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CA3A0013.JPG

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#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t); Off(OUT_A+OUT_C);     //tÉÃÁ°¿Ê
#define turn_right(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_A+OUT_C);//tÉñ¦¤ËÀû²ó
#define turn_left(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C); //tÉú¸¤ËÀû²ó
#define fleeze_there(t) Off(OUT_A+OUT_C);Wait(t);                        //tÉÃÀÅ»ß
#define limit 40                                                         //ïçÃÍ
#define away_can OnFwd(OUT_B);Wait(50);Off(OUT_B);OnFwd(OUT_A+OUT_C);Wait(50);OnRev(OUT_A);OnFwd(OUT_C);Wait(180);OnRev(OUT_B);Wait(50);Off(OUT_B);
                                                                         //´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¯
#define return¡¡OnRev(OUT_A+OUT_C);Wait(50);OnFwd(OUT_A);OnRev(OUT_C);Wait(180);OnRev(OUT_A+OUT_C);Wait(80);Off(OUT_A+OUT_C);
                                                                         //´Ì¤òÃÖ¤¤¤¿¸å¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
 int i=0;¡¡                                                              //ÊÑ¿ôi¤ò¸òº¹ÅÀ¤ò´¶ÃΤ·¤¿²ó¿ô¤ÈÄêµÁ¤·¤½¤Î½é´üÃͤò£°¤È¤¹¤ë
task main()
{
 SetSensor(SENSOR_2,SENSOR_TOUCH);                                       //¥»¥ó¥µ¡¼£²¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ç¤¹
   start follow_line;                                                    //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
   until (SENSOR_2 == 1);                                                //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
   stop follow_line;                                                     //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥àÄä»ß
   fleeze_there(100);                                                    //£±ÉÃÀÅ»ß
   away_can;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡         //£±¤ÄÌܤδ̤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¯
   return;                                                               //¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
   start follow_line;                                                    //ºÆ¤Ó¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
   until (SENSOR_2 == 1);                                                //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
   stop follow_line;                                                     //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥àÄä»ß
   fleeze_there(100);                                                    //£±ÉÃÀÅ»ß
   away_can;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡         //£²¤ÄÌܤδ̤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¯
   return¡¨                                                              //¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
   start follow_line;                                                    //ºÆ¤Ó¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
}
task follow_line()
{
 SetSensor(SENSOR_1, SENSOR_LIGHT);                                      //¥»¥ó¥µ¡¼£±¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
 SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡                                    //¥»¥ó¥µ¡¼£³¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
   while (i<9){                                                          //i¤¬£¹Ì¤Ëþ¤Î¤È¤­°Ê²¼¤Î¹ÔÆ°¤ò¤¹¤ë
         if ((SENSOR_1 < limit) && (SENSOR_3 < limit))                   //ξÊý¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é¸òº¹ÅÀ¤Ê¤Î¤Ç
          {fleeze_there(200);                                            //£²ÉÃÄä»ß
           i++;                                                          //i¤Ë+1¤¹¤ë
           go_straight(10);}                                             //¸òº¹ÅÀ¤òÁ°¿Ê¤·±Û¤¨¤ë
              }
    else if ((SENSOR_1 > limit) && (SENSOR_3 > limit))                   //¤â¤·¤É¤Á¤é¤Î¥»¥ó¥µ¡¼¤â̵ȿ±þ¤Ê¤é
          {go_straight(5);}¡¡                                            //ľ¿Ê
    else if ((SENSOR_1 > limit) && (SENSOR_3 < limit))                   //±¦¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
          {turn_right(5);}                                               //±¦¤ËÀû²ó
    else if ((SENSOR_1 < limit) && (SENSOR_3 > limit))                   //º¸¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
          {turn_left(5);}                                                //º¸¤ËÀû²ó
              }
Off(OUT_A+OUT_B+OUT_C);                                                  //¥â¡¼¥¿¡¼ABC¤òÄä»ß
}

­¢¶õ¤­´Ì¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ó¤Ç¹Ô¤­¡¢¤½¤Î¸òº¹ÅÀ¤Ë¶õ¤­´Ì¤ò»Ä¤·¤Æ¤µ¤é¤Ë¥³¡¼¥¹¤Ë±è¤Ã¤Æ¿Ê¤à(D.Y)

#define THRESHOLD 40
#define FRONT OnFwd(OUT_A);OnFwd(OUT_C);		//Á°¿Ê
#define BACK OnRev(OUT_A);OnRev(OUT_C);		//¸å¿Ê
#define RIGHT Off(OUT_A);OnFwd(OUT_C);			//±¦½¤Àµ
#define LEFT OnFwd(OUT_A);Off(OUT_C);			//º¸½¤Àµ
#define STOP Off(OUT_A+OUT_C);				//Ää»ß
#define ARMDOWN OnRev(OUT_B);Wait(100);		//¥¢¡¼¥à²¼¹ß
#define ARMUP OnFwd(OUT_B);Wait(100);			//¥¢¡¼¥à¾å¾º
#define ARMSTOP Off(OUT_B);				//¥¢¡¼¥àÄä»ß
#define TURN OnFwd(OUT_A);OnRev(OUT_C);Wait(180);	//180¡ëÀû²ó
#define RUN_TIME 1200					//µ¯Æ°»þ´Ö


task main()
{
	SetSensor(SENSOR_1,SENSOR_LIGHT); 
	SetSensor(SENSOR_2,SENSOR_TOUCH);
	SetSensor(SENSOR_3,SENSOR_LIGHT);
 
	ClearTimer(0);

	while(Timer(0) <= RUN_TIME ){					//¥¿¥¤¥Þ¡¼0¤¬RUN_TIME°Ê²¼¤Î»þ¤Ë·«¤êÊÖ¤¹
	start line_trace;
	until(SENSOR_2==1);
	stop line_trace;
	start can_carry;}
} 

task can_carry()
{
	while(true)
{	if(SENSOR_1<THRESHOLD)
		if(SENSOR_3<THRESHOLD)
{			FRONT;Wait(20);					//Á°¿Ê
			TURN;							//180¡ëÀû²ó(¸åÊý¤ò¸þ¤¯)
			ARMUP;							//¥¢¡¼¥à¾å¾º
			FRONT;Wait(20);					//Á°¿Ê
			TURN;							//180¡ëÀû²ó(Á°Êý¤ò¸þ¤¯)

}
		else{RIGHT;}							//º¸¤¬Çò¡¢±¦¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢±¦½¤Àµ¡£
	else{if(SENSOR_3<THRESHOLD){LEFT;}				//º¸¤¬¹õ¡¢±¦¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢º¸½¤Àµ¡£
		else{FRONT;}}						//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢Á°¿Ê¡£
}
}

task line_trace()
{
	while(true)
{	if(SENSOR_1<THRESHOLD)
		if(SENSOR_3<THRESHOLD){STOP;Wait(15);FRONT;}		//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢°ì»þÄä»ß¤Î¤ÁÁ°¿Ê¡£
		else{RIGHT;}							//º¸¤¬Çò¡¢±¦¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢±¦½¤Àµ¡£
	else{if(SENSOR_3<THRESHOLD){LEFT;}				//º¸¤¬¹õ¡¢±¦¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢º¸½¤Àµ¡£
		else{FRONT;}}						//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢Á°¿Ê¡£
}
}


­£´ñ¿ô²óÌܤ˶õ¤­´Ì¤ËÁø¶ø¤·¤¿¤é¡¢¤½¤Î¾ì¤Çȿž¤·¤Æ¿Ê¤ß¡¢¶ö¿ô²óÌܤËÁø¶ø¤·¤¿¤é¡¢¶õ¤­´Ì¤ò²¡¤·¤Î¤±¤Æ¿Ê¤à(¤Æ¤é¤¹¤£¡¼)

#define straight OnFwd(OUT_A+OUT_C);					//Á°¿Ê
#define back OnRev(OUT_A+OUT_C);					//¸å¿Ê
#define turn_left OnRev(OUT_A);OnFwd(OUT_C); 				//º¸ÀÞ
#define turn_right OnFwd(OUT_A);OnRev(OUT_C);				//±¦ÀÞ
#define stay Off(OUT_A+OUT_C);						//»ß¤Þ¤ë
#define THRESHOLD 40							//ïçÃÍ
#define armdown OnRev(OUT_B);Wait(100);Off(OUT_B);			//¥¢¡¼¥à²¼¹ß
#define armup OnFwd(OUT_B);Wait(100);Off(OUT_B);			//¥¢¡¼¥à¾å¾º
#define turn OnFwd(OUT_A);OnRev(OUT_C);Wait(180);			//180¡ëÀû²ó

int cross_count=0;							//¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤ëÊÑ¿ô
int can_count=0;							//´Ì¤Î¿ô¤ò¿ô¤¨¤ëÊÑ¿ô

sub can()								//´Ì¤ÈÁø¶ø
{
	if(can_count == 1,3,5,7,9){					//´ñ¿ô²óÌܤΤȤ­
		turn;							//ȿž
		stay;
	} else {							//¶ø¿ô²óÌܤΤȤ­
		armdown;						//²¡¤·¤Î¤±¤ë
		straight; Wait(400);
		armup;
		back; Wait(400);
		stay;
	}
}
 
task main()								//¥á¥¤¥ó¥¿¥¹¥¯
{
SetSensor(SENSOR_1,SENSOR_LIGHT);  					//¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_2,SENSOR_TOUCH);					//¥»¥ó¥µ¡¼2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT);					//¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼

	while(true){
		start linetrace;					//¤Ï¤¸¤á
		until(SENSOR_2 == 1 || cross_count > 10);		//¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤ê¡¢11ÈÖÌܤθòº¹ÅÀ¤Þ¤Ç
		stop linetrace;
		if(SENSOR_2 == 1){
			can();
		} else {
		 	break;
		}
	}
stay;
}

task linetrace()							//¥é¥¤¥ó¥È¥ì¡¼¥¹¥¿¥¹¥¯
{	  
	while (true) {
		if ((SENSOR_1 >= THRESHOLD) && (SENSOR_3 >= THRESHOLD)) { //ľ¿Ê
			straight;
		} else if ((SENSOR_1 >= THRESHOLD) && (SENSOR_3 <= THRESHOLD)) { //±¦
			turn_right;
		} else if ((SENSOR_1 <= THRESHOLD) && (SENSOR_3 >= THRESHOLD)) { //º¸
			turn_left;
		} else {						//¸òº¹ÅÀ
			stay; Wait(100);
			straight; Wait(100);  				
			cross_count++;					//¿ô¤ò¿ô¤¨¤ë
		}
		Wait(2);
	}
}

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