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CIMG0036.JPG

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CIMG0039.JPG

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CIMG0026.JPG
CIMG0029.JPG

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CIMG0028.JPG

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CIMG0040.JPG

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#define eye_L SENSOR_1  //SENSOR_1¤òeye_R¤ÈÄêµÁ
#define eye_R SENSOR_3  //SENSOR_3¤òeye_L¤ÈÄêµÁ
#define touch SENSOR_2  //SENSOR_2¤òtouch¤ÈÄêµÁ
#define THRESHOLD 40   // ïçÃÍ
#define go(t) OnFwd(OUT_A+OUT_C);Wait(t); //Á°¿Ê
#define back(t) OnRev(OUT_A+OUT_C);Wait(t); //¸åÂà
#define turn_R(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t); //±¦²óž
#define turn_L(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t); //º¸²óž

task main()
{
    SetSensor(eye_R, SENSOR_LIGHT);//¥»¥ó¥µÃ¼»Ò£±¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¤¬¸÷¥»¥ó¥µ¡¼¤ÈÀë¸À
    SetSensor(eye_L, SENSOR_LIGHT);//¥»¥ó¥µÃ¼»Ò3¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¤¬¸÷¥»¥ó¥µ¡¼¤ÈÀë¸À
    SetSensor(touch, SENSOR_TOUCH);//¥»¥ó¥µÃ¼»Ò2¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¤¬¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÈÀë¸À

  while (true)
    {   start follow_line;//¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï
       
        until(touch==1);//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô
        stop follow_line;//¥é¥¤¥ó¥È¥ì¡¼¥¹Ää»ß
          Float(OUT_B);  //´Ì¤òÄϤà
              Wait(30);
             Off(OUT_B);
            OnRev(OUT_A+OUT_B);  //´Ì¤òÄϤߤĤIJóž,´Ì¤ò¸åÊý¤Ø
           OnFwd(OUT_C);
              Wait(180);
             Off(OUT_B);
              back(40);      //°ÌÃÖ½¤Àµ
           OnFwd(OUT_B);    //´Ì¤òÊü¤¹
              Wait(30);
            back(50);      //´Ì¤«¤éÎ¥¤ì¤ë
            turn_R(160);
              
           
     }
}

task follow_line ()  //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤Ç¤¹
{
     int k=0 ;    //À°¿ôk¤òÄêµÁ(¸òº¹ÅÀ¤Ë¤¤¤¯Å٤ˣ±Áý¤¨¤ë¡Ë
   
    while(k<8) //¸òº¹ÅÀ¤òÄ̤俲ó¿ô¤¬8²ó¤è¤ê¾®¤µ¤¤¤È¤­
      {
        if ((eye_R > THRESHOLD)&&(eye_L >THRESHOLD))   //ξÊýÇò¤Î»þÁ°¿Ê
           {  
           go(10)
           } 
       else if ((eye_L< THRESHOLD)&&(eye_R > THRESHOLD))   // 1¤¬¹õÀþ¾å¤Î»þº¸¤Ë²óž
           {   
            turn_L (10)
           }
       else if ((eye_L > THRESHOLD)&&(eye_R < THRESHOLD))  //3¤¬¹õÀþ¾å¤Î»þ±¦¤Ë²óž
           {    
           turn_R(10)                
           }
        else if ((eye_R< THRESHOLD)&&(eye_L < THRESHOLD))  //ξÊý¹õÀþ¾å°ì»þÄä»ß¤·Á°¿È
         {     Off(OUT_A+OUT_C);
                 Wait(100);
                     k++;   //¸òº¹ÅÀ¤Ë¤­¤¿¤ék¤Ë£±¤ò¤¿¤¹    
                   go(10);
            }
       }
    Off(OUT_A+OUT_C);
}

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#define get() OnRev(OUT_B);%´Ì¤ò»ý¤Ä¥×¥í¥°¥é¥à
#define go(t) OnFwd(OUT_A+OUT_C);Wait(t);%Á°¤Ø
#define turn_R(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);%±¦¤Ø
#define turn_L(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);%º¸¤Ø
#define release() OnFwd(OUT_B);%´Ì¤òÊü¤¹
#define light_R SENSOR_3%¥»¥ó¥µ¡¼3¤Ï¥»¥ó¥µ¡¼¥é¥¤¥È
#define light_L SENSOR_1%¥»¥ó¥µ¡¼1¤Ï¥»¥ó¥µ¡¼¥é¥¤¥È
#define THRESHOLD 40%40¤ËÀßÄê
task main()
{
SetSensor(light_R,SENSOR_LIGHT);
SetSensor(light_L,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
while(true){
  start follow_line;%³«»Ï
  until(SENSOR_2==1);%
  stop follow_line;%Ää»ß
  get();´Ì¤ò»ý¤Ã¤Æ
  start follow_line;ºÆ¤Ó³«»Ï
  until((light_R<THRESHOLD)&&(light_L<THRESHOLD));%¸òº¹ÅÀ¤Ë¹Ô¤¯¤Þ¤Ç
  go(200);%¸òº¹ÅÀ¤Ë¹Ô¤Ã¤¿¸å
  turn_R(200);%
  go(80);%
  release();%
  OnRev(OUT_A+OUT_C);Wait(50);%
  turn_L(200);%´Ì¤òºÆ¤Ó¤ª¤¤¤Æ
  start follow_line;%¥¹¥¿¡¼¥È
                       }}
task follow_line()
{
while(true){
if((light_R>THRESHOLD)&&(light_L>THRESHOLD)){
go(5);}%¹õÀþ¾å¤Ë¤¤¤ë¤È¤­
if(light_R<THRESHOLD)
 {turn_R(5);
  }%¤º¤ì¤¿¾ì¹ç
if(light_L<THRESHOLD)
 {turn_L(5);
   }
 if((light_R<THRESHOLD)&&(light_L<THRESHOLD))
    {
     Off(OUT_A+OUT_C);
     Wait(50);
     go(5);%¸òº¹ÅÀ¤Î¤È¤­
    }}
}

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  • ¹©Éפ·¤¿ÅÀ¡¢¶ìÏ«¤·¤¿ÅÀ¤òʬ¤±¡¢¤µ¤é¤Ë¶ñÂÎŪ¤Ë¤¹¤ë¤ÈÎɤ¤¤È»×¤¤¤Þ¤¹¡£¤Þ¤¿¡¢ÆÃ¤Ë¤³¤À¤ï¤Ã¤¿¥¢¡¼¥à¤Îưºî¤â²òÀ⤷¤Æ¤ß¤Æ¤¯¤À¤µ¤¤ -- TAKA? 2010-07-02 (¶â) 17:41:25
  • ¥í¥Ü¥Ã¥È¤ÎÀâÌÀ¤Ê¤É¡¢½ñ¤¯¤Ù¤­¤³¤È¤ò¤­¤Á¤ó¤È¤«¤±¤Æ¤¤¤ë¤È»×¤¤¤Þ¤¹¡£¸å¤Ï¡¢¹©Éפ·¤¿ÅÀ¤ä¹Í»¡¤Ê¤É¥ª¥ê¥¸¥Ê¥ë¤ÊÅÀ¤òÁ°Ì̤˽Ф·¤Æ¤¤¤¯¤ÈÎɤ¤¤Ç¤¹ -- FI? 2010-07-12 (·î) 17:49:45


źÉÕ¥Õ¥¡¥¤¥ë: fileCIMG0040.JPG 198·ï [¾ÜºÙ] fileCIMG0032.JPG 102·ï [¾ÜºÙ] fileCIMG0031.JPG 182·ï [¾ÜºÙ] fileCIMG0028.JPG 176·ï [¾ÜºÙ] fileCIMG0029.JPG 177·ï [¾ÜºÙ] fileCIMG0026.JPG 185·ï [¾ÜºÙ] fileCIMG0039.JPG 201·ï [¾ÜºÙ] fileCIMG0033.JPG 174·ï [¾ÜºÙ] fileCIMG0036.JPG 169·ï [¾ÜºÙ] fileCIMG0034.JPG 196·ï [¾ÜºÙ] fileCIMG0038.JPG 171·ï [¾ÜºÙ] fileCIMG0024.JPG 201·ï [¾ÜºÙ] fileCIMG0021.JPG 194·ï [¾ÜºÙ]

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Last-modified: 2010-07-12 (·î) 17:49:45