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#define THRESHOLD 43  //ïçÃÍ 
#define HIPOWER 2¡¡//¹â®
#define LOWPOWER 1 //Äã®
#define set_power_H SetPower(OUT_AC,HIPOWER); //AC¤ò¹â®¤ÇÆ°¤«¤¹
#define set_power_L SetPower(OUT_AC,LOWPOWER); //AC¤òÄ㮤ÇÆ°¤«¤¹
#define go_forward set_power_H; OnFwd(OUT_AC); //Á°¿Ê
#define turn_left1 set_power_L; Off(OUT_A); OnFwd(OUT_C); //º¸ÀÞ¡¡
#define turn_left2 set_power_L; OnRev(OUT_A); OnFwd(OUT_C); //º¸Àû²ó
#define turn_left3 set_power_L; OnRev(OUT_A); //±¦¸å¿Ê
#define turn_right1 set_power_L; Off(OUT_C); OnFwd(OUT_A); //±¦ÀÞ
#define turn_right2 set_power_L; OnRev(OUT_C); OnFwd(OUT_A); //±¦Àû²ó
#define arm_hold OnFwd(OUT_B);Wait(50);Off(OUT_B); //´Ì¤òÄϤà
#define arm_part  OnRev(OUT_B);Wait(50);Off(OUT_B); //´Ì¤òÎ¥¤¹
#define STEP 1 
#define nMAX 4 //¥«¥¦¥ó¥¿¤ÎºÇÂç¿ô
#define short_break Off(OUT_AC);Wait(50); //¾®µÙ»ß
#define CROSS_TIME 40 //¸òº¹ÅÀ¤òÅϤë»þ´Ö
#define cross_line set_power_L; OnFwd(OUT_AC); Wait(CROSS_TIME); short_break; //¸òº¹ÅÀ¤òÅϤë
#define time0 2000 //­¡¤Î»þ´Ö
#define time1 700 //­¢¤Î»þ´Ö

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task main()
{
   SetSensor(SENSOR_2, SENSOR_LIGHT);
   SetSensor(SENSOR_3, SENSOR_TOUCH);   
   ClearTimer(0); //¡¡¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
  while(FastTimer(0) <= time0){¡¡//­¢¤Þ¤Ç°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò·«¤êÊÖ¤¹
    if (SENSOR_3 == 1){ //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤¿¤é¡¡
           PlaySound(2); //²»¤ò¤Ê¤é¤·¤Æ
           can_turn(); //´Ì¤òÂऱ¤ë
       }   else  {¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤Ê¤«¤Ã¤¿¤é
           normal_trace(); //¡¡Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
    } 
  }
   repeat(3) { //­¢¤ËÍ褿¤é¸òº¹ÅÀ¤ò£³²ó¤ï¤¿¤ë
   across_line(); 
    }
      circle_trace(); //­£¤ËÍ褿¤é¾®±ß¤ò²ó¤ë
      across_line(); //¾®±ß¤ò¤Ì¤±¤ë
   while(true){
       normal_trace(); //Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
 }
}

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Last-modified: 2014-02-06 (ÌÚ) 18:25:49