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¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦) sub trace1_R(){ if (SENSOR_1 < BLACK){ RIGHT; } else if (SENSOR_1 < BLACK +2){¡¡//¹õ´ó¤ê¤Î¶³¦¤ÎÃÍ right; } else if (SENSOR_1 > WHITE -2){¡¡//Çò´ó¤ê¤Î¶³¦¤ÎÃÍ left; } else if (SENSOR_1 > WHITE){ LEFT; } } ¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦) sub trace1_L(){ if (SENSOR_1 < BLACK){ LEFT; } else if (SENSOR_1 < BLACK +2){ left; } else if (SENSOR_1 > WHITE -2){ right; } else if (SENSOR_1 > WHITE){ RIGHT; } } ¡¡¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦) sub trace2_R(){ while (FastTimer(0) < 25){¡¡//¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¤Î»þ´Ö¤Ç¤¹¡£ if (SENSOR_1 < BLACK){ RIGHT; }else if (SENSOR_1 < BLACK +2){ ClearTimer(0); right; }else if (SENSOR_1 > WHITE -2){ ClearTimer(0); left; }else if (SENSOR_1 > WHITE){ ClearTimer(0); LEFT; }else{ ClearTimer(0); go_forward; } } if(FastTimer(0) >= 25){¡¡¡¡//¸òº¹ÅÀ¤Ç¤Îưºî¤Ç¤¹¡£ ClearTimer(0); LEFT; Wait(40); go_forward; Wait(20); Off(OUT_AC); ClearTimer(0); } } ¡¡¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦) sub trace2_L(){ while (FastTimer(0) < 25){ if (SENSOR_1 < BLACK){ LEFT; }else if (SENSOR_1 < BLACK +2){ ClearTimer(0); left; }else if (SENSOR_1 > WHITE -2){ ClearTimer(0); right; }else if (SENSOR_1 > WHITE){ ClearTimer(0); RIGHT; }else{ ClearTimer(0); go_forward; } } if(FastTimer(0) >= 25){ ClearTimer(0); RIGHT; Wait(40); go_forward; Wait(20); Off(OUT_AC); ClearTimer(0); } } ¡¡´Ì¤Î¼õ¤±ÅϤ·(±¦Â¦¥È¥ì¡¼¥¹»þ) sub trace3_R(){ while (FastTimer(0) < 25){ if (SENSOR_1 < BLACK){ RIGHT; }else if (SENSOR_1 < BLACK +2){ ClearTimer(0); right; }else if (SENSOR_1 > WHITE -2){ ClearTimer(0); left; }else if (SENSOR_1 > WHITE){ ClearTimer(0); LEFT; }else{ ClearTimer(0); go_forward; } } if(FastTimer(0) >= 25){ go_forward; Wait(10); LEFT; Wait(70); Off(OUT_AC); Wait(100); PUSH; go_back;¡¡¡¡//¥Ï¥µ¥ß¤ÎÀÜ¿¨¤òÈò¤±¤ë¤¿¤á Wait(100); Off(OUT_AC); ClearTimer(0); } } ¡¡´Ì¤Î¼õ¤±ÅϤ·(º¸Â¦) sub trace3_L(){ while (FastTimer(0) < 25){ if (SENSOR_1 < BLACK){ LEFT; }else if (SENSOR_1 < BLACK +2){ ClearTimer(0); left; }else if (SENSOR_1 > WHITE -2){ ClearTimer(0); right; }else if (SENSOR_1 > WHITE){ ClearTimer(0); RIGHT; }else{ ClearTimer(0); go_forward; } } if(FastTimer(0) >= 25){ RIGHT; Wait(70); Off(OUT_AC); PUSH; go_back; Wait(50); Off(OUT_AC); ClearTimer(0); } } ¥á¥¤¥ó¥¿¥¹¥¯ task main() { SetSensor(SENSOR_1, SENSOR_LIGHT); SetSensor(SENSOR_3, SENSOR_LIGHT); ClearTimer(0); int n=0; while(n==0){ Wait(100); //Áê¼ê¤òÂԤĻþ´Ö until(SENSOR_1 < BLACK){ //¹õ¤Ë¤Ê¤ë¤Þ¤Çľ¿Ê¡¢¥é¥¤¥ó¤ò´¶ÃΤ·¤Æ¥È¥ì¡¼¥¹¤ò³«»Ï¤·¤Þ¤¹¡£ go_forward;} Off(OUT_AC); Wait(100); go_back;¡¡¡¡¡¡¡¡//´¶ÃΤ«¤éưºî¤Þ¤Ç¤Ë¿Ê¤ó¤Ç¤·¤Þ¤Ã¤¿Ê¬Ìá¤ê¤Þ¤¹¡£ Wait(15); Off(OUT_AC); Wait(30); n++; } while(n==1){ if (SENSOR_3 > CATCH){ PlaySound(SOUND_UP);¡¡¡¡¡¡//´Ì¤ò¤Ä¤«¤ó¤À¹ç¿Þ ClearTimer(0); until(FastTimer(0) > 500){¡¡¡¡//¡¤ÇÅϤë°ÌÃ֤ޤǤλþ´Ö¤Ç¤¹¡£ trace1_R();} LEFT;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¤ÇÅϤë¤È¤¤Îưºî¤Ç¤¹¡£ Wait(55); go_forward; Wait(20); until(SENSOR_1 < BLACK){ go_forward;} ClearTimer(0); until(FastTimer(0) > 500){¡¡//¡¤òÅϤ꽪¤¨¤Æ¤«¤é¤Î¥È¥ì¡¼¥¹ trace1_R();} ClearTimer(0); trace3_R(); n++; } else if (SENSOR_1 < BLACK){ RIGHT; } else if (SENSOR_1 < BLACK +2){ right; } else if (SENSOR_1 > WHITE -2){ left; } else if (SENSOR_1 > WHITE){ LEFT; } } while(n==2){¡¡¡¡//Æó¤ÄÌܤδ̤ò±¿¤Ö¥×¥í¥°¥é¥à¤Ç¤¹¡£ RIGHT; Wait(40); go_forward; Wait(150); until(SENSOR_1 < BLACK){ right;} if (SENSOR_3 > CATCH){ until(SENSOR_1 < BLACK){ LEFT;} ClearTimer(0); trace3_L(); n++; } else if (SENSOR_1 < BLACK){ LEFT; } else if (SENSOR_1 < BLACK +2){ left; } else if (SENSOR_1 > WHITE -2){ right; } else if (SENSOR_1 > WHITE){ RIGHT; } } } ·ë²Ì †
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