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#define r OnFwd(OUT_A);¡¡¡¡//µ¡ÂΤ¬±¦Êý¸þ¤Ë²óž¤¹¤ë¥Þ¥¯¥í #define tomare Off(OUT_A);¡¡¡¡¡¡//µ¡ÂÎ¹ÔÆ°Ää»ß¥Þ¥¯¥í #define fire OnFwd(OUT_C);Wait(50);Float(OUT_C);¡¡¡¡//ȯ¼Í¡ª¤¹¤ë¥Þ¥¯¥í #define s3 SENSOR_3¡¡¡¡¡¡¡¡ //SENSOR¤ÈÆþÎϤ¹¤ë¤Î¤¬ÌÌÅݤǺî¤Ã¤¿¥Þ¥¯¥í task main (){ set; //¥Ñ¥ï¡¼¡¦¥»¥ó¥µ¡¼¡¦shine¤Î¥»¥Ã¥È ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥¿¥¤¥Þ¡¼¤ò¥¹¥¿¡¼¥È while(Timer(0) < 40){ ¡¡ ¡¡ //£´£°¤Ï°ì²óž¤¹¤ë¤Î¤Ë½½Ê¬¤Ê»þ´Ö r;if(s3 > shine){shine == s3;}¡¡//±¦²óž¤·¤Ê¤¬¤é¥»¥ó¥µ¡¼¤ÎÃͤ¬shine¤è¤êÂ礤«¤Ã¤¿¤éÃͤòÊѹ¹ } PlayTone(440,50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¾å¤Î¥×¥í¥°¥é¥à¤¬Àµ¾ï¤Ëºîư¤·¤¿¤³¤È¤Î³Îǧ²» r;until((s3 > shine-3)&&(s3 < shine+3));//¾å¤Ç¤È¤Ã¤¿shine¤ÎÃÍÉÕ¶á¤Þ¤Ç±¦²óž¤·¤¿¤é r;Wait(15);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²ûÃæÅÅÅô¤Ø¤ÎÈùÄ´À° tomare;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤½¤³¤Ç»ß¤Þ¤ë¡¡ fire;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤½¤·¤ÆÈ¯¼Í¡ª¡ªÌ¿Ã桪¡ª } ¥×¥í¥°¥é¥à£² †¡¡À©ºî¼Ô¡¡¹â¶¶ int shine;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤¤¤È¤³¤í¤òõÃΤ¹¤ë¤¿¤á¤ÎÃÍ #define set SetPower(OUT_A,4);SetPower(OUT_C,7);SetSensor(SENSOR_1,SENSOR_LIGHT);SetSensor(SENSOR_3,SENSOR_LIGHT);//¥Ñ¥ï¡¼¤È¥»¥ó¥µ¡¼¤ÎÀßÄê #define r OnFwd(OUT_A);//±¦²óž¤¹¤ë¤¿¤á¤Î¥Þ¥¯¥í #define l OnRev(OUT_A);//º¸²óž¤¹¤ë¤¿¤á¤Î¥Þ¥¯¥í #define tomare Off(OUT_A);¡¡//Ää»ß¤¹¤ë¥Þ¥¯¥í #define fire OnFwd(OUT_C);Wait(50);Float(OUT_C);//ȯ¼Í¡ª¡ª¥Þ¥¯¥í #define s1 SENSOR_1¡¡¡¡ //SENSOR¤ÎÆþÎϤ¬ÌÌÅݤǺî¤Ã¤¿¥Þ¥¯¥í¤½¤Î£± #define s3 SENSOR_3¡¡¡¡ //¤½¤Î£² task main (){ set;shine==0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥»¥Ã¥È¤Èshine¤Î¥»¥Ã¥È ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤ò¥¹¥¿¡¼¥È while(Timer(0) < 40){¡¡¡¡¡¡ //£´£°¤Ï£±²óž¤¹¤ë¤Î¤Ë½½Ê¬¤Ê»þ´Ö r;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦²óž¤·¤Ê¤¬¤é if((s3 > shine)&&(s1 < s3)) //±¦¥»¥ó¥µ¡¼¤ÎÃͤ¬º¸¥»¥ó¥µ¡¼¤ÎÃͤè¤êÂ礤¯shine¤ÎÃͤè¤êÂ礤«¤Ã¤¿¤é {shine=s3;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //shine¤ÎÃͤòÊѹ¹ if((s1 > shine)&&(s1 > s3)) //º¸¥»¥ó¥µ¡¼¤ÎÃͤ¬±¦¥»¥ó¥µ¡¼¤ÎÃͤè¤êÂ礤¯shine¤ÎÃͤè¤êÂ礤«¤Ã¤¿¤é {shine=s1;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //shine¤ÎÃͤòÊѹ¹ } r; //±¦¥»¥ó¥µ¡¼¤¬shine¤ÎÃÍÉÕ¶á¤Þ¤Ç²óž¤·¤¿¤é until((s3 >= shine-1)&&(s3 <= shine+1)); tomare;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Ää»ß ClearTimer(1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤ò¥¹¥¿¡¼¥È while(Timer(1) < 30){¡¡¡¡¡¡ //¡ù30¤Ï²ûÃæÅÅÅô¤ÎÄä»ßȽÃÇ»þ´Ö¡ù if(s3 > shine)¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¥»¥ó¥µ¡¼¤¬shine¤è¤êÂ礤¤¤Ê¤é {shine==s3;ClearTimer(1);}¡¡//ÃͤòÊѹ¹¤·¤Æ¥¿¥¤¥Þ¡¼¤ò¥ê¥¹¥¿¡¼¥È if(s1 > shine)¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¥»¥ó¥µ¡¼¤¬shine¤è¤êÂ礤¤¤Ê¤é¡¡¡¡¡¡¡¡¡¡ {shine==s1;ClearTimer(1);}¡¡//ÃͤòÊѹ¹¤·¤Æ¥¿¥¤¥Þ¡¼¤ò¥ê¥¹¥¿¡¼¥È if((s3 < shine)&&(s1 < shine)&&(s1 > s3)) {l;}¡¡//shine¤¬º¸±¦¤Î¥»¥ó¥µ¡¼¤è¤ê¤âÂ礤¯º¸¥»¥ó¥µ¡¼¤¬±¦¥»¥ó¥µ¡¼¤è¤êÂ礤¤¤Ê¤éº¸²óž if((s3 < shine)&&(s1 < shine)&&(s1 < s3)) {r;}¡¡//shine¤¬º¸±¦¤Î¥»¥ó¥µ¡¼¤è¤ê¤âÂ礤¯±¦¥»¥ó¥µ¡¼¤¬º¸¥»¥ó¥µ¡¼¤è¤êÂ礤¤¤Ê¤é±¦²óž } tomare;ClearTimer(0);¡¡¡¡¡¡ //¹ÔưÄä»ß¤È¥¿¥¤¥Þ¡¼¥¹¥¿¡¼¥È while(Timer(0) < 5){¡¡¡¡¡¡¡¡//ÈùÄ´À°¤Î£°¡¥£µÉà if(s1 > s3){l;}¡¡¡¡¡¡¡¡¡¡¡¡ //º¸±¦¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬Â礤¤Êý¤ËÊý¸þž´¹ if(s3 > s1){r;} } tomare; //¹ÔưÄä»ß¤½¤·¤Æ fire;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ȯ¼Í¡ª¡ªÌ¿Ã桪¡ª } ¥×¥í¥°¥é¥à£³ †¡¡À©ºî¼Ô¡¡´Ý»³¡¡ sub search_light (){//¸÷¸»¤òõ¤¹ OnFwd(OUT_A); until ((SENSOR_1>50)||(SENSOR_3>50)); ClearTimer(0); } task main() { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); ClearTimer(0); while(Timer(0)<=70){ if (SENSOR_1<SENSOR_3) {OnFwd(OUT_A);}else{OnRev(OUT_A);}//¸÷¸»¤òÄÉÀפ¹¤ë if ((SENSOR_1<40)&&(SENSOR_3<40)) {search_light();}//¸÷¸»¤ò¸«¼º¤Ã¤¿¾ì¹ç¥¿¥¤¥Þ¡¼¤ò0¤Ë¤·¤Æ¸÷¸»¤òõ¤·½Ð¤¹ if ((SENSOR_1>80)||(SENSOR_3>80)) {Off(OUT_A);}//¸÷¸»¤Ë¶á¤¤¾ì¹ç¤Ï»ß¤Þ¤ë Wait(5); } Off(OUT_A);OnFwd(OUT_C);Wait(30);Off(OUT_C);//7Éôָ÷¸»¤ò¸«¼º¤ï¤Ê¤«¤Ã¤¿¾ì¹ç¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë } º£²ó¤ÎÎɤ«¤Ã¤¿¤È¤³¤í †º£²ó¤Î²ÝÂê¤ÏÀ©ºî´ü´Ö¤¬£±½µ´Ö¤·¤«Ìµ¤«¤Ã¤¿¤¿¤á¡¢Â¿¤¯¤Î¥°¥ë¡¼¥×¤¬È¯É½¤¹¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¡£ ´¶ÁÛ †¥á¥ó¥Ð¡¼¤Î´¶ÁۤǤ¹¡£ ²ÏÅç †º£²ó¤Î¥×¥í¥°¥é¥à¤òºî¤ë¤Î¤â¤È¤Æ¤âÂçÊѤǹⶶ¤Î¥×¥í¥°¥é¥à¤ò»²¹Í¤Ë¤ä¤Ã¤¿¡£ ¹â¶¶ †º£²ó¤âÂçÊѤʺî¶È¤À¤Ã¤¿¤¬³Ú¤·¤ó¤Ç¹Ô¤¦¤³¤È¤¬½ÐÍ褿¤Î¤Ç·ë²Ì¥ª¡¼¥é¥¤¤È¤¤¤¦´¶¤¸¤Ç¤¹¡£ ´Ý»³ †À©ºî»þ´Ö¤¬°ì½µ´Ö¤·¤«¤Ê¤«¤Ã¤¿¤Î¤Ç¥Ö¥í¥Ã¥¯Åꤲ¤ÎÀºÅÙ¤¬ ¥Ú¡¼¥¸¹¹¿·ÍúÎò †£¸¡¿£¶
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