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#define turn_R(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t); //±¦²óž¤òÄêµÁ #define shot OnFwd(OUT_B);Wait(20);Off(OUT_B); //¥Û¥¤¡¼¥ë¤Îȯ¼Í¤òÄêµÁ task main() { SetSensor(SENSOR_1, SENSOR_LIGHT); //¥»¥ó¥µ¡¼£±¤ò¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ SetSensor(SENSOR_3, SENSOR_LIGHT); //¥»¥ó¥µ¡¼£³¤ò¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ SetSensorMode(SENSOR_1,SENSOR_MODE_RAW); //¥»¥ó¥µ¡¼£±¤ò¹â´¶Å٥⡼¥É¤Ë¤¹¤ë SetSensorMode(SENSOR_3,SENSOR_MODE_RAW); //¥»¥ó¥µ¡¼£³¤ò¹â´¶Å٥⡼¥É¤Ë¤¹¤ë int s=0; //¥Û¥¤¡¼¥ë¤Îȯ¼Í²ó¿ô¤òs¤È¤·½é´üÃͤò£°¤Ë¤¹¤ë while (s<2){ //¥Û¥¤¡¼¥ë¤ò£²È¯È¯¼Í¤¹¤ë¤Þ¤Ç°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô¤¹¤ë if((SENSOR_1>700)&&(SENSOR_3>700)) //²ûÃæÅÅÅô¤Î¸÷¤ò´¶ÃΤ·¤¿»þ { shot; //¥Û¥¤¡¼¥ë¤òȯ¼Í¤¹¤ë s++; //ȯ¼Í²ó¿ô¤Ë£±¤ò¤¹ turn_R(30); } else //²ûÃæÅÅÅô¤Î¸÷¤ò´¶ÃΤ·¤Æ¤¤¤Ê¤¤»þ { turn_R(300); //±¦¤Ë²óž¤¹¤ë } } Off(OUT_A+OUT_B+OUT_C); //Ää»ß }
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#define eye_L SENSOR_1 //eye_L¤òÄêµÁ #define eye_R SENSOR_3 //eye_R¤òÄêµÁ #define cont 45 //cont¤ò45¤ÈÄêµÁ #define time 50 //time¤ò50¤ÈÄêµÁ task main () { SetSensor(eye_L, SENSOR_LIGHT); //º¸¤Î¸÷¥»¥ó¥µ¡¼ SetSensor(eye_R, SENSOR_LIGHT); //±¦¤Î¸÷¥»¥ó¥µ¡¼ int i=0; //ÊÑ¿ô¤ò»ÈÍÑ¡¡0¤«¤é Wait(100); //°ìÉÃÂԤäƤ«¤é¥¹¥¿¡¼¥È while(FastTimer(0)<time) {right_turn if(SENSOR_1>light_max) {light_max=SENSOR_1;} right_turn sub search_light() //±¦²ó¤ê¤·Â³¤±¤Æ¸÷¤òõ¤¹¥×¥í¥°¥é¥à { OnFwd(OUT_C); Wait(50); Off(OUT_C); Wait(20); PlayTone(330,50) ; ClearTimer(0); //search_light¤ò¼Â¹Ô¤¹¤ë¤¿¤Ó¤Ë¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¡õ¥¹¥¿¡¼¥È¤¹¤ë until(SENSOR_1>=light_max); Float(OUT_C); arm Wait(100); { if ((eye_L >= cont ) && (eye_R >= cont )) //¥»¥ó¥µ¡¼¤¬Î¾ÊýÈ¿±þ¤·¤¿¤È¤ { if (FastTimer(0) < 700){ OnFwd(OUT_C); Wait(time); Off(OUT_C); Wait(10); OnRev(OUT_C); Wait(time); Off(OUT_C); Wait(10); if (FastTimer(0) >= 700){ //¼·É÷ФäƤ¤¤ë¤Ê¤é¡¢¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¥×¥í¥°¥é¥à OnFwd(OUT_A); Wait(20); Off(OUT_A); Wait(100); i++; //ÊÑ¿ô¤Ë1¤ò¤·¤Æ¥×¥í¥°¥é¥à¤Ï¾å¤ËÌá¤ë } } else if ((eye_L >= cont ) && (eye_R <= cont )) //º¸¤Î¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Æ¤¤¤ë¤È¤¡¢º¸¤Ë¶Ê¤¬¤ë { PlayTone(349,50) ; OnRev(OUT_C); Wait(time); Off(OUT_C); Wait(10);} else if ((eye_L <= cont ) && (eye_R >= cont )) //±¦¤Î¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Æ¤¤¤ë¤È¤¡¢±¦¤Ë¶Ê¤¬¤ë { PlayTone(440,50) ; OnFwd(OUT_C); Wait(time); Off(OUT_C); Wait(10);} else { //¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Æ¤¤¤Ê¤¤¤È¤¡¢ search_light¤ò¥¹¥¿¡¼¥È search_light();} } } }
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