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#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë #define POW 20//ξÊý¤¬¹õ¤Ç¤¢¤ë¤È¤¤ËÁ°¿Ê¤¹¤ëÎÌ #define G_TIME 0//¸íº¹½¤Àµ #defineRORTARY();Rot++;while(SENSOR_1>IKT) {OnRev(OUT_C);OnFwd(OUT_A);}OnFwd(OUT_C);Off(OUT_A);Wait(60); #define TIKAMITI_1();tika=1; #define TIKAMITI_2();tika2=1;
sub MAE()//ξÊý¹õ¤Î»þ¡¢°ìÊâÁ°¤ËÁ°¿Ê {OnFwd(OUT_A+OUT_C); Wait(POW); Off(OUT_A+OUT_C); } sub IPOMAE()//¶áÆ»¤Ç¤Ê¤¤¤È¤¤ÎÁ°¿Ê {OnFwd(OUT_A+OUT_C); Wait(5); Off(OUT_A+OUT_C); } sub SEAMAE()//¥µ¡¼¥ÁÁ° {OnFwd(OUT_B); Wait(100+33*G_TIME); Off(OUT_B); } sub SEAEND()//¥µ¡¼¥Á½ªÎ» {OnRev(OUT_B); Wait(860+33*G_TIME); Off(OUT_B); } task main() {
SetSensor (SENSOR_1,SENSOR_LIGHT); SetSensor (SENSOR_3,SENSOR_LIGHT);
int sens=0; int Rot=0; int TKMT=0; int kuro=0; int count=0; int tika=0; int tika2=0;
OnRev(OUT_B); Wait(30+G_TIME); Float(OUT_B);
while(true){
SetPower(OUT_A,7); SetPower(OUT_C,7);
OnFwd(OUT_A+OUT_C);//Ä̾ïÁö¹Ô Wait(2); Float(OUT_A+OUT_C); Wait(1);
if(sens==0&&SENSOR_3<=IKT&&Rot!=0){ //¥í¡¼¥¿¥ê¡¼ sens++; OnFwd(OUT_C); Off(OUT_A); Wait(55+G_TIME); PlaySound(SOUND_CLICK);Wait(5+G_TIME); } if(Rot!=0&&SENSOR_1<=IKT&&SENSOR_3<=IKT){ Rot=0; sens=0; OnFwd(OUT_A); Off(OUT_C); Wait(50+G_TIME); while(SENSOR_1>IKT){ OnFwd(OUT_A); Off(OUT_C); } }
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=1&&tika<3){ //¶áÆ»1 PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C); OnFwd(OUT_C);until(SENSOR_3>IKT);OnRev(OUT_A);Wait(20);tika++;} if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=3){ PlaySound(SOUND_CLICK);tika=0;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=1&&tika2<3){ //¶áÆ»2 PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C); OnFwd(OUT_A);until(SENSOR_1>IKT);OnRev(OUT_C);Wait(20);tika2++;} if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=3){ PlaySound(SOUND_CLICK);tika2=0;}
while(SENSOR_1<=IKT&&SENSOR_3>IKT){//º¸¤Ë¶Ê¤¬¤ë¤È¤ OnRev(OUT_A+OUT_C); }
while(SENSOR_3<=IKT&&SENSOR_1>IKT&&Rot==0){//±¦¤Ë¶Ê¤¬¤ë¤È¤ OnRev(OUT_C); }
while(SENSOR_1<=IKT&&SENSOR_3<=IKT&&Rot==0&&tika==0&&tika2==0){ //¹õ¤¤Àþ¤¬Î¾Êý¿¨¤ì¤¿¤È¤ MAE();
if(SENSOR_1<=IKT&&SENSOR_3<=IKT){//¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤¿¡Ê¶áÆ»¤ÈȽÃÇ¡Ë PlaySound(SOUND_DOWN); if(count==0){//°ì¼þÌܤλþ TIKAMITI_1(); } if(count>0){//Æó¼þÌÜ°Ê¹ß TIKAMITI_2(); } } else{ //¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤Ê¤«¤Ã¤¿¡Ê¶áÆ»°Õ³°¤ÈȽÃÇ¡Ë IPOMAE();
ClearTimer(0); kuro=0;
SEAMAE(); while(FastTimer(0)<=750+33*G_TIME&&tika==0&&tika2==0){//¥µ¡¼¥ÁÃæ OnFwd(OUT_B); if(SENSOR_1<=IKT){ PlaySound(SOUND_LOW_BEEP); kuro++; Wait(500+33*G_TIME); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡} ¡¡¡¡¡¡¡¡¡¡¡¡¡¡} SEAEND();
if(kuro==1){ //¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬1Ëܡʸòº¹ÅÀ¤ÈȽÃÇ¡Ë PlaySound(SOUND_UP); OnFwd(OUT_A+OUT_C); Wait(30+G_TIME); break; } if(kuro>=2){//¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬2ËÜ(¥¹¥¿¡¼¥È¤ÈȽÃÇ¡Ë count++; PlaySound(SOUND_UP); OnFwd(OUT_A+OUT_C); Wait(55+G_TIME); break; } if(kuro==0){//¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬0ËÜ(¥í¡¼¥¿¥ê¡¼¤«±Ô³Ñ¡Ë PlaySound(SOUND_FAST_UP); if(SENSOR_3<=IKT){ //¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(±¦) OnFwd(OUT_C); until(SENSOR_3>IKT); Wait(30+G_TIME); Off(OUT_C); OnRev(OUT_A); Wait(70+G_TIME); break; } if(SENSOR_1<=IKT){//¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(º¸¡Ë OnFwd(OUT_A); until(SENSOR_1>IKT); Wait(30+G_TIME); Off(OUT_A); OnRev(OUT_C); Wait(70+G_TIME); break; } else {//¤â¤·¥í¡¼¥¿¥ê¡¼¤Ç¤¢¤ì¤Ð RORTARY(); break; } } } } } }
#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë #define t 780//b¤ò´¬Ì᤹»þ´Ö
sub turn_r(){ //±¦ÀÞ OnFwd(OUT_A); Off(OUT_C); } sub turn_l(){ //º¸ÀÞ OnFwd(OUT_C); Off(OUT_A); } sub turn_rb(){ //¥Ð¥Ã¥¯¤Ç±¦ÀÞ OnRev(OUT_C); Off(OUT_A); } sub turn_lb(){ //¥Ð¥Ã¥¯¤Çº¸ÀÞ OnRev(OUT_A); Off(OUT_C); }
task main() { SetSensor (SENSOR_1,SENSOR_LIGHT); SetSensor (SENSOR_3,SENSOR_LIGHT); int go=1; //0¡§¥í¡¼¥¿¥ê¡¼¡¢1¡§½½»ú int sens=0; //¥í¡¼¥¿¥ê¡¼¤Î±¦¤ò1²óÈô¤Ð¤¹ int Rot=0; //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0 int tika=0; //¶áÆ»¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0 int count=0; //²¿¼þ¤·¤¿¤« int l=0; //1¤Ê¤éºÇ¸å¤Ëº¸ÀÞ int r=0; //1¤Ê¤éºÇ¸å¤Ë±¦ÀÞ int ex_turn=0; //µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ëÄ´À°¤ò¤·¤¿¤é1¡¢µÞ¥«¡¼¥Ö¤ò¤·¤¿¤é0 int time=0; //´¬¤Ìᤷ¤Î»þ´Ö SetPower(OUT_A,7);SetPower(OUT_B,7);SetPower(OUT_C,7); //½ÐÎÏÄ´À° OnRev(OUT_B); Wait(50); while(true){ if(count==2){ //Æó¼þÌܤ¬½ª¤ï¤ë Off(OUT_A+OUT_B+OUT_C); //Ää»ß break; } OnFwd(OUT_A+OUT_C); //º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ê¤éÁ°¿Ê Wait(3); Float(OUT_A+OUT_C); Wait(1); Off(OUT_B); if(sens==0&&SENSOR_3<IKT&&Rot!=0){//¥í¡¼¥¿¥ê¡¼¤Ç±¦¤ò1²óÈô¤Ð¤¹ sens=1; while(SENSOR_3<IKT){ turn_l(); } Wait(20); PlaySound(SOUND_CLICK);Wait(5); } if(Rot!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){ //¥í¡¼¥¿¥ê¡¼¤ò½Ð¤ë Rot=0; sens=0; while(SENSOR_1<IKT){ turn_r(); } Wait(20); while(SENSOR_1>IKT){ turn_r(); } } if(tika!=0&&count!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){//¶áÆ»&2¼þÌÜ¡¢Î¾Êý¹õ¤Çº¸¤Î¹õ¤ò̵»ë turn_r();Wait(70); if(tika==2){ tika=0; } if(tika==1){ tika++; } } if(tika!=0&&count==0&&SENSOR_1<IKT&&SENSOR_3<IKT){ //¶áÆ»&1¼þÌÜ¡¢Î¾Êý¹õ¤Ç±¦¤Î¹õ¤ò̵»ë turn_l();Wait(70); if(tika==2){ tika=0; } if(tika==1){ tika++; } } ClearTimer(0); while(SENSOR_1<IKT&&SENSOR_3>IKT){ //º¸ÀÞ if(FastTimer(0)>55){ //¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö ex_turn=0; turn_lb(); PlaySound(SOUND_CLICK); } if(FastTimer(0)<17){ turn_l(); l=1; r=0; } else{ turn_lb(); } } ClearTimer(0); while(SENSOR_3<IKT&&SENSOR_1>IKT&&Rot==0){ //±¦ÀÞ if(FastTimer(0)>55){ //¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö ex_turn=0; turn_rb(); PlaySound(SOUND_CLICK); } if(FastTimer(0)<17){ turn_r(); r=1; l=0; } else{ turn_rb(); } } while(SENSOR_1<IKT&&SENSOR_3<IKT&&Rot==0&&tika==0){//ξÊý¹õ¤Ç¥í¡¼¥¿¥ê¡¼¡¢¶áÆ»¤ò¤·¤Æ¤Ê¤¤»þ if(l==1&&ex_turn==0){//ºÇ¸å¤Ëº¸ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é OnRev(OUT_A+OUT_C); Wait(25); while(SENSOR_3>IKT&&SENSOR_1>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤ê±¦¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤êº¸¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤¤ë turn_rb(); } ex_turn=1; PlaySound(SOUND_CLICK); break; } if(r==1&&ex_turn==0){//ºÇ¸å¤Ë±¦ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é OnRev(OUT_A+OUT_C); Wait(25); while(SENSOR_1>IKT&&SENSOR_3>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤êº¸¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤ê±¦¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤¤ë turn_lb(); } ex_turn=1; PlaySound(SOUND_CLICK); break; } else{ //µÞ¥«¡¼¥Ö¤ÎÄ´À°¤ò¤·¤Æ¤âξÊý¹õ¤Ë¤Ê¤Ã¤¿»þ ex_turn=0; OnRev(OUT_A+OUT_C); Wait(27); while(SENSOR_1<IKT||SENSOR_3<IKT){ OnFwd(OUT_A+OUT_C); } Off(OUT_A+OUT_C); ClearTimer(0); while(FastTimer(0)<t&&tika==0){//¶áÆ»¤ÎȽÄê OnFwd(OUT_B); if(SENSOR_1<IKT&&FastTimer(0)<t&&tika==0){//¹õÀþ¤ÎŤµ¤ò¬¤ë PlaySound(SOUND_CLICK); OnFwd(OUT_B); Wait(235); PlaySound(SOUND_UP); ClearTimer(1); while(SENSOR_1>IKT&&FastTimer(1)<120){//¶áÆ»¤Ê¤éŤ¤Çò OnFwd(OUT_B); Wait(12); if(SENSOR_1<IKT){ tika=0; break; } tika=1;PlaySound(SOUND_DOWN); } if(SENSOR_1<IKT){//¤½¤ì°Ê³°¤Ï¹õ break; } } } time=FastTimer(0); if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë OnRev(OUT_B); Wait(time-12); } OnFwd(OUT_A+OUT_C); Wait(22); Off(OUT_B); if(tika==0){//¥í¡¼¥¿¥ê¡¼¤«½½»ú¤«¥¹¥¿¡¼¥È¤ÎȽÄê go=1; Wait(38); Off(OUT_A+OUT_C); ClearTimer(0); while(SENSOR_1>IKT&&SENSOR_3>IKT&&FastTimer(0)<t){ //¹õ¤òõ¤¹ OnFwd(OUT_B); if(FastTimer(0)>730){ //¹õ¤¬Ìµ¤¤¤Ê¤é¡¢¥í¡¼¥¿¥ê¡¼ go=0; Wait(5); break; } } time=FastTimer(0); if(FastTimer(0)<160&&SENSOR_1<IKT){//¹õ¤¬º¸¤Î¥»¥ó¥µ¡¼¤È¶á¤¤¤È¥¹¥¿¡¼¥È count++; PlaySound(SOUND_DOUBLE_BEEP); OnFwd(OUT_A+OUT_C); OnRev(OUT_B); Wait(27); Off(OUT_A+OUT_B+OUT_C); if(time>=27){ Wait(time-27);//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë } break; } if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë OnRev(OUT_B); Wait(time-12); } if(go==1){//½½»ú¤Î¸òº¹ÅÀ PlaySound(SOUND_DOWN); OnRev(OUT_B); Wait(22); OnFwd(OUT_A+OUT_C); Off(OUT_B); } else {//¥í¡¼¥¿¥ê¡¼¤Î»þ PlaySound(SOUND_DOUBLE_BEEP); Rot=1; go=1; OnRev(OUT_A+OUT_C); Wait(31); Off(OUT_B); while(SENSOR_1<IKT){ turn_r(); } Wait(20); while(SENSOR_1>IKT){ turn_r(); } while(SENSOR_3<IKT){ turn_l(); } turn_l(); Wait(15); } Off(OUT_B); } } } } }
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