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#define THRESHOLD 40 #define A OUT_A #define B OUT_B #define C OUT_C #define time 100 #define runtime 15000¡¡¡¡¡¡ //»°¼þ¤¹¤ë»þ´Ö task main() { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); ClearTimer(0); start hikari; while(FastTimer(0)< runtime) //»°¼þ¤¹¤ë»þ´ÖÆâ {if(SENSOR_2 == 1 )¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //µíÆý¥Ñ¥Ã¥¯¤Ë¤Ö¤Ä¤«¤Ã¤¿»þ {stop hikari;start touch;} } while(FastTimer(0)>= runtime)
¡¡¡¡¡¡¡¡¡¡¡¡{Off(A+C);}
} task touch()¡¡¡¡¡¡¡¡ //µíÆý¥Ñ¥Ã¥¯¤ò¤è¤±¤ë¥×¥í¥°¥é¥à {if(count == 1) {OnRev(A+C);Wait(60);Off(A+C);OnFwd(A);OnRev(C);Wait(60);OnFwd(C);Wait(time); OnRev(A);OnFwd(C);Wait(60);¡¡¡¡¡¡¡¡ //ºÇ½é¤Î¸òº¹ÅÀÍÑ OnFwd(A);Wait(225);OnRev(A);Wait(60);Off(A+C); count = count * -1;start hikari;} else{OnRev(A+C);Wait(60);Off(A+C);OnFwd(C);OnRev(A);Wait(60);OnFwd(A);Wait(time); OnRev(C);OnFwd(A);Wait(60);¡¡¡¡¡¡¡¡ //£²²óÌܤθòº¹ÅÀÍÑ OnFwd(C);Wait(200);OnRev(C);Wait(65);Off(A+C); count = count * -1;start hikari;} } task hikari()¡¡¡¡¡¡ //¹õ¤¤Àþ¤òÄɤ¤¤«¤±¤ë¥×¥í¥°¥é¥à { while(FastTimer(0)<= runtime) { if(SENSOR_1>THRESHOLD&& SENSOR_3 >THRESHOLD) ¡¡ //ξÊý¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤ËÈ¿±þ¤¬¤Ê¤¤»þ {OnFwd(A+C);} else{if(SENSOR_1< THRESHOLD && SENSOR_3 >THRESHOLD)¡¡¡¡ //º¸¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬Àþ¤ËÈ¿±þ¤·¤¿»þ {OnFwd(C);Off(A);} } if(SENSOR_1>THRESHOLD&& SENSOR_3 >THRESHOLD) {OnFwd(A+C);} else{if(SENSOR_3< THRESHOLD && SENSOR_1>THRESHOLD)¡¡¡¡¡¡ //±¦¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬Àþ¤ËÈ¿±þ¤·¤¿»þ {OnFwd(A);Off(C);} } } }
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#define THRESHOLD 40 #define A OUT_A #define B OUT_B #define C OUT_C #define time 115 #define runtime 13200 int count; task main() { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); ClearTimer(0); count = 0; start hikari; while(FastTimer(0)< runtime) ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»°¼þ¤¹¤ë»þ´ÖÆâ { if(SENSOR_1<THRESHOLD&& SENSOR_3 <THRESHOLD) {stop hikari;start touch;} } while(FastTimer(0)>= runtime) {Off(A+C);} } task touch() {if(count == 1)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µíÆý¥Ñ¥Ã¥¯¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ÓÃÖ¤¤¤Æ¤¯¤ë¥×¥í¥°¥é¥à {start hikari;Wait(90);Wait(818);stop hikari; OnRev(A+C);Wait(60);Off(A+C);OnFwd(C);OnRev(A);count=count+1;Wait(60);OnFwd(A);Wait(time); OnRev(C);OnFwd(A);Wait(60); OnFwd(C);Wait(200);OnRev(C);Wait(65);Off(A+C);start hikari; } else{if(count ==2) //Èò¤±¤ëÅÓÃæ¹õ¤¤Àþ¤òƧ¤à¤Î¤Ç³¤±¤ÆÈò¤±¤ë¥×¥í¥°¥é¥à {OnFwd(C);Wait(130);count=count+1;OnRev(C);Wait(65);Off(A+C);start hikari;} else{if(count==5)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //°ì¼þ¤ò»ÅÀÚ¤ê¤Ê¤ª¤¹¥×¥í¥°¥é¥à {count=0;start hikari;} else{start hikari;Wait(10);count=count+1;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤ò¿ô¤¨¤ë¥×¥í¥°¥é¥à } } } task hikari()¡¡ //¹õ¤¤Àþ¤òÄɤ¤¤«¤±¤ë¥×¥í¥°¥é¥à¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ { while(FastTimer(0)<= runtime) { if(SENSOR_1>THRESHOLD&& SENSOR_3 >THRESHOLD) //ξÊý¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤ËÈ¿±þ¤¬¤Ê¤¤»þ {OnFwd(A+C);} else{if(SENSOR_1< THRESHOLD && SENSOR_3 >THRESHOLD) //º¸¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬Àþ¤ËÈ¿±þ¤·¤¿»þ {OnFwd(C);Off(A);} } if(SENSOR_1>THRESHOLD&& SENSOR_3 >THRESHOLD) {OnFwd(A+C);} else{if(SENSOR_3< THRESHOLD && SENSOR_1>THRESHOLD) //±¦¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬Àþ¤ËÈ¿±þ¤·¤¿»þ {OnFwd(A);Off(C);} } } }
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