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#define THRESHOLD 41 int bump=0; //´Ì¤ÎÊÑ¿ô 1¤¬»ý¤Ã¤Æ¤¤¤ë¡£0¤¬»ý¤Ã¤Æ¤Ê¤¤ int search=0; //õ¤¹¤ÎÊÑ¿ô ξÊý¤«¤«¤Ã¤¿¾ì¹ç¡¢1¤ò¤·¤Þ¤¹¡£ sub ryoho(){ //¸òº¹ÅÀ¤Ç´Ì¤ò»ý¤Ã¤Æ¤ë¤È¤¤È»ý¤Ã¤Æ¤Ê¤¤¤È¤¤ÎʬÊÌ¡£ if(bump>=1){ //´Ì¤ò»ý¤Ã¤Æ¤¤¤ë¤È¤¡£ PlaySound(SOUND_CLICK) ; // ¥Ô¥Ã Off(OUT_A+OUT_C); Wait(100); //°ì²ó»ß¤Þ¤ë¡£ OnFwd(OUT_A+OUT_C); Wait(170); //´Ì¤ò¸òº¹ÅÀ¤Î¾å¤ËÃÖ¤¯²áÄø¡£ OnFwd(OUT_A); OnRev(OUT_C); Wait(215); Off(OUT_A+OUT_C); Wait(30); PlaySound(SOUND_DOWN) ; // ¥Ô¥í¥Ô¥í¡Á¤ÈÄ㤯¤Ê¤ë²» OnRev(OUT_B); Wait(75); Off(OUT_B); OnRev(OUT_A+OUT_C); Wait(100); OnRev(OUT_A); OnFwd(OUT_C); Wait(215); OnRev(OUT_A+OUT_C); Wait(90); //½ª¤ï¤ê¡£ bump=0; //´Ì¤ò»ý¤Ã¤Æ¤Ê¤¤¾õÂÖ¤ËÌ᤹¡£ ClearTimer(0); }else{ PlaySound(SOUND_DOUBLE_BEEP) ; //ξÊý¤Ë¤Ê¤Ã¤¿¤é°ì²óÌĤ¯ Off(OUT_A+OUT_C); Wait(100); OnFwd(OUT_A+OUT_C); Wait(30); Off(OUT_A+OUT_C); search++; } } sub bumper(){ //¥Ð¥ó¥Ñ¡¼ PlaySound(SOUND_UP) ; // ¥Ô¥í¥Ô¥í¡Á¤È¹â¤¯²» OnFwd(OUT_B); Wait(75); Off(OUT_B); bump++; //¥Ð¥ó¥Ñ¡¼¤¬ÊĤ¸¤¿¤é£á¤Ë1¤ò½Ð¤¹¡£ } task main() //¥á¥¤¥ó¥¿¥¹¥¯¡£ { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); ClearTimer(0); while( true ) { start go_line; //»Ï¤á until ((SENSOR_2 == 1) || (search==1) || (Timer(0)>=150)); //¥¿¥Ã¥Á¤¬È¿±þ¤·¤¿¤ê¡¢¸òº¹ÅÀ¤ËÆþ¤Ã¤¿¤ê¡¢¥¿¥¤¥Þ¡¼¤¬1.5Éäò²á¤®¤ë¤Þ¤Ç¡¢ stop go_line; //°ì²ó¤È¤Þ¤ë¡£ if(SENSOR_2 == 1){ //¥Ð¥ó¥Ñ¡¼¤¬È¿±þ¤¹¤ë¤Þ¤Ç¡£ Off(OUT_A+OUT_C); Wait(100); bumper(); //¥Ð¥ó¥Ñ¡¼¤¬Æ°¤¯¡£ }else if(search==1){ //¸òº¹ÅÀ¤«¤é½Ð¤¿¤éõ¤¹¥¿¥¹¥¯¤Ë¤¤¤¤Þ¤¹¡£ start sagasu; until((SENSOR_1 <= THRESHOLD) || (SENSOR_3 <= THRESHOLD));//¹õÀþ¤Îȯ¸« search=0; //searchÊÑ¿ô¤ò¥¼¥í¤ËÌᤷ¤Þ¤¹. stop sagasu; //õ¤¹¥¿¥¹¥¯½ª¤ï¤ê¡£ }else{ break; //¸òº¹ÅÀ¤«¤é½Ð¤Æ1.5Éäˤʤ俤é»ß¤Þ¤ê¤Þ¤¹. } } Off(OUT_A+OUT_C); stop go_line; } task go_line() //¥é¥¤¥ó¥¿¥¹¥¯ { while (true) { if ((SENSOR_1 >= THRESHOLD) && (SENSOR_3 >= THRESHOLD)) { //ľ¿Ê OnFwd(OUT_A+OUT_C); } else if ((SENSOR_1 >= THRESHOLD) && (SENSOR_3 <= THRESHOLD)) { //±¦ OnFwd(OUT_A);OnRev(OUT_C); } else if ((SENSOR_1 <= THRESHOLD) && (SENSOR_3 >= THRESHOLD)) { //º¸ OnFwd(OUT_C);OnRev(OUT_A); } else { //ξÊý ClearTimer(0); //ξÊý¤«¤«¤ë¾ì¹ç¤Ï¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Þ¤¹¡£ ryoho(); //ξÊý¥µ¥Ö¥ë¡¼¥Á¥ó»Ï¤á¡£ } Wait(5); } } task sagasu(){ //õ¤¹¥¿¥¹¥¯»Ï¤á OnFwd(OUT_C);OnRev(OUT_A);Wait(90); //±¦¤Ë¶Ê¤¬¤ê¤Þ¤¹¡£ OnFwd(OUT_A);OnRev(OUT_C);Wait(150); //º¸¤Ë¶Ê¤¬¤ê¤Þ¤¹¡£ Off(OUT_A+OUT_C); }
#define turn OnFwd(OUT_A);OnRev(OUT_C);Wait(200);Off(OUT_A+OUT_C);//180Åٲ󞤹¤ë #define turn_R OnFwd(OUT_A);OnRev(OUT_C);Wait(85);Off(OUT_A+OUT_C);//90ÅÙ±¦²óž¤¹¤ë #define turn_L OnFwd(OUT_C);OnRev(OUT_A);Wait(85);Off(OUT_A+OUT_C);//90ÅÙº¸²óž¤¹¤ë #define back OnRev(OUT_A+OUT_C);Wait(80);Off(OUT_A+OUT_C);//¸åÂह¤ë #define go OnFwd(OUT_A+OUT_C);//Á°¿Ê¤¹¤ë #define golittle OnFwd(OUT_A+OUT_C);Wait(60);Off(OUT_A+OUT_C);//0.4ÉÃÁ°¿Ê¤¹¤ë #define stay Off(OUT_A+OUT_C);//¤½¤Î¾ì¤Ç»ß¤Þ¤ë #define arm_c OnFwd(OUT_B);Wait(75);Off(OUT_B);//¥¢¡¼¥à¤òÊĤ¸¤ë #define arm_o OnRev(OUT_B);Wait(75);Off(OUT_B);//¥¢¡¼¥à¤ò³«¤¯ #define THRESHOLD 45//¸÷¥»¥ó¥µ¡¼¤Î¶Ìܤò45¤È¤¹¤ë task main() { SetSensor(SENSOR_1,SENSOR_LIGHT);//SENSOR_1¤ò¸÷¥»¥ó¥µ¡¼¤È¤¹¤ë SetSensor(SENSOR_2,SENSOR_TOUCH);//SENSOR_2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤È¤¹¤ë SetSensor(SENSOR_3,SENSOR_LIGHT);//SENSOR_3¤ò¸÷¥»¥ó¥µ¡¼¤È¤¹¤ë while(true){ start go_line;//go_line¤ò¤¹¤ë until(SENSOR_2==1);//SENSOR_2¤Ë°ìÅÙ¤¢¤¿¤ë¤Þ¤Ç stop go_line;//go_line¤ò»ß¤á¤ë stay;//»ß¤Þ¤ë arm_c;//¥¢¡¼¥à¤òÊĤ¸¤ë Wait(30);//0.3ÉÃÂÔ¤Ä turn;//180Åٲ󞤹¤ë Wait(30);//0.3ÉÃÂÔ¤Ä arm_o;//¥¢¡¼¥à¤ò³«¤¯ Wait(30);//0.3ÉÃÂÔ¤Ä back;//¸åÂह¤ë Wait(30);//0.3ÉÃÂÔ¤Ä turn;//180Åٲ󞤹¤ë back;//¸åÂह¤ë } } task go_line() { int n=0;//ÊÑ¿ôn¤ò0¤È¤¹¤ë while(n<14){ Wait(1);//0.3ÉÃÂÔ¤Ä go;//Á°¿Ê¤¹¤ë until((SENSOR_1<THRESHOLD||SENSOR_3<THRESHOLD));//SENSOR_1¤¬45¤è¤ê¾®¤µ¤¯¤Ê¤ë»þ¤Þ¤¿¤ÏSENSOR_3¤¬45¤è¤ê¾®¤µ¤¯¤Ê¤ë»þ¤Þ¤Ç stay;//¤½¤Î¾ì¤Ç»ß¤Þ¤ë if(SENSOR_1<THRESHOLD){ OnFwd(OUT_C);OnRev(OUT_A);//È¿»þ·×¤Þ¤ï¤ê¤ò¤¹¤ë until((SENSOR_1>THRESHOLD)||((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD))); //SENSOR_1¤¬45¤è¤êÂ礤¤»þ¤Þ¤¿¤ÏSENSOR_1¤¬45¤è¤ê¾®¤µ¤¤¤È¤¤«¤ÄSENSOR_3¤¬45¤è¤ê¾®¤µ¤¤¤È¤¤Þ¤Ç stay;//¤½¤Î¾ì¤Ç»ß¤Þ¤ë } if(SENSOR_3<THRESHOLD){ OnFwd(OUT_A);OnRev(OUT_C);//»þ·×²ó¤ê¤¹¤ë until((SENSOR_3>THRESHOLD)||((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD))); //SENSOR_3¤¬45¤è¤êÂ礤¤»þ¤Þ¤¿¤ÏSENSOR_1¤¬45¤è¤ê¾®¤µ¤¤¤È¤¤«¤ÄSENSOR_3¤¬45¤è¤ê¾®¤µ¤¤¤È¤ stay;//¤½¤Î¾ì¤Ç»ß¤Þ¤ë } if((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD)){ if((n==1)||(n==7)||(n==8)||(n==11)){//n=1,8,9,12¤Î»þ PlaySound(SOUND_UP);//¥Ô¥í¥Ô¥í¡Á¤È¹â¤¯²» Wait(15);//0.15ÉÃÂÔ¤Ä n++;//n=n+1 golittle;//0.4ÉÃÁ°¿Ê¤¹¤ë Wait(30);//0.3ÉÃÂÔ¤Ä turn_R;//±¦¤Ë¶Ê¤¬¤ë } else if((n==3)){//n=3¤Î»þ PlaySound(SOUND_LOW_BEEP);//¥Ö¡¼¤È¤¤¤¦Ä㤤²» Wait(15);//0.15ÉÃÂÔ¤Ä n++;//n=n+1 golittle;//0.4ÉÃÁ°¿Ê¤¹¤ë Wait(30);//0.3ÉÃÂÔ¤Ä turn_L;//º¸¤Ë¶Ê¤¬¤ë } else{ PlaySound(SOUND_DOWN) ;// ¥Ô¥í¥Ô¥í¡Á¤ÈÄ㤯¤Ê¤ë²» Wait(150);//1.5ÉÃ¤Þ¤Ä n++;//n=n+1 go;//Á°¿Ê¤¹¤ë until((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD));//SENSOR_1¤«¤ÄSENSOR_3¤¬45¤è¤êÂ礤¤»þ stay;//¤½¤Î¾ì¤Ç»ß¤Þ¤ë } } } stay;//¤½¤Î¾ì¤Ç»ß¤Þ¤ë }
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