Ìܼ¡
K.H ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¹©³ØÉô¡¡¡¡Åŵ¤ÅŻҹ©³Ø²Ê
D.Y¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¹©³ØÉô¡¡¡¡¾ðÊ󹩳زÊ
¤Æ¤é¤¹¤£¡¼¡¡¡¡¡¡¡¡¡¡¡¡¡¡¶µ°é³ØÉô¡¡¡¡·Ý½Ñ³Ø²Ê
³Æ¥Á¡¼¥à¤ÇºîÀ®¤·¤¿¥³¡¼¥¹¤ò1¼þ¤¹¤ë¥í¥Ü¥Ã¥È¤òÀ½ºî¤»¤è¡£¸òº¹ÅÀ°Ê³°¤Î¥³¡¼¥¹¾å¤Ë350ml¤Î¶õ¤Î¶õ¤´Ì¤ò2¸Ä°Ê¾å¤ª¤¡¢¶õ¤´Ì¤Ë¤Ö¤Ä¤«¤Ã¤¿»þ¤Ë¤Ï¼¡¤Î¤è¤¦¤ÊÆ°ºî¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤»¤è¡£(¾¤Î¥á¥ó¥Ð¡¼¤È½Å¤Ê¤é¤Ê¤¤¤è¤¦¤Ë°ì¿Í°ì¤Ä¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë)
¡¡¡¡¡¶õ¤´Ì¤ò¥³¡¼¥¹¾å¤ËÌᤷ¤ÆºÆ¤Ó¥³¡¼¥¹¤ËÌá¤Ã¤Æ¿Ê¤à(ôÅöK.H)
¡¡¡¡¢¶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(ôÅöD.Y)
¡¡¡¡£´ñ¿ô²óÌܤ˶õ¤´Ì¤ËÁø¶ø¤·¤¿¤é¡¢¤½¤Î¾ì¤Çȿž¤·¤Æ¿Ê¤ß¡¢¶ö¿ô²óÌܤËÁø¶ø¤·¤¿¤é¡¢¶õ¤´Ì¤ò²¡¤·¤Î¤±¤Æ¿Ê¤à(ôÅö¤Æ¤é¤¹¤£¡¼)
¤¿¤À¤·¡¢
¡¡¡¡¡¦Â®¤µ¤ÈÀµ³Î¤µ¤òÄɵ᤹¤ë¤³¤È
¡¡¡¡¡¦¥³¡¼¥¹¤ò1¼þ¤·¤¿¤é¼«Æ°Åª¤Ë»ß¤Þ¤ë¤³¤È
¡¡¡¡¡¦¸òº¹ÅÀ¤Ç¤Ï°ì»þÄä»ß¤¹¤ë¤³¤È
¸«¤Æ¤ï¤«¤ë¤È¤ª¤ê£³¤Ä¤Î¸òº¹ÅÀ¤È£±¤Ä¤Î¥ë¡¼¥×¤½¤·¤ÆÂçÎ̤Îľ³Ñ¥³¡¼¥Ê¡¼¤Ç¤Ç¤¤Æ¤¤¤Þ¤¹¡£ÀµÄ¾¤Ê¤È¤³¤íľ³Ñ¥³¡¼¥Ê¡¼¤ò¶Ê¤¬¤é¤»¤ë¤Î¤Ë¤«¤Ê¤ê¶ìÏ«¤·¤Þ¤·¤¿¡£
¢£²£¤«¤é¸«¤¿ÍͻҤǤ¹¡£¥¢¡¼¥à¤ò¾åÊý¤Ë¾å¤²¤Æ¤¤¤Þ¤¹¡£
¢£Á°Êý¤«¤é¸«¤¿ÍͻҤǤ¹¡£¥¢¡¼¥à¤Ï´Ì¤ò¤Ä¤«¤à¤¿¤á¤Î°ÌÃÖ¤ËÍè¤Æ¤¤¤Þ¤¹¡£
¢£¸åÊý¤«¤é¸«¤¿ÍͻҤǤ¹¡£¥³¡¼¥É¤¬¾¯¤·ÌÜΩ¤Ã¤Æ¤¤¤Þ¤¹¤¬¶îÆ°¤ËÌäÂê¤Ï¤¢¤ê¤Þ¤»¤ó¡£
¢£¥¿¥Ã¥Á¥»¥ó¥µ¡¼
Á°Êý¤Ë¤Ä¤¤¤Æ¤¤¤Æ¡¢º£²ó¤Ï¤³¤ì¤¬´Ì¤ËÀÜ¿¨¤¹¤ë¤È¥í¥Ü¤¬¿§¡¹¤ÊÆ°ºî¤ò¤·¤Þ¤¹¡£
¢£¸÷¥»¥ó¥µ¡¼
¥í¥Ü¤Î²¼ÉôÃæ±ûÉÕ¶á¤Ë¤Ä¤¤¤Æ¤¤¤Æ¡¢º£²ó¤Ï¤³¤ì¤Ë¥³¡¼¥¹¤È¤Ê¤ë¥é¥¤¥ó¤ò´¶ÃΤµ¤»¤Þ¤¹¡£
1.Á°¸å¤Î½ÅÎ̥Хé¥ó¥¹¤òÊø¤µ¤Ê¤¤¤è¤¦¤ËÁ°¤ËÈô¤Ó½Ð¤·¤Æ¤¤¤ë´Ì¤òÁàºî¤¹¤ë¤¿¤á¤Î¥¢¡¼¥à¤Î¹½Â¤¤ò¤Ç¤¤ë¤À¤±´ÊÁǤˤ·¤¿ÅÀ¡£
2.¤ä¤Ï¤ê½ÅÎ̤ΥХé¥ó¥¹¤ò¤È¤ê¤ä¤¹¤¯¤¹¤ë¤¿¤á¤Ë¡¢¥Ù¡¼¥¹¤È¤Ê¤ë¼ÖÂÎÉôʬ¤ÎÌÌÀѤò¸µ¤È¤Ê¤Ã¤¿ÀâÌÀ½ñ¤ËºÜ¤Ã¤Æ¤¤¤ë¥í¡¼¥ô¥¡¡¼¥Ü¥Ã¥È¤è¤ê£±²ó¤êÂ礤¯¤·¡¢¤Þ¤¿Á°ÎؤȸåÎؤδ֤ε÷Î¥¤â¤À¤¤¤Ö¹¤²¤Þ¤·¤¿¡£
3.¸÷¥»¥ó¥µ¡¼¤Ï³Æ¼ï¥»¥ó¥µ¡¼¾Ò²ð¹àÌܤμ̿¿¤Ç¤ÏÁ°Êý¤Î¹õ¤¤¥Ö¥í¥Ã¥¯¤È¸åÊý¤ÎÎФΥ֥í¥Ã¥¯¤Ç´°Á´¤Ë¸ÇÄꤵ¤ì¤Æ¤¤¤ë¤è¤¦¤Ë¸«¤¨¤Þ¤¹¤¬¡¢¼Â¤Ï¹õ¤¤¥Ö¥í¥Ã¥¯¤È¤Î´Ö¤ËÇö¤¤¥ì¥´¥Ö¥í¥Ã¥¯£±¤Äʬ¤Î·ä´Ö¤¬¤¢¤ê¡¢¼ÖÎØÊѹ¹¤Ê¤É¤ò¤·¤¿¾ì¹ç¤Î¹â¤µ¤ÎÄ´À᤬ÍưפˤǤ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£¤Þ¤¿¡¢²£Éý¤ÎÄ´Àá¤â²Äǽ¤Ç¤¹¡£¡Ê¼Ì¿¿¤Ç¤ÏÉýºÇÂç¡¢¹â¤µÃæ¤ËÄ´Àᤵ¤ì¤Æ¤¤¤Þ¤¹¡£¡Ë
4.¥¢¡¼¥à¤Î¹½Â¤¤¬Ã±½ã¤Ç¤¢¤ë¤¿¤á¥¢¡¼¥à¤Î¼èÂؤ¨¤¬ÍưפǤ¢¤ëÅÀ¡£
5.Ť¤¥³¡¼¥É¤¬ÃÏÌ̤ËÀÜ¿¨¤·¤ÆÁö¹Ô¤Î¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤¤è¤¦¤Ë¥³¡¼¥É¤ò¤¢¤ëÄøÅÙ¸ÇÄꤹ¤ë¤¿¤á¤Î¥Ñ¡¼¥Ä¤òºî¤Ã¤¿ÅÀ¡£
1.[ÌäÂêÅÀ]¸åÎؤÎÆ°ÎϤò¤Ï¤¸¤á¤Ï¥´¥à¥³¥ó¥Ù¥¢¤ÇÁ°ÎؤËÅÁ¤¨¤Æ¤¤¤¿¤¬¡¢¥´¥à¤ÎÆÃÀ¤¬º¸±¦¤Ç´°Á´¤Ë¤Ï°ìÃפ·¤Ê¤¤¤¿¤á¡¢¶õž¤Îµ¯¤³¤ëΨ¤Î°ã¤¤¤«¤éľ¿Ê¤¹¤ë¤Ù¤»þ¤Ë¶Ê¤¬¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£
[²þÁ±ÅÀ]Á°ÎؤؤÎÆ°ÎϤÎÅÁã¤ò¤¢¤¤é¤á¥´¥à¥³¥ó¥Ù¥¢¤ò¼è¤êʧ¤Ã¤¿¡£
2.[ÌäÂêÅÀ]1.¤Î¸åº£Å٤ϥ«¡¼¥Ö¤Ç½½Ê¬¤Ë¶Ê¤¬¤ì¤Ê¤¤¤È¤¤¤¦ÌäÂ꤬µ¯¤¤¿¡£
[²þÁ±ÅÀ]Á°ÎؤȸåÎؤδ֤ˣ³Ëç¤Î¥®¥¢¤ò¶´¤à¤³¤È¤Ç´ðËܹ½Â¤¤Ï¤½¤Î¤Þ¤Þ¤Ë²ò·è¤¹¤ë¤³¤È ¤ËÀ®¸ù¤·¤Þ¤·¤¿¡£
3.[ÌäÂêÅÀ]¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬¼ÖÂÎÁ°Ì̤«¤éÈô¤Ó½Ð¤·¤Æ¤¤¤Ê¤¤¤Î¤¿¤Þ¤ËÈ¿±þ¤·¤Ê¤¤¤³¤È¤¬¤¢¤Ã¤¿¡£
[²þÁ±ÅÀ]¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ò£±¥Ö¥í¥Ã¥¯Ê¬Á°¤Ë½Ð¤¹¤³¤È¤Ç²ò·è¤·¤Þ¤·¤¿¡£
¢£²£¤«¤é¸«¤¿Íͻҡ£ÂçÎ̤Υ®¥¢¤¬¸«¤¨¤Þ¤¹¡£¥¢¡¼¥à¤ò¸å¤í¤Ë¤·¤¿¤È¤¤Ë¥¿¥¤¥ä¤ÈÀÜ¿¨¤·¤Ê¤¤¤è¤¦¤Ë¸åÎؤò¾¯¤·¼ÖÂγ°Â¦Êý¸þ¤Ë°ÜÆ°¤µ¤»¤¿ÅÀ¤â¥Ý¥¤¥ó¥È¡£
¢£¸å¤í¤«¤é¸«¤¿Íͻҡ£¥³¡¼¥É¤ò¥³¡¼¥É¤ò²¡¤µ¤¨¤Æ¤¤¤¿¥Ñ¡¼¥Ä¤Ë¥³¡¼¥É¤ò´¬¤ÉÕ¤±¤ë¤³¤È¤Ç¸å¤í¤¬¤µ¤Ã¤Ñ¤ê¤·¤Þ¤·¤¿¡£
¢£Á°Êý¤«¤é¸«¤¿Íͻҡ£¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬°ÊÁ°¤è¤êÁ°Êý¤ËÈô¤Ó½Ð¤·¤Æ¤¤¤ë¤Î¤¬¤ï¤«¤ë¤È»×¤¤¤Þ¤¹¡£
#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 }
#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¡£ } }
#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); } }
Á°²ó¤Î»÷´é³¨¥í¥Ü¥Ã¥È¤è¤ê¤µ¤é¤ËÆñ°×ÅÙ¤¬¾å¤¬¤ê¡¢º£²ó¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¥Ã¥È¤ÏNQCÆþÌç¤ËºÜ¤Ã¤Æ¤¤¤ë¤³¤È¤Î¤Û¤Ü¤¹¤Ù¤Æ¤ò»È¤ï¤Ê¤±¤ì¤Ð¤Þ¤È¤â¤ËÆ°¤«¤Ê¤¤¤Î¤Ç¤«¤Ê¤êÂçÊѤǤ·¤¿¡£¤Þ¤¿¡¢¥á¥ó¥Ð¡¼¤Ç½¸¤Þ¤ë»þ´Ö¤òºî¤ì¤º¤Ê¤«¤Ê¤«ºÇ½ªÄ´À°¤¬¹Ô¤¨¤Ê¤«¤Ã¤¿¤³¤È¤â¸·¤·¤«¤Ã¤¿¤È»×¤¤¤Þ¤·¤¿¡£¼¡²ó¤¬¤¢¤ì¤Ð¸Ä¡¹¤Î¥×¥í¥°¥é¥à¤Ï¼ø¶È³°¤Î»þ´Ö¤ËÁá¤á¤Ë´°À®¤µ¤»¼ø¶È»þ´Ö¤ÏÁ´°÷¤Ç¤ÎºÇ½ªÄ´À°¤Ë²ó¤»¤¿¤é¤¤¤¤¤Ê¤È»×¤¤¤Þ¤·¤¿¡£
³Æ¹ÔÆ°¤´¤È¤Î¥×¥í¥°¥é¥à¤ÏÈæ³ÓŪ¤è¤¯¤Ç¤¤¿¤¬¡¢¤½¤ì¤ò¤Ä¤Ê¤°¤Î¤¬Æñ¤·¤¤¡£¥×¥í¥°¥é¥à¤Î°Ü¹Ô¤Ë¤Ä¤¤¤Æ¤â¤¦¾¯¤·¹Í¤¨¤ëɬÍפ¬¤¢¤ë¡£
Á°²ó¤è¤ê¤Ï¤ë¤«¤ËÆñÅÙ¤¬¾å¤¬¤Ã¤Æ¡¢nqcÆþÌç¤Î¥Ú¡¼¥¸¤ò²¿ÅÙ¤âÆɤßľ¤·¤Æ¤â¾å¼ê¤¯¤¤¤«¤º¡¢·ë¶ÉÈÉ°÷¤Ë¤Ï¿Âç¤ÊÌÂÏǤò¤«¤±¤Þ¤·¤¿¡£ ¼¡²ó¤Þ¤Ç¤ËÊÙ¶¯¤·¤Æ¤¤Þ¤¹¡£ ¤Þ¤¿¡¢º£²ó¤Ï¤¢¤Þ¤ê³§¤Ç¤¢¤Ä¤Þ¤ì¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¼¡²ó¤â¤Ã¤È³§¤Ç½¸¤Þ¤ì¤ì¤Ð¸úΨ¤¬¾å¤¬¤ë¤À¤í¤¦¤È»×¤¤¤Þ¤·¤¿¡£