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in.JPG

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#define signal_on 11
#define signal_off 12
#define turn_right OnFwd(OUT_C);Wait(124);Off(OUT_A+OUT_C);
#define turn_left OnFwd(OUT_A);Wait(124);Off(OUT_A+OUT_C);
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Float(OUT_A+OUT_C);

sub SEND()                  //¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¥×¥í¥°¥é¥à
{
ClearTimer(0);
ClearMessage();
while (FastTimer(0) < 200)
{
SendMessage(signal_on);
if (Message() == 1) 
{
PlaySound(SOUND_CLICK);    // Á÷¿®¤ËÀ®¸ù¤·¤¿¤È¤­¤Ï¥Ô¥Ã¤ÈÌĤ餹
} 
else
{
PlaySound(SOUND_LOW_BEEP); // Á÷¿®¤Ë¼ºÇÔ¤·¤¿¤È¤­¤Ï¥Ö¥Ã¤ÈÌĤ餹
 }
}
}

task main()
{
 SetSensor(SENSOR_1, SENSOR_LIGHT);        //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼1¤Ë¥»¥Ã¥È
 SetSensor(SENSOR_3, SENSOR_LIGHT);        //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼3¤Ë¥»¥Ã¥È


go_straight(70);                           //±ß¤«¤é¤Ç¤Æ¥é¥¤¥ó¤Ë¤Î¤ë
turn_left;                                                     
go_straight(240);                          //¥é¥¤¥ó¤Îü¤Þ¤Ç¤¹¤¹¤à
turn_left;                                 
go_straight(160);                          //¥Ü¡¼¥ë¤ò¤Ä¤¯

 SEND();           
 ClearMessage();                           //¥á¥Ã¥»¡¼¥¸¤ò¥¯¥ê¥¢
 until(Message() == signal_on);            //¥á¥Ã¥»¡¼¥¸¤¬signal_on¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡
 go_straight(40);                          //¥Ü¡¼¥ë¤ò¤Ä¤¯
 SEND();
 ClearMessage();
 until(Message() == signal_on);
 go_straight(40);
 SEND();  

}

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#define go_s(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);			//ľ¿Ê
#define back(t) OnRev(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);			//¸åÂà
#define turn_r(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);		//±¦¤Ë¶Ê¤¬¤ë
#define turn_l(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C);		//º¸¤Ë¶Ê¤¬¤ë
#define arm_d OnRev(OUT_B);Wait(90);Off(OUT_B);					//¥¢¡¼¥à¤ò²¼¤²¤ë
#define arm_u OnFwd(OUT_B);Wait(90);Off(OUT_B);					//¥¢¡¼¥à¤ò¾å¤²¤ë
#define SPIN 200	//°ì²óž¤¹¤ë»þ´Ö
#define signal_on 11
#define signal_off 12

task main()
{
	SetSensor(SENSOR_1,SENSOR_LIGHT);	//¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼¤Ë
	SetSensor(SENSOR_2,SENSOR_TOUCH);	//¥»¥ó¥µ¡¼1¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë
	SetSensor(SENSOR_3,SENSOR_LIGHT);	//¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼¤Ë¡Ê¥é¥ó¥¿¥ó¤òõ¤¹¡Ë
	SetPower(OUT_B,6);
	int l_max=0;		//l_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë
	int t_max=0;		//t_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë

	go_s(180);				//¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¥Ü¡¼¥ëÃÖ¤­¾ì¤Ø°ÜÆ°
	turn_l(80);
	OnFwd(OUT_A+OUT_C);
	until(SENSOR_1<40);			//Àþ¾å¤Þ¤ÇÍ褿¤é
	turn_r(100);				//¸þ¤­¤òÊѤ¨¤Æľ¿Ê
	go_s(180);
	turn_r(150);
	arm_d;					//¥Ü¡¼¥ëÃÖ¤­¾ì¤Þ¤ÇÍ褿¤é¥¢¡¼¥à¤ò²¼¤²
	OnFwd(OUT_A+OUT_C);
	until(SENSOR_2 == 1);		//ÌڤΥ֥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
	Wait(500);				//¤â¤¦°ì¤Ä¤Î¥í¥Ü¥Ã¥È¤¬¥Ü¡¼¥ë¤ò²¡¤¹¤Þ¤ÇÂÔ¤Ä
	OnRev(OUT_A+OUT_C);
	Wait(20);				//¥¢¡¼¥à¤¬¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤Þ¤Ç¸åÂà
	Float(OUT_A+OUT_C);			//¤æ¤Ã¤¯¤ê»ß¤Þ¤ë
	arm_u;					//¥¢¡¼¥à¤ò¾å¤²¤Æ¥Ü¡¼¥ë¤ò¸ÇÄê
	back(50);
	turn_r(150);				//¥´¡¼¥ë¤ÎÊý¸þ¤ËÊý¸þž´¹
	go_s(850);				//¥´¡¼¥ëÁ°¤Ë¸þ¤«¤Ã¤Æľ¿Ê
	turn_r(90);				//¥í¥Ü¥Ã¥È¤È¥´¡¼¥ë¤¬Ä¾³Ñ¤Ë¤Ê¤ë¤è¤¦¸þ¤­¤òÄ´À°
	    go_s(200);			//¥´¡¼¥ë¤Ë¸þ¤«¤Ã¤Æľ¿Ê
	    arm_d;				//¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤òÊü¤¹
	    repeat(3)
	    {go_s(10); back(10);}		//¼ÖÂΤòÍɤ餷¡¢¥Ü¡¼¥ë¤ò³Î¼Â¤ËÍî¤È¤¹
	    arm_u;				//¥¢¡¼¥à¤ò¾å¤²¤ë
	repeat(2)
 {
	turn_r(200);				//¥Ü¡¼¥ëÃÖ¤­¾ì¤ØÌá¤ë¥×¥í¥°¥é¥à
	go_s(800);				//¤Þ¤Ã¤¹¤°¥¹¥¿¡¼¥ÈÃÏÅÀ¤Þ¤ÇÌá¤ë
	turn_r(100);				//Êý¸þž´¹
	OnFwd(OUT_A+OUT_C);	
	until(SENSOR_1<40);			//Àþ¾å¤Þ¤Çľ¿Ê¤·¤¿¤é
	turn_l(100);				//¥Ü¡¼¥ëÃÖ¤­¾ì¤ØÊý¸þž´¹
	go_s(180);
	turn_r(120);				//¥Ü¡¼¥ëÃÖ¤­¾ì¤Ø
	arm_d;
	OnFwd(OUT_A+OUT_C);
	until(SENSOR_2 == 1);		//¥Ö¥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
	ClearMessage();			//¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤È¥á¥Ã¥»¡¼¥¸¤ÎÁ÷¼õ¿®
	while(true)
	{until(Message() == signal_on);	//¥¢¡¼¥à¤ò¾å¤²¤ë¥×¥í¥°¥é¥à¤ò¼Â¹Ô
	arm_u;	}
				//¥´¡¼¥ë¤Ë¸þ¤«¤¦¥×¥í¥°¥é¥à
	back(40);
	turn_r(120);
	go_s(830);
	turn_r(90);
	go_s(200);
	    arm_d;			//¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤ò½³¤ê½Ð¤¹
	    repeat(3)
	    {go_s(10); back(10);}
	    arm_u;
} 					//¡Ð¡ÑÆâ¤òÆó²ó·«¤êÊÖ¤¹
	back(500);			//¥³¡¼¥¹¤ÎÃæ¿´¤¢¤¿¤ê¤Þ¤ÇÌá¤Ã¤Æ½ªÎ»
} 

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Last-modified: 2011-08-30 (²Ð) 15:32:14