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#define white1 39 #define white2 45 #define black1 60 #define black2 65 #define go_forward OnFwd(OUT_BC,40)¡¡//Á°¿Ê #define turn_left2 OnFwd(OUT_C,40);Off(OUT_B)¡¡//º¸ÀÞ #define turn_left1 OnFwd(OUT_C,40);OnRev(OUT_B,30) //µÞº¸ÀÞ #define turn_right2 OnFwd(OUT_B,40);Off(OUT_C) //±¦ÀÞ #define turn_right1 OnFwd(OUT_B,40);OnRev(OUT_C,20) //µÞ±¦ÀÞ #define STEP 1 #define nMAX 180 #define short_break Off(OUT_BC);Wait(1000);
task main () { SetSensorLight(S3); int nOnline=0; long t0 = CurrentTick(); int n=0;
while (CurrentTick()-t0 <= 7500) { /¥¹¥¿¡¼¥È¤«¤é7.5Éäޤǥ饤¥ó¥È¥ì¡¼¥¹
if (SENSOR_3 < white1) { turn_left1; } else if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } Wait(STEP); } OnFwd(OUT_A,50);Wait(800);Off(OUT_A);¡¡/¡¡7.5ÉäË㤷¤¿¤é¥¢¡¼¥à¤Ç´Ì¤òÄϤà
while (CurrentTick()-t0 <= 26000) {¡¡¡¡/ ¥¹¥¿¡¼¥È¤«¤é26Éäˤʤë¤Þ¤ÇºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹
while(nOnline < nMAX && CurrentTick()-t0 <= 26000) { if (SENSOR_3 < white1) { turn_left1; nOnline++; } else { if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } nOnline=0; } Wait(STEP); } turn_right2;Wait(nMAX*STEP); OnFwd(OUT_BC,30);Wait(200);¡¡¡¡/ 0.2ÉäÀ¤±Á°¿Ê¤¹¤ë»ö¤Ë¤è¤ê¥È¥ì¡¼¥¹¤¹¤ëÀþ¤Îº¸±¦¤Îȿž(¢¨) nOnline=0;¡¡¡¡¡¡/¡¡¥«¥¦¥ó¥¿¡¼¤Î¥ê¥»¥Ã¥È }turn_right1;Wait(100);
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while (CurrentTick()-t0 <= 36000) { / ¥¹¥¿¡¼¥È¤«¤é36Éøå¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
while(nOnline < nMAX && CurrentTick()-t0 <= 36000) {¡¡/36É÷Ф俾ì¹ç¼¡¤Î¥×¥í¥°¥é¥à¤Ë°Ü¤ë if (SENSOR_3 < white1) { turn_right1; nOnline++; } else { if (SENSOR_3 < white2) { turn_right2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_left2; } else { turn_left1; } nOnline=0; } Wait(STEP); } turn_left2;Wait(nMAX*STEP); OnFwd(OUT_BC,30);Wait(200);¡¡/Á°¿Ê¤µ¤»¤ë¤³¤È¤Ë¤è¤ê¥È¥ì¡¼¥¹¤¹¤ëÀþ¤Îȿž(¢¨2) nOnline=0; }turn_left1;Wait(200);
while (n<2) {
while(nOnline < nMAX && n<2) { /¤â¤·£²²óÌܤθòº¹ÅÀ¤ò´¶ÃΤ·¤¿¾ì¹ç¸å¤í¤Ë²¼¤¬¤ëÆ°ºî¤ò¹Ô¤¦ if (SENSOR_3 < white1) { turn_left1; nOnline++; } else { if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } nOnline=0; } Wait(STEP); } turn_right2;Wait(nMAX*STEP); OnRev(OUT_BC,30);Wait(200); /¸å¤í¤Ë²¼¤¬¤ë nOnline=0;n++; } OnRev(OUT_BC,50);Wait(500);OnFwd(OUT_C,50);OnRev(OUT_B,50);Wait(300); OnFwd(OUT_C,50);OnRev(OUT_B,50);until(SENSOR_3 < 50);¡¡¡¡/ ¾å¤Î2¹Ô¤Ë¤è¤Ã¤Æ¥í¥Ü¥Ã¥È¤ÏU¥¿¡¼¥ó¤¹¤ë long t1 = CurrentTick();¡¡/ ㊟¤³¤³¤«¤ét0¤«¤ét1¤Î¥¿¥¤¥Þ¡¼¤ËÀÚ¤êÂؤ¨
while (CurrentTick()-t1 <= 1800) {
if (SENSOR_3 < white1) { turn_right1; } else if (SENSOR_3 < white2) { turn_right2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_left2; } else { turn_left1; } Wait(STEP); } turn_left1;Wait(270);Off(OUT_BC);OnRev(OUT_A,50);Wait(300);Off(OUT_A); OnRev(OUT_BC,50);Wait(600);OnFwd(OUT_B,50);OnRev(OUT_C,50);Wait(300); OnFwd(OUT_B,50);OnRev(OUT_C,50);until(SENSOR_3 < 50); long t2 = CurrentTick();¡¡¡¡/ ¾å¤Î£³¹Ô¤Î¥×¥í¥°¥é¥à¤Ë¤è¤Ã¤ÆU¥¿¡¼¥ó¤ò¤·¤¿¥í¥Ü¥Ã¥È¤¬Äê°ÌÃ֤ޤǿʤߴ̤òÃÖ¤¤¤Æu¥¿¡¼¥ó¤¹¤ë
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while (CurrentTick()-t2 <= 3900) {
if (SENSOR_3 < white1) { turn_left1; } else if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } Wait(STEP); } Off(OUT_BC);¡¡/¥´¡¼¥ë¤·¤¿¤¿¤á¥×¥í¥°¥é¥à¤Î½ªÎ» }
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