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#define HIPOWER 1¡¡¡¡¡¡//ľÀþÍѤΥѥ
#define LOWPOWER 3    //¥«¡¼¥ÖÍѤΥѥ
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define go_forward set_power_H; OnFwd(OUT_AC); //ľ¿Ê
#define turn_left1 set_power_L;\
 OnFwd(OUT_C); OnRev(OUT_A);           //º¸Àû²ó
#define turn_left0 set_power_L;\  
 OnFwd(OUT_C); Off(OUT_A);      //º¸ÀÞ
#define turn_right0 set_power_L;\
 OnFwd(OUT_A); Off(OUT_C);   //±¦Àû²ó
#define turn_right1 set_power_L;\
 OnFwd(OUT_A); OnRev(OUT_C);  //±¦ÀÞ
#define SIGNALON 13 
#define cross set_power_H; OnFwd(OUT_AC);Wait(20); //¸òº¹ÅÀ¤òÅϤë
#define c1 if (SENSOR_3 < 37) {Off(OUT_AC); SendMessage(SIGNALON);Wait(80);} //¹õ¤¤»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤¿¤é¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¡£

task main() {

 SetSensor(SENSOR_2,SENSOR_LIGHT);¡¡//¸÷¥»¥ó¥µ¡¼¥»¥Ã¥È
 SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡
 
 int nl=0;
 int cc=0;
 go_forward;
 Wait(460);
 turn_left1;
 Wait(140);
 go_forward;
 Wait(280);
 

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 ClearTimer(0);
 while (true) {
 
 while ((nl < 5) ||(FastTimer(0)<500)){
   if (SENSOR_2 < 37) {          //Ç»¤¤¹õ¤ò´¶ÃΤ·¤¿¤é
     turn_left1;
      nl++;
   } else if (SENSOR_2 < 41) {    //Çö¤¤¹õ¤ò´¶ÃΤ·¤¿¤é
     turn_left0;   
nl=0;
   } else if (SENSOR_2 < 45) {  //³¥¿§¤ò´¶ÃΤ·¤¿¤é
     go_forward;   
nl=0;
   } else if (SENSOR_2 < 50) {  //Çö¤¤Çò¤ò´¶ÃΤ·¤¿¤é
     turn_right0;  
   } else {                    //Ç»¤¤Çò¤ò´¶ÃΤ·¤¿¤é
      turn_right1; 
nl=0;
   }
     
   Wait(1);
 }

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 turn_right1; Wait(35);
 cross;
 cc++;
 if (cc == 1) {
 go_forward;
 Wait(50);
 c1;
 OnRev(OUT_AC);
 Wait(150);
 turn_left1;
 Wait(40);
 go_forward;
 Wait(280);
 c1;
 OnRev(OUT_AC);
 Wait(500);
 turn_left1;
 Wait(100);
 go_forward;
 Wait(200);
 c1;
 OnRev(OUT_AC);
 Wait(100);

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 turn_left1;
 Wait(330);
 go_forward;
 Wait(1000);

CÃÏÅÀ¤«¤é£±ÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò±¿¤Ó¤Þ¤¹

 

} } }

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#define SIGNALON 13
task main ()

{

 ClearMessage(); 
 while (true) {
   until (Message() == SIGNALON);
   OnFwd(OUT_AC);
 Wait(30);
 OnRev(OUT_AC);
 Wait(30);

Off(OUT_AC); } }

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Last-modified: 2014-08-12 (²Ð) 00:01:43