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[¤³¤Á¤é:http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2Ftrtr%2FMission2]
[:http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2F6638%2FMission2]¤ò»²¾È¤µ¤ì¤¿¤¤¡£

¥×¥í¥°¥é¥à{´Ì¤ò±¿¤Ö¦}

¡¡¥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¤ÎÆ°ºî¤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«¤éÆ°ºî¤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¤­¤ÎÆ°ºî¤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;
           }
 }
}

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Last-modified: 2014-02-06 (ÌÚ) 14:38:15