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#define left_kuro 28 //º¸Â¦¤Î¸÷¥»¥ó¥µ¤¬¹õ¤È¤ß¤Ê¤¹ºÇÂç¤ÎÃÍ #define right_kuro 34 //±¦Â¦¤Î¸÷¥»¥ó¥µ¤¬¹õ¤È¤ß¤Ê¤¹ºÇÂç¤ÎÃÍ #define left_sen 38 //±¦Â¦¤Î¸÷¥»¥ó¥µ¤¬Àþ¾å¤È¤ß¤Ê¤¹ÃÍ #define right_sen 43 //º¸Â¦¤Î¸÷¥»¥ó¥µÀþ¾å¤È¤ß¤Ê¤¹ÃÍ #define sekkin 40 //´Ì¤¬Àܶᤷ¤¿¤È¤¤ÎÃÍ #define HIPOWER 7 //¶¯¤¤ÎÏ #define LOWPOWER 5 //¼å¤¤ÎÏ #define set_power_H SetPower(OUT_AC,HIPOWER); //¥â¡¼¥¿¡¼¤ò¶¯¤¤ÎϤËÀßÄê #define set_power_L SetPower(OUT_AC,LOWPOWER); //¥â¡¼¥¿¡¼¤ò¼å¤¤ÎϤËÀßÄê #define senkai_left set_power_L;OnRev(OUT_A);OnFwd(OUT_C); //º¸Àû²ó #define senkai_right set_power_L;OnRev(OUT_C);OnFwd(OUT_A); //±¦Àû²ó #define go_forward set_power_H;OnFwd(OUT_AC); //Á°¿Ê #define back set_power_L;OnRev(OUT_AC); //¸åÂà #define CROSS(t,p,q) set_power_L;go_forward;Wait(t);senkai_left;Wait(p);senkai_left;Wait(q); //T»úÏ©¤ä¸òº¹ÅÀ¤òÅϤë»þ¤Î¥×¥í¥°¥é¥à #define STEP 1 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÇȽÃǤµ¤ì¤¿Æ°ºî¤ò10¥ß¥êÉôÖ³¤±¤ë¡£ #define SAIDAI 3 //T»úÏ©¤ä¸òº¹ÅÀÉÕ¶á¤Ç¡¢¤¢¤ë¾õ¶·¤ò£³²ó³¤±¤Æ´¶ÃΤ·¤¿¤éT»úÏ©¡¦¸òº¹ÅÀ¤ÈȽÃÇ #define short_break Off(OUT_AC);Wait(80); //¾®µÙ·Æ #define counter3 PlaySound(SOUND_CLICK); //¸òº¹ÅÀ¤òÅϤëÁ°¤Ë3²óÌĤ餹 #define GO 1 //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤«¤é¤³¤Î¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¤³¤ÎRCX¤Î¥×¥í¥°¥é¥à¤¬ºÆ»ÏÆ°¤¹¤ë #define HOLD 2 //1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸ #define TUMU_UP 3 //1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤߤ½¤Î¸å2¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸ #define TUMU 4 //1¡¦2Ìܤδ̤ò3¤ÄÌܤδ̤ËÀѤß3¤ÄÌܤδ̤ò¶´¤àÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸ #define HASAMI 5 //¥Ï¥µ¥ß¤ò¹¤²¤ëÆ°ºî¤ò¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸ sub line_race() //ÉáÄ̤ιõÀþ¤òÁö¤ë¥×¥í¥°¥é¥à { if(SENSOR_1<=left_kuro){ if(SENSOR_3<=right_kuro){go_forward;} else if(SENSOR_3<=right_sen){senkai_left;} else{senkai_left;} } else if(SENSOR_1<=left_sen){ if(SENSOR_3<=right_kuro){senkai_right;} else if(SENSOR_3<=right_sen){go_forward;} else{senkai_left;} } else{ if(SENSOR_3<=right_kuro){senkai_right;} else if(SENSOR_3<=right_sen){senkai_right;} else{go_forward;} } Wait(STEP); } sub before_cross_line_1() //T»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à { int nOnline=0; while (nOnline < SAIDAI){ if(SENSOR_3<=right_kuro){ if(SENSOR_1<=left_kuro){go_forward;} else if(SENSOR_1<=left_sen){senkai_right;} else{senkai_right;} nOnline++; } else{ if(SENSOR_3<=right_sen){ if(SENSOR_1<=left_kuro){senkai_left;} else if(SENSOR_1<=left_sen){go_forward;} else{senkai_right;} } else{ if(SENSOR_1<=left_kuro){senkai_left} else if(SENSOR_1<=left_sen){senkai_left;} else{go_forward;} } nOnline=0;} Wait(STEP); } } sub before_cross_line_2() //T»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à { int nOnline=0; while (nOnline < SAIDAI){ if(SENSOR_1<=left_kuro){ if(SENSOR_3<=right_kuro){go_forward;} else if(SENSOR_3<=right_sen){senkai_left;} else{senkai_left;} nOnline++; } else{ if(SENSOR_1<=left_sen){ if(SENSOR_3<=right_kuro){senkai_right;} else if(SENSOR_3<=right_sen){go_forward;} else{senkai_left;} } else{ if(SENSOR_3<=right_kuro){senkai_right;} else if(SENSOR_3<=right_sen){senkai_right;} else{go_forward;} } nOnline=0;} Wait(STEP); } } sub before_cross_line_3() //T»úÏ©or½½»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à { int nOnline=0; while (nOnline < SAIDAI){ if(SENSOR_1<=left_kuro&&SENSOR_3<=right_kuro){go_forward;nOnline++;} else if(SENSOR_1<=left_sen&&SENSOR_3<=right_sen){go_forward;nOnline++;} else if(SENSOR_1<=left_kuro){ if(SENSOR_3<=right_sen){senkai_left;} else{senkai_left;} nOnline==0; } else if(SENSOR_1<=left_sen){ if(SENSOR_3<=right_kuro){senkai_right;} else{senkai_left;} nOnline==0; } else{ if(SENSOR_3<=right_kuro){senkai_right;} else if(SENSOR_3<=right_sen){senkai_right;} else{go_forward;} nOnline==0; } Wait(STEP); } } task main(){ SetSensor(SENSOR_1,SENSOR_LIGHT);//º¸Â¦¤Î¸÷¥»¥ó¥µ¡¼ SetSensor(SENSOR_2,SENSOR_LIGHT);//´Ì¤ÎȽÃÇÍѸ÷¥»¥ó¥µ¡¼ SetSensor(SENSOR_3,SENSOR_LIGHT);//±¦Â¦¤Î¸÷¥»¥ó¥µ¡¼ int nCross=0; while(nCross<=8){ if(nCross==0){ senkai_right;Wait(50); go_forward; until(SENSOR_3<=left_sen); senkai_left;Wait(60); //¤³¤³¤Ç¥é¥¤¥ó¤Î¾å¤Ë¾è¤Ã¤«¤ë while(SENSOR_2>=sekkin){line_race();} Off(OUT_AC); while(Message() != GO){SendMessage(HOLD);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤ò¤Ä¤«¤à¡õ¾å¤Ë»ý¤Á¾å¤²¤ë senkai_left;Wait(410); nCross++; } else if(nCross==1){ while(SENSOR_2>=sekkin){line_race();} Off(OUT_AC); while(Message() != GO){SendMessage(TUMU_UP);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà¡õ¾å¤Ë»ý¤Á¾å¤²¤ë¡¡ ClearTimer(0); while(FastTimer(0)<300){line_race();} before_cross_line_1(); CROSS(50,0,0); nCross++; } else if(nCross==2){ while(SENSOR_2>=sekkin){line_race();} Off(OUT_AC); while(Message() != GO){SendMessage(TUMU);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà ClearTimer(0); while(FastTimer(0)<830){line_race();} before_cross_line_3(); CROSS(150,0,0); senkai_right;Wait(130); Off(OUT_AC); while(Message() != GO){SendMessage(HASAMI);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬¥Ï¥µ¥ß¤ò¹¤²¤ë back;Wait(100); senkai_right;Wait(235); go_forward;Wait(150); nCross++; } else if(nCross==3){ ClearTimer(0); while(FastTimer(0)<1000){line_race();} before_cross_line_2(); CROSS(50,150,0); nCross++; } else if(nCross==4){ ClearTimer(0); while(FastTimer(0)<200){line_race();} before_cross_line_3(); CROSS(50,0,150); nCross++; } else if(nCross==5){ while(SENSOR_2>=sekkin){line_race();} Off(OUT_AC); while(Message() != GO){SendMessage(HOLD);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤ò¤Ä¤«¤à¡õ¾å¤Ë»ý¤Á¾å¤²¤ë ClearTimer(0); while(FastTimer(0)<1600){line_race();} before_cross_line_3(); go_forward;Wait(50); CROSS(50,0,0); nCross++; } else if(nCross==6){ while(SENSOR_2>=sekkin){line_race();} Off(OUT_AC); while(Message() != GO){SendMessage(TUMU_UP);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà¡õ¾å¤Ë»ý¤Á¾å¤²¤ë while(SENSOR_2>=sekkin){line_race();} Off(OUT_AC); while(Message() != GO){SendMessage(TUMU);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà ClearTimer(0); while(FastTimer(0)<300){line_race();} before_cross_line_1(); go_forward;Wait(50); senkai_right;Wait(150); CROSS(50,0,150); nCross++; } else if(nCross==7){ ClearTimer(0); while(FastTimer(0)<200){line_race();} before_cross_line_3(); go_forward;Wait(50); senkai_right;Wait(150); CROSS(50,0,150); nCross++; } else if(nCross==8){ ClearTimer(0); while(FastTimer(0)<1000){line_race();} before_cross_line_3(); CROSS(50,0,0); senkai_right;Wait(100); Off(OUT_AC); while(Message() != GO){SendMessage(HASAMI);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬¥Ï¥µ¥ß¤ò¹¤²¤ë back;Wait(500); nCross++; } } stop main; //Æ°ºîÄä»ß }
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#define GO 1 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¤È¡¢¤â¤¦°ì¤Ä¤ÎRCX¤¬ºÆ»ÏÆ°¤¹¤ë #define HOLD 2 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¤¹¤ë #define TUMU_UP 3 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤó¤Ç2£²¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¤¹¤ë #define TUMU 4 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¡¦2¤ÄÌܤδ̤ò3¤ÄÌܤδ̤ËÀѤó¤Ç3¤ÄÌܤδ̤ò¶´¤àÆ°ºî¤ò¤¹¤ë #define HASAMI 5 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢¥Ï¥µ¥ß¤ò¹¤²¤ëÆ°ºî¤ò¤¹¤ë #define hasamu OnRev(OUT_A);Wait(50);Off(OUT_A); //¥Ï¥µ¥ß¤òÊĤ¸¤ë #define hirogeru OnFwd(OUT_A);Wait(50); //¥Ï¥µ¥ß¤ò¹¤²¤ë #define up OnRev(OUT_C);Wait(150);Off(OUT_C); //¥¨¥ì¥Ù¡¼¥¿¤ò¾å¤²¤ë #define down(t) OnFwd(OUT_C);Wait(t);Off(OUT_C); //¥¨¥ì¥Ù¡¼¥¿¤ò²¼¤²¤ë #define go_sin PlaySound(SOUND_UP); //GO¤È¤¤¤¦¥µ¥¤¥ó¤ò½Ð¤·¤¿¤È¤¡¢Ê¬¤«¤ê¤ä¤¹¤¤¤è¤¦²»¤òÌĤ餹 sub send_go(){ //GO¤È¤¤¤¦¥µ¥¤¥ó¤ò½Ð¤¹¥µ¥Ö¥ë¡¼¥Á¥ó ClearTimer(0); while(FastTimer(0)<=200){SendMessage(GO);Wait(5);} } task main(){ int n=1; while(true){ ClearMessage(); SetPower(OUT_A,4); SetPower(OUT_C,5); if(n==0){ //HOLD,TUMU_UP¤ÎºÝ¤Ë¡¢¼«½Å¤Ç²¼¤¬¤ë¥â¡¼¥¿¡¼Éô¤òÄê´üŪ¤Ë°ú¤¾å¤²¤ë SetPower(OUT_C,1);OnRev(OUT_C);Wait(100);Off(OUT_C);Wait(100); } if(Message() == HOLD){ //1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ë n=0; hasamu; up; go_sin; send_go(); } else if(Message() == TUMU_UP){ //1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤó¤Ç2¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ë n=0; down(20); hirogeru; down(130); hasamu; up; go_sin; send_go(); } else if(Message() == TUMU){ //1¡¦2Ìܤδ̤ò3¤ÄÌܤδ̤ËÀѤó¤Ç3¤ÄÌܤδ̤ò¤Ä¤«¤à down(20); hirogeru; down(130); hasamu; go_sin; send_go(); n=1; } else if(Message() == HASAMI){ //¥Ï¥µ¥ß¤ò¹¤²¤ë hirogeru; go_sin; send_go(); n=1; } } }
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