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#define Line 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤ÈÇò¤Î¶­³¦ÃÍ
#define Max 10¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//¹õ¤Îǧ¼±¡Êº¸Àû²ó¡Ë¤òϢ³¤Ç¹Ô¤¨¤ëºÇÂçÃÍ
#define speed 30¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡//°ÜÆ°¤ËÍѤ¤¤ë¥â¡¼¥¿¡¼¤Î¥¹¥Ô¡¼¥É
#define step 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë´Ö³Ö»þ´Ö¡Ê0.001ÉáË
#define time 190¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤ò²£ÃǤ¹¤ë»þ´Ö
sub go_fwd()
{ OnFwd(OUT_AC,speed); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê
sub turn_left()
{ OnFwd(OUT_A,speed);OnRev(OUT_C,speed); }¡¡//º¸Àû²ó
sub turn_right()
{ OnRev(OUT_A,speed);OnFwd(OUT_C,speed); }¡¡//±¦Àû²ó
sub short_break()
{ Off(OUT_AC);Wait(700); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì»þÄä»ß
sub cross()
{ OnFwd(OUT_AC,speed);Wait(time); }¡¡¡¡¡¡¡¡ //¹õÀþ¤ò²£ÃÇ
task main()
{
SetSensorLight(S1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥»¥ó¥µ£±¤Ë¸÷¥»¥ó¥µ¤òÀßÃÖ
int nOnline=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¤¬¹õÀþ¤ËÈ¿±þ¤·¤¿²ó¿ô¤ò£°¤ËÄêµÁ
int nCrossline=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤Ë²£ÃǤ·¤¿²ó¿ô¤ò£°¤ËÄêµÁ
go_fwd();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê
until(SENSOR_1 <= Line);
short_break();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì»þÄä»ß¤·¤Æ¤«¤é¹õÀþ¤ò²£ÃǤ·¤Æ°ì»þÄä»ß
cross();
short_break();
while(nCrossline < 4){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£³²ó¹õÀþ¤ò²£ÃǤ¹¤ë´Ö¤Ï²¼µ­¤ò·«¤êÊÖ¤¹
while(nOnline < Max){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //­¡¹õ¤Îǧ¼±¤¬ºÇÂçÃͤè¤ê¾®¤µ¤¤´Ö¤Ï²¼µ­¤ò·«¤êÊÖ¤¹
if(SENSOR_1 < Line-15){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥»¥ó¥µ¡ã¶­³¦ÃÍ-15¤Çº¸Àû²ó¡¦¹õ¤Îǧ¼±¤¬£±²óÁý¤¨¤ë
turn_left();nOnline++;
}else{
if(SENSOR_1 < Line-7){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¶­³¦ÃÍ-15<¥»¥ó¥µ<¶­³¦ÃÍ-7¤Çº¸Àû²ó
turn_left();
}else if(SENSOR_1 < Line+7){¡¡¡¡¡¡¡¡¡¡¡¡//¶­³¦ÃÍ-7<¥»¥ó¥µ<¶­³¦ÃÍ+7¤ÇÁ°¿Ê
go_fwd();
}else{
turn_right();}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤ì°Ê³°¡Ê¶­³¦ÃÍ+7<¥»¥ó¥µ¡Ë¤Ç±¦Àû²ó
nOnline=0; }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤Îǧ¼±¤ò¥ê¥»¥Ã¥È
Wait(step); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //­¡¤ò0.001Éäδֳ֤ǹԤ¦
cross();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤Îǧ¼±¤¬ºÇÂçÃͰʾå¤Ë¤Ê¤Ã¤¿¤é¹õÀþ¤ò²£ÃÇ
short_break();
nOnline=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤Îǧ¼±¤ò¥ê¥»¥Ã¥È
nCrossline++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤ò²£ÃǤ·¤¿²ó¿ô¤ò£±²óÁý¤ä¤¹
if(nCrossline < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²£ÃDzó¿ô¤¬£²²ó¤è¤ê¾®¤µ¤¤¡Ê£±²ó¡Ë»þ¢­
OnFwd(OUT_AC,speed);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾¯¤·Á°¿Ê¤·±¦Àû²ó¤·¤Æ¤«¤é°ì»þÄä»ß
Wait(200);
turn_right();
Wait(180);
short_break();
OnFwd(OUT_B,28);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ð¡¼¤ò²¼¤í¤¹
Wait(680);
Off(OUT_B); }
}
OnRev(OUT_B,28);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²£ÃÇ£´²óÌܤˤʤë»þ¥Ð¡¼¤ò¾å¤²¤ÆÁ´Ää»ß
Wait(680);
Off(OUT_ABC);
}

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Last-modified: 2014-07-04 (¶â) 00:19:59