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#define BLACK 42	//°Ê²¼¤Ï¹õ
#define WHITE 50	//°Ê¾å¤ÏÇò
#define go_forward OnFwd(OUT_AC);	//Á°¤Ø
#define go_back OnRev(OUT_AC);		//¸å¤í¤Ø
#define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó
#define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
#define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
#define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
#define CROSS_TIME 20  // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
#define cross_line go_forward;Wait(CROSS_TIME);short_break;	//¸òº¹ÅÀ¤òÅϤë
#define FIX_TIME 15
#define nMAX 8
#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off;	//¥·¥å¡¼¥È
task main()
{
 SetSensor(SENSOR_2, SENSOR_LIGHT);
 int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
 if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
 while (nOnline <nMAX) {
  if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
  turn_left;                // º¸¤Ø
  nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
 } else {
  if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
  go_forward;               // ľ¿Ê
 } else { 		//Àþ¤«¤é³°¤ì¤ë
  turn_right;	//±¦¤Ø
 }
  nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
 }			
 Wait(STEP);
}
short_break;		//¾®µÙ·Æ
turn_right;Wait(FIX_TIME);	//Êý¸þ±¦½¤Àµ
clip_on;		//Êáµå
cross_line;		//¸òº¹ÅÀ¤òÅϤë
nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
  if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
   while (nOnline <nMAX) {
     if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
     turn_left;                // º¸¤Ø
     nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
    } else {
     if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
     go_forward;               // ľ¿Ê
    } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
      turn_right;	//±¦¤Ø
    }
    nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
   }			
   Wait(STEP);
  }
  short_break;		//¾®µÙ·Æ
  turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ
  cross_line;		//¸òº¹ÅÀ¤òÅϤë
  nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
 }
   if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
   while (nOnline <nMAX) {
       if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
       nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
    } else {
     if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
     go_forward;               // ľ¿Ê
    } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
      turn_right;	//±¦¤Ø
    }
    nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
   }			
   Wait(STEP);
  }
  short_break;		//¾®µÙ·Æ
  go_forward;Wait(100);	//¥´¡¼¥ëÁ°¤Ø
  turn_right;Wait(80);	//¸åÂà¡õÁ°¿Ê
  shoot;		//¥·¥å¡¼¥È
¡¡Off(OUT_AC);	//Ää»ß
  nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
 }
}

ÄêµÁ¤·¤¿´Ø¿ô

­¡#define BLACK 42	//°Ê²¼¤Ï¹õ
­¢#define WHITE 50	//°Ê¾å¤ÏÇò
­£#define go_forward OnFwd(OUT_AC);	//Á°¤Ø
­¤#define go_back OnRev(OUT_AC);		//¸å¤í¤Ø
­¥#define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó
­¦#define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
­§#define STEP 1    // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
­¨#define short_break Off(OUT_AC); Wait(200);     // ¾®µÙ»ß
­©#define CROSS_TIME 20    // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
­ª#define cross_line go_forward;Wait(CROSS_TIME);short_break;	  //¸òº¹ÅÀ¤òÅϤë
­«#define FIX_TIME 15
­¬#define nMAX 8
­­#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
­®#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
­¯#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off; 	//¥·¥å¡¼¥È

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Last-modified: 2015-08-02 (Æü) 14:18:21