤â¤¦ÊÒÊý¤Î¥»¥ó¥µ¡¼¤¬Çò¤Î»þ¡×¤È¤¤¤¦½èÍý¤òÏÀÍýÀѤDz䨤ޤ·¤¿¡£
¤³¤ì¤Ë¤è¤ê¡¢¸òº¹ÅÀ¤ò²£ÃÇÃæ¡áξÊý¤¬¹õ¤Î»þ¤Ï¤³¤ì¤é¤Î¶Ê¤¬¤ë½èÍý¤ò̵»ë¤·¤Æľ¿Ê¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¤â¤·¤³¤Î¾ò·ï¼°¤¬¤Ê¤«¤Ã¤¿¤é¡¢¸òº¹ÅÀ¤ò²£ÃÇÃæ¤Ë¡Ö¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤À¤Ã¤¿¤é¡×¤È¤¤¤¦½èÍý¤ò¹Ô¤Ã¤Æ¤·¤Þ¤¦¤¿¤á¡¢±¦¤«º¸¤«¤Ë¶Ê¤¬¤Ã¤Æ¤¤¤Ã¤Æ¤·¤Þ¤¦¤³¤È¤Ë¤Ê¤ê¤Þ¤¹¡£


¤³¤ì¤Ç¸åÂà½èÍý¤ÎÌäÂ꤬²ò·è¤·¤¿¤È»×¤ï¤ì¤Þ¤·¤¿¤¬¡¢¤Þ¤À²ò·è¤·¤Æ¤¤¤Þ¤»¤ó¤Ç¤·¤¿¡£¤Þ¤Ã¤¹¤°¤Ë¸òº¹ÅÀ¤ËÆÍÆþ¤Ç¤­¤ì¤Ð¤¤¤¤¤Î¤Ç¤¹¤¬¡¢¾¯¤·¼Ð¤á¤ËÆÍÆþ¤·¤Æ¤·¤Þ¤¦¤È¡¢¤³¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£

¤¨¤é¡¼£².gif

º£Å٤Ϥ³¤ÎÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¡¢¥«¡¼¥Ö¤Î»þ¤Ëº£¤Þ¤Ç¤ÏÊÒÊý¤Î¥¿¥¤¥ä¤òÁ°¿Ê¡¢¤â¤¦ÊÒÊý¤Ï¸åÂव¤»¤Æ¤¤¤¿¤Î¤ò¡¢ÊÒÊý¤Î¥¿¥¤¥ä¤òÁ°¿Ê¡¢¤â¤¦ÊÒÊý¤òÄä»ß¤µ¤»¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£

Off(OUT_C);
OnRev(OUT_A);
Off(OUT_A);
OnRev(OUT_C);

¤³¤¦¤¹¤ë¤³¤È¤Ç¡¢¼Ð¤á¤ËÆþ¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤â¥«¡¼¥Ö¤Î»þ¤Ë¤½¤Î¾ì¤ÇÀû²ó¤¹¤ë¤Î¤Ç¤Ï¤Ê¤¯¾¯¤·Á°¿Ê¤·¤Ê¤¬¤é¤Î¥«¡¼¥Ö¤Ë¤Ê¤ë¤¿¤á¡¢¸òº¹ÅÀ¤ò¾è¤êÀڤ뤳¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£
¤¿¤À¤·¤³¤ÎÊýË¡¤Ë¤âÌäÂ꤬¤¢¤ê¡¢µÞ¤Ê¥«¡¼¥Ö¤Ï¶Ê¤¬¤ê¤­¤ë¤³¤È¤¬¤Ç¤­¤Þ¤»¤ó¡£¤·¤«¤·¡¢º£²ó¤Î¥³¡¼¥¹¤Î¥«¡¼¥Ö¤Ï¤¹¤Ù¤Æ¶Ê¤¬¤ë¤³¤È¤¬½ÐÍè¡¢¤·¤«¤âº£²ó¤Î¥³¡¼¥¹¤Î¥«¡¼¥Ö¤¬ÆÃÊ̴ˤ䤫¤È¤¤¤¦¤ï¤±¤Ç¤â¤Ê¤¤¤Î¤Ç¡¢º£²ó¤Ï¤³¤ÎÊýË¡¤ÇÍî¤ÁÃ夯¤³¤È¤Ë¤·¤Þ¤·¤¿¡£

ºÇ½ªÅª¤Ê¥×¥í¥°¥é¥à

°Ê¾å¤Î²áÄø¤òƧ¤Þ¤¨¡¢ºÇ½ªÅª¤Ë¤Ï¤³¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ë¤Ê¤ê¤Þ¤·¤¿¡£

#define RUN_TIME 1500
#define L1 45
#define L3 45

task main()
{
    SetSensor(SENSOR_2,SENSOR_TOUCH);
    
    SetSensor(SENSOR_1,SENSOR_LIGHT);
    SetSensor(SENSOR_3,SENSOR_LIGHT);
    /*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/
    
    ClearTimer(0);
   
    int runtime=RUN_TIME,tim2=-30/*ºÇ½é¤ÏTimer(0)-tim2¤Îº¹¤ò£³£°¤Ë¤·¤¿¤¤¤¿¤á¡¢½é´üÃͤÏ-30¤Ë*/;
    OnRev(OUT_A+OUT_C);
    
    
    while(Timer(0)<=runtime){
                             if((SENSOR_1<=L1 && SENSOR_3<=L3 && (Timer(0)-tim2>30)) || (SENSOR_2==1)){
                                              //ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤­
                                              //Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë
                                             ClearTimer(1);
                                             Off(OUT_A+OUT_C);
                                             Wait(50);
                                    OnFwd(OUT_A+OUT_C);
                                    Wait(70);
                                     Off(OUT_A+OUT_C);
                                             Wait(50);
                                    tim2=Timer(0);
                                      
                                            runtime=runtime+Timer(1);
                                            
                             }
                             else if((SENSOR_1<=L1)&&(SENSOR_3>=L3)){
                                             //¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤­
                                             //¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥×¤µ¤»¤ë
                                             Off(OUT_C);
                                             OnRev(OUT_A);
                                    
                             }
                             else if((SENSOR_1>=L1)&&(SENSOR_3<=L3)){
                                             //¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤­
                                             //Ʊ¤¸¤¯¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥×
                                             Off(OUT_A);
                                             OnRev(OUT_C);
                                    
                             }
                             else if(SENSOR_1>L1 && SENSOR_3>L3){
                             	//ξÊýÇòÀþ¤Î¤È¤­
                                                                  
                                             //ľ¿Ê¤µ¤»¤ë
                                             	OnRev(OUT_A+OUT_C);
                                    
                             }
                             
                       
    }
    Off(OUT_A+OUT_C);
}

Ž¥¤è¤í¤·¤±¤ì¤Ð¥³¥á¥ó¥È¤ò¤É¤¦¤¾¡¦



źÉÕ¥Õ¥¡¥¤¥ë: fileshoot.jpg 207·ï [¾ÜºÙ] file¤¨¤é¡¼£².gif 492·ï [¾ÜºÙ] file¤¨¤é¡¼.gif 501·ï [¾ÜºÙ] filemove.jpg 455·ï [¾ÜºÙ] filelightS.jpg 471·ï [¾ÜºÙ] filebody1.jpg 553·ï [¾ÜºÙ] filegear.JPG 445·ï [¾ÜºÙ] filesensor.jpg 590·ï [¾ÜºÙ] file²áÄø1.jpg 438·ï [¾ÜºÙ] fileÁ´ÂÎ.jpg 559·ï [¾ÜºÙ] file½½»úÏ©.jpg 453·ï [¾ÜºÙ] file¥³¡¼¥¹.JPG 565·ï [¾ÜºÙ] fileside.jpg 204·ï [¾ÜºÙ]

¥È¥Ã¥×   ÊÔ½¸ Åà·ë º¹Ê¬ ÍúÎò źÉÕ Ê£À½ ̾Á°Êѹ¹ ¥ê¥í¡¼¥É   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS
Last-modified: 2009-01-18 (Æü) 15:18:11