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#define off Off(OUT_BC); #define TURN_TIME 500 //1/4²óž¤Î»þ´Ö #define BLACK 31 //²¼¸Â #define WHITE 62 //¾å¸Â #define go OnFwd(OUT_BC,); #define left OnFwd(OUT_B,35);Off(OUT_C); #define right OnFwd(OUT_C,35);Off(OUT_B); #define THRESHOLD 46 #define lleft OnFwd(OUT_B,35);OnRev(OUT_C,35); #define rright OnFwd(OUT_C,35);OnRev(OUT_B,35); task main() { SetSensorLight(S1); int n=0; long t0 = CurrentTick(); long t1 = CurrentTick();
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while(CurrentTick()-t0 <= 5350) {
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if (SENSOR_1 < 35){OnFwd(OUT_B,20);Off(OUT_C);} else {if(SENSOR_1 < 42){OnFwd(OUT_B,20);OnRev(OUT_C,20); } else if (SENSOR_1 < 50){OnFwd(OUT_BC,20);} else {OnFwd(OUT_C,20);Off(OUT_B);} } }
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while (true) { while(CurrentTick()-t1 <= 43500) { while(n<5000) { if (SENSOR_1 < 35){left;n++; } else {if(SENSOR_1 < 42){lleft} else if (SENSOR_1 < 50){go} else if (SENSOR_1 < 56){right} else {rright} n=0; } } Wait(1000); rright; Wait(5000); go Wait(200); n=0; }
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off Wait(500); OnFwd(OUT_C,25);OnRev(OUT_B,25); Wait(1100); off Wait(500); OnRev(OUT_BC,30); Wait(900); off rright Wait(1000);
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while(true) { if (SENSOR_1 < 35){left} else {if(SENSOR_1 < 42){lleft} else if (SENSOR_1 < 50){go} else {right} } }
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} }
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