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int sem_2;                          //¥¿¥¹¥¯À©¸æ¤ÎÊÑ¿ô¡¡¾Ü¤·¤¯¤Ï²¼¤ÇÀâÌÀ
int sem_3;                          //¥¿¥¹¥¯À©¸æ¤ÎÊÑ¿ô¡¡¾Ü¤·¤¯¤Ï²¼¤ÇÀâÌÀ
int count;                          //¸òº¹ÅÀ¤ò¿ô¤¨¤ë
int dodge;                          //¥¿¥¹¥¯À©¸æ¤ÎÊÑ¿ô¡¡¾Ü¤·¤¯¤Ï²¼¤ÇÀâÌÀ
int timer;                          //¥¿¥¤¥Þ¡¼¡Ê£°¡Ë¤ÎÃͤòÊݸ¤¹¤ë
int timer_2;                        //¥¿¥¤¥Þ¡¼¡Ê£±¡Ë¤ÎÃͤòÊݸ¤¹¤ë
int time;                           //Èò¤±¤ë¤Þ¤Ç¤Ë¿Ê¤ó¤À»þ´Ö¤òÊݸ¤¹¤ë
#define straight_time 130;
#define dodge_to_back Off(OUT_A+OUT_C);OnRev(OUT_A+OUT_C);Wait(100);Off(OUT_A+OUT_C);Wait(200);OnFwd(OUT_A+OUT_C);Wait(80);
//¢¬Åö¤¿¤Ã¤¿»þ¤Ë¸å¤í¤ØÈò¤±¤ë
#define turn_left ClearTimer(0);OnFwd(OUT_A+OUT_C);Wait(time);sem_3=1;time=straight_time;OnFwd(OUT_A);OnRev(OUT_C);Wait(105);dodge -= 2;sem_3=0;
//¢¬Á°¿Ê¤·¤ÆÊý¸þž´¹¤ò¤¹¤ë
#define turn_right sem_3=1;time=straight_time;OnRev(OUT_A);OnFwd(OUT_C);Wait(105);dodge -= 2;sem_3=0;     //Êý¸þž´¹¤ò¤¹¤ë
task main()
{
count=0;               //³ÆÊÑ¿ô¤Î½é´üÃͤòÀßÄê
sem_2=0;
sem_3=0;
dodge=10;
timer=0;
timer_2=0;
time=straight_time;
SetSensor(SENSOR_1, SENSOR_LIGHT);//¥»¥ó¥µ¡¼£±¤È£³¤ò¸÷¥»¥ó¥µ¡¼¤Ë
SetSensor(SENSOR_2, SENSOR_TOUCH);//¥»¥ó¥µ¡¼£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ËÀßÄê
SetSensor(SENSOR_3, SENSOR_LIGHT);//
start dodging;
start dodging_2;
Wait(100);                 //¥Ü¥¿¥ó¤ò²¡¤·¤Æ¤«¤é£±ÉÃÂÔ¤Ä
while( sem_2 == 0 )
  {
while(true)
   {
     if (count >= 12)      //¸òº¹ÅÀ¤ÎÄ̤俲ó¿ô¤ò¿ô¤¨¤ë
       {                   //12²óÄ̤俤é
        sem_2=4;           //½ª¤ê¤Ê¤Î¤Ç»ß¤Þ¤ë
        StopAllTasks();
        Off(OUT_A+OUT_C);
       }
     else
       {
       OnFwd(OUT_A+OUT_C);
       }
     if (SENSOR_2 == 1)     //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
       {                    //¸å¤í¤ËÈò¤±¤Æ»ß¤Þ¤ë
       dodge_to_back;
       ClearTimer(0);
         until ((SENSOR_2 == 1) ||(Timer(0) == 20))   //¤â¤¦°ìÅÙÁ°¤Ë½Ð¤Æ
          {                                           
          OnFwd(OUT_A+OUT_C);Wait(20);Off(OUT_A+OUT_C) //¤Þ¤¿Åö¤¿¤Ã¤¿¤é
          }
          if (SENSOR_2 == 1)                      //µíÆý¥Ñ¥Ã¥¯¤À¤È»×¤ï¤ì¤ë¤Î¤Ç
          {
          Off(OUT_A+OUT_C);
          sem_3=1;                                //µíÆý¥Ñ¥Ã¥¯²óÈòÍѤËsem_2¤È
          sem_2=3;                                //sem_3¤ÎÃͤòÊѹ¹¤¹¤ë
          }
       }  
     else                                       //Åö¤¿¤é¤Ê¤«¤Ã¤¿¤éÁê¼ê¤ÎNQC¤À¤Ã¤¿¤È
       {                         //»×¤ï¤ì¤ë¤Î¤Ç¤½¤Î¤Þ¤Þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤¹¤ë
       
       }
     if ((SENSOR_1< 45 ) &&(SENSOR_3< 40))//¸÷¥»¥ó¥µ¡¼¤¬Î¾ÊýÈ¿±þ¤·¤¿¤é
       {                                  //¸òº¹ÅÀ¤À¤È»×¤ï¤ì¤ë¤Î¤Ç
       Off(OUT_A+OUT_C);
       Wait(30);
       count++;                           //count¤ÎÃͤò£±Áý¤ä¤·¤ÆÁ°¿Ê
       OnFwd(OUT_A+OUT_C);
       Wait(30);
       }
     else
       {
         if (SENSOR_1< 45)                //º¸¤Î¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
           {                              //¿ÊÏ©¤¬±¦¤Ë¥º¥ì¤Æ¤¤¤ë¤Î¤Ç
           OnRev(OUT_A);                  //º¸¤Ë½¤Àµ
           }
         if (SENSOR_3< 40)                //±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
           {                              //¿ÊÏ©¤¬º¸¤Ë¥º¥ì¤Æ¤¤¤ë¤Î¤Ç
           OnRev(OUT_C);                  //±¦¤Ë½¤Àµ
           } 
       }
   }
  }
}
       //¤³¤³¤«¤é²¼¤ÏµíÆý¥Ñ¥Ã¥¯¤¬¤¢¤Ã¤¿»þ¤ÎÈò¤±¤ë¥×¥í¥°¥é¥à
task dodging()
{
   while(sem_2 == 3)
   {
     Off(OUT_A+OUT_C);
     if (dodge == 10)
        {
        OnRev(OUT_A+OUT_C); //¤Á¤ç¤Ã¤È²¼¤¬¤Ã¤Æ
        Wait(30);            //                         ¢£---µíÆý¥Ñ¥Ã¥¯
        sem_3=0;             //                         ¢«
        turn_right;          //Êý¸þž´¹¤·¤ÆÁ°¿Ê¡¡¡¡¡¡¡¡ ¢¬¡¡¡¡¡¡
        }
     if (dodge == 8)
        {
        turn_left;            //Êý¸þž´¹¤·¤Æ¡¡¡¡¡¡¡¡¢¬¢£
        OnFwd(OUT_A+OUT_C);   //Á°¿Ê¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢¬¢«
        Wait(120);
        }
     if (dodge == 6)
        {                   //                        ¢¬¢ª
        turn_left;          //Êý¸þž´¹¤·¤ÆÁ°¿Ê¡¡¡¡¡¡¡¡¢¬¢£
        }
     if (dodge == 4)
        {
        ClearTimer(0);           //                      ¢¬
        turn_right;              //Êý¸þž´¹¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢£
        dodge = 10;
        }
     sem_2=0;                     //Èò¤±½ª¤ï¤Ã¤¿¤Î¤Çsem_2¤ò£°¤Ë¤¹¤ë
   }
}//µíÆý¥Ñ¥Ã¥¯¤òÈò¤±¤Æ¤¤¤ë¤È¤­¤ËÁê¼ê¤ÈÅö¤¿¤Ã¤¿¤È¤­¤Î¥×¥í¥°¥é¥à
task dodging_2()
{
  while(true)
   {
      while(sem_2 == 3)
      {
         while(sem_3 == 0)
         {
            if (SENSOR_2 == 1)
               {
               stop dodging;
               ClearTimer(1);
               timer=Timer(0);
               dodge_to_back;
               timer_2=Timer(1);
               time=straight_time-10-timer-timer_2;//Èò¤±¤¿»þ´Ö¤ò·×»»¤·¤ÆºÆÀßÄê¡¡¤Ê¤¼¤«0.1É交ì¤Æ¤·¤Þ¤¦¤Î¤Ç½¤Àµ¤·¤Þ¤¹
               start dodging;
               }
         }
      }
   }
}
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¢ª2.»æ¥Ñ¥Ã¥¯¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ó¤Ç¹Ô¤­¡¢¤½¤Î¸òº¹ÅÀ¤Ë»æ¥Ñ¥Ã¥¯¤ò»Ä¤·¤Æ¤µ¤é¤Ë¹õ¤¤Àþ¤Ë±è¤Ã¤Æ¿Ê¤à

 int a;
 #define BORDER 45     //ïçÃͤò45¤ËÄêµÁ
 int flag = 0;
 task main ()
 {
 a=0;	
	SetSensor ( SENSOR_1, SENSOR_LIGHT );
	SetSensor ( SENSOR_2, SENSOR_TOUCH );
	SetSensor ( SENSOR_3, SENSOR_LIGHT );     //£±¤È£³¢ª¸÷¥»¥ó¥µ¡¢£²¢ª¥¿¥Ã¥Á¥»¥ó¥µ
	
	Wait ( 100 );     //µ¯Æ°¤·¤Æ¤«¤é£±ÉÃÂÔµ¡	
	
	
	while ( flag < 13 ){     //¸òº¹ÅÀ¤ò13²óÄ̤ë¤Þ¤Ç¤Î¥ë¡¼¥×	
		
		if ( SENSOR_2 == 1 ){ if (a == 0){     //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤¿¤é		
			OnRev(OUT_A+OUT_C);
			Wait(50);     //¤¤¤Ã¤¿¤ó¶ÛµÞ²óÈò¤·¤Æ		
			Off(OUT_A+OUT_C);
			Wait(300);     //£³ÉÃÂÔµ¡¤·¤Æ			
			OnFwd(OUT_A+OUT_C);
			Wait(30);     //¤â¤È¤Î¾ì½ê¤ËÌá¤ë
			ClearTimer(0);
			until ((SENSOR_2==1) || (Timer(0)>2 ))OnFwd(OUT_A+OUT_C);}
			if(SENSOR_2==1){a=1;     //¥¿¥Ã¥Á¥»¥ó¥µ¤¬ºÆ¤ÓÈ¿±þ¤·¤¿¤é
			             OnFwd(OUT_B);
			             Wait(50);     //¥Ï¥µ¥ßµ¯Æ°¡ù
			             }
			             else if(SENSOR_2==0){
			             if(SENSOR_1 > BORDER ){
			                     if( SENSOR_3 > BORDER ){
			                                OnFwd(OUT_A+OUT_C);
			                      }
			                      else{
			                                 OnFwd(OUT_A);
			                                 Wait(5);
			                                 OnRev(OUT_C);
			                                 Wait(5);
			                       }
			            }
			            else{
			                         if(SENSOR_3 > BORDER){
			                                      OnRev(OUT_A);
			                                      Wait(5);
			                                      OnFwd(OUT_C);
			                                      Wait(5);
			                         }
			                         else{
			                                    Off(OUT_A+OUT_C);
			                                    Wait(150);
			                                    OnRev(OUT_B);
			                                    Wait(50);
			                                    Off(OUT_B);
			                                    OnRev(OUT_A+OUT_C);
			                                    Wait(100);
			                                    Off(OUT_A+OUT_C);
			                                    OnFwd(OUT_A);
			                                    Wait(50);
			                                    Off(OUT_A);
			                                    OnFwd(OUT_C);
			                                    Wait(150);
			                                    Off(OUT_C);
			                                    OnFwd(OUT_A);
			                                    Wait(50);
			                                    Off(OUT_A);a=0;
			                             }
			                       }
			                }
			              
			                                    					
		}
		else{					
			
			if ( SENSOR_1 > BORDER ){     //±¦¥»¥ó¥µ¤¬Çò¤Ç		
				if ( SENSOR_3> BORDER ){     //º¸¥»¥ó¥µ¤âÇò¤Ê¤é(L1 R1)	
					OnFwd(OUT_A+OUT_C);     //ľ¿Ê¤¹¤ë	
				}
				else {     //º¸¥»¥ó¥µ¤¬¹õ¤Ê¤é(L0 R1)				
					OnFwd(OUT_A);
					Wait(5);
					OnRev(OUT_C);
					Wait(5);     //º¸¤Ë¶Ê¤¬¤ë		
				}
			}
			else {     //±¦¥»¥ó¥µ¤¬¹õ¤Ç¤Ç					
				if ( SENSOR_3> BORDER ){     //º¸¥»¥ó¥µ¤¬Çò¤Ê¤é(L1 R0)	
					OnRev (OUT_A);
					Wait(5);
					OnFwd(OUT_C);
					Wait(5);    //±¦¤Ë¶Ê¤¬¤ë		
				}
				else {     //ξ¥»¥ó¥µ¤¬¹õ¤Ê¤é(L1 R1)				
					Off(OUT_A+OUT_C);     //¸òº¹ÅÀ¤È»×¤ï¤ì¤ë¤Î¤Ç»ß¤Þ¤Ã¤Æ	
					Wait(50);     //0.5ÉÃÂÔµ¡¤·¤Æ		
					OnFwd(OUT_A+OUT_C);     //ľ¿Ê¤·»Ï¤á¤Æ	
					Wait(20);     //0.2ÉÃľ¿Ê¤·¤Æ		
					flag++;     //¸òº¹ÅÀ¥«¥¦¥ó¥¿¤Ë£±Â­¤¹			
				}
			}
		}
	
	}
	Off(OUT_A+OUT_C);	

}

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Last-modified: 2009-07-10 (¶â) 12:29:44