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#define ikichi 39 #define HIPOWER 7 #define LOWPOWER 2 #define set_power_H SetPower(OUT_AC,HIPOWER); #define set_power_L SetPower(OUT_AC,LOWPOWER); #define set_power_H_2 SetPower(OUT_B,LOWPOWER); #define go set_power_H;OnFwd(OUT_AC); #define t_l_hp set_power_L;OnRev(OUT_A);OnFwd(OUT_C); #define t_l_lp set_power_L;Off(OUT_A);OnFwd(OUT_C); #define t_r_hp set_power_L;OnFwd(OUT_A);OnRev(OUT_C); #define t_r_lp set_power_L;OnFwd(OUT_A);Off(OUT_C); #define step 1 #define t_l_90 OnRev(OUT_A);OnFwd(OUT_C);Wait(90); #define t_r_90 OnRev(OUT_C);OnFwd(OUT_A);Wait(90); #define p_1 PlaySound(SOUND_CLICK); #define p_2 PlaySound(SOUND_UP); #define set_b_lp SetPower(OUT_B,LOWPOWER); #define set_b_hp SetPower(OUT_B,HIPOWER); int n=0; task main() { SetSensor(SENSOR_2,SENSOR_LIGHT); SetSensor(SENSOR_1,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_TOUCH); OnFwd(OUT_AC); Wait(200); until(SENSOR_2<=ikichi-2); ClearTimer(0); while(FastTimer(0)<450){ if (SENSOR_2 < ikichi -5){t_l_hp} else if (SENSOR_2 < ikichi -2){t_l_lp} else if (SENSOR_2 < ikichi +2){go} else if (SENSOR_2 < ikichi +5){t_r_lp} else {t_r_hp} Wait(step); } //1:¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹&ľ³Ñ¤À¤È¼¡¤Ø// do{ if (SENSOR_2 < ikichi -5){t_l_hp;n +=1;p_1;} else if (SENSOR_2 < ikichi -2){t_l_lp;int n=0;} else if (SENSOR_2 < ikichi +2){go;int n=0;} else if (SENSOR_2 < ikichi +5){t_r_lp;int n=0;} else {t_r_hp;int n=0;} Wait(step); }while(n<3); p_2; n=0; //2:»æ¥Ñ¥Ã¥¯¤òõ¤·¤À¤·ÄϤà// Off(OUT_AC); t_r_hp; Wait(15); Off(OUT_AC); Wait(100); set_b_lp; OnFwd(OUT_B); Wait(100); Off(OUT_B); //3:180ÅÙ²óž&Á°¿È¸åÀþ¤Î¾å¤Ç¤È¤Þ¤ë// OnRev(OUT_AC); Wait(30); t_r_hp; Wait(190); OnFwd(OUT_AC); Wait(100); until(SENSOR_2 < ikichi -5); Off(OUT_AC); Wait(100); //¤³¤ÎÅÀ¤ò´ð½à¤Ë¹ÔÆ°// ClearTimer(2); //4:°ìÄê»þ´ÖÆâ¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹// while(FastTimer(2)<100){ if (SENSOR_2 < ikichi -5){t_l_hp} else if (SENSOR_2 < ikichi -2){t_l_lp} else if (SENSOR_2 < ikichi +2){go} else if (SENSOR_2 < ikichi +5){t_r_lp} else {t_r_hp} Wait(step); } //4:¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹&¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÇȽÃÇ// do{ if ((SENSOR_1==1)&&(SENSOR_3==1)){n +=5;} else if (SENSOR_2 <= ikichi -5){t_l_hp;int n=0;p_1;} else if (SENSOR_2 <= ikichi -2){t_l_lp;int n=0;} else if (SENSOR_2 <= ikichi +2){go;int n=0;} else if (SENSOR_2 <= ikichi +5){t_r_lp;int n=0;} else {t_r_hp;int n=0;} Wait(step); }while(n<3); Off(OUT_ABC); Wait(100); //5:¥Ñ¥Ã¥¯¤òÎ¥¤¹// OnRev(OUT_B); Wait(80); Off(OUT_B); //6:¥Ñ¥Ã¥¯¤Î°ú¤È´¤¾ì½ê¤Ø// OnRev(OUT_AC); Wait(100); Off(OUT_AC); t_l_hp; Wait(70); OnFwd(OUT_AC); Wait(175); t_r_hp; Wait(70); OnFwd(OUT_AC); until((SENSOR_1==1)||(SENSOR_3==1)); Off(OUT_AC); //7:¥Ñ¥Ã¥¯¤Î°ú¤È´¤// set_power_H_2; OnFwd(OUT_B); Wait(80); OnRev(OUT_AC); Wait(200); Off(OUT_C); OnRev(OUT_A); Wait(150); Off(OUT_A); //8:¥é¥¤¥ó¤òõ¤¹// OnFwd(OUT_AC); until(SENSOR_2<=ikichi-2); Off(OUT_AC); OnFwd(OUT_AC); Wait(20); Off(OUT_AC); }
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