2011a

受け取る

#define R OUT_C
#define L OUT_A
#define SLIDE OUT_B
#define RL SENSOR_1
#define LL SENSOR_3
#define NINETY 10
#define isWhite >40
#define isBlack <40
#define ANGLE 10
#define GOAL 350 

void go_straight(){
	OnFwd (R+L);
}
void go_straight_s(){
	OnFwd (R+L);
	Off (R+L);
	Wait (1);
} 
void go_back(){
	OnRev (R+L);
}
void go_back_s(){
       OnRev (R+L);
       Off(R+L);
       Wait(1);
}
void tr(){
	OnFwd (L);
	OnRev (R);
	Off (R+L);
	Wait (1);
}
void tl(){
	OnFwd (R);
	OnRev (L);
	Off (R+L);
	Wait (1);
}
void stop_moving(){
	Off (R+L);
	Wait (100);
}
void out(){
	OnFwd (SLIDE);
	Wait (50);
	Off (SLIDE);
}
void set_in(){
	OnRev (SLIDE);
	Wait (50);
	Off (SLIDE);
}
task main (){
	SetSensor (RL, SENSOR_LIGHT);
	SetSensor (LL, SENSOR_LIGHT);
	
	int blackline = 0;
	while (1){
		go_straight_s();
		if (blackline >= 2) break;
		if (RL isBlack && LL isBlack){
			PlaySound (SOUND_CLICK);
			blackline++;
			while (RL isBlack || LL isBlack) go_straight_s();
		}
	}
	
	stop_moving();
       PlaySound (SOUND_CLICK);
       OnRev(R+L);
       Wait(20);
	Off (R+L);
	OnFwd(R);
	OnRev(L);
       Wait(20);
	Off (R+L);
	while (1){
		if (RL isBlack && LL isBlack) break;
	        if (RL isWhite && LL isWhite) {
                       go_back();
		} else if (RL isBlack && LL isWhite) {
			tl();
		} else if (RL isWhite && LL isBlack) {
			tr();
		}
	}
       PlaySound(SOUND_UP);
	while (1){
		stop_moving();
		SendMessage (1);
		SendMessage (1);
		go_straight();
               Wait(10);
		Off (R+L);
		OnRev(L);
       	Wait(50);
		Off (R+L);
		go_straight();
               Wait(15);
		Off (R+L);
		stop_moving();		
		Wait (500);				
		OnFwd(L);
		OnRev(R);
       	Wait(20);
		Off (R+L);
		go_straight();
		Wait (GOAL);
		
		stop_moving();
		out();
		
		set_in();
		go_back();
		Wait (GOAL);
		tl();
		Wait (ANGLE);
		Wait (ANGLE);
		stop_moving();
	}
}

押す方

#define R OUT_C
#define L OUT_A
#define RL SENSOR_3
#define LL SENSOR_1
#define isBlack <40
#define isWhite >=40
#define NINETY 17
#define BALL 20
void go_straight(){
	OnFwd (R+L);
}
void go_straight_s(){
	OnFwd (R+L);
	Off (R+L);
	Wait (2);	
}
void tr(){
	OnFwd (L);
	OnRev (R);
}
void tr_s(){
	OnFwd (L);
	Off (R+L);
} 
void tl(){
	OnFwd (R);
	OnRev (L);
}
void tl_s(){
	OnFwd (R);
	Off (R+L);
}
void stop_moving(){
	Off (R+L);
	Wait (100);
}
task main (){
	SetSensor (RL, SENSOR_LIGHT);
	SetSensor (LL, SENSOR_LIGHT);
	
	int blackline = 0;
	while (1){
		go_straight();
		if (blackline >= 2) break;
		if (RL isBlack && LL isBlack){
			PlaySound (SOUND_CLICK);
			blackline++;
			while (RL isBlack || LL isBlack) go_straight();
		}
	}
	stop_moving();
	// turn left
	while (1){
		if (LL isBlack) break;
		tl_s();
	}
	stop_moving();
	// should be on the line, so trace it
	while (1){
		if (RL isBlack && LL isBlack) {
			while (RL isBlack && LL isBlack) go_straight();
			break;
		}
		else if (RL isWhite && LL isWhite) go_straight();
		else if (RL isBlack && LL isWhite) tr_s();
		else if (RL isWhite && LL isBlack) tl_s();
	}
	stop_moving();
	// should be at the end of the line
	/*while (1){
		if (LL isBlack) break;
		tl();
	}*/
	tl();
	Wait (NINETY);
	stop_moving();
	
	// ready
	while (1){
		if (Message() == 1){
			Wait (300);
			go_straight();
			Wait (BALL);
			Off(R+L);
		}
		ClearMessage();
	}
	go_straight();
	//Wait (300);
       Off(R+L);
}

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Last-modified: 2011-08-11 (木) 16:01:30 (2935d)