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#define KOUSOKU 30 #define TEISOKU 20 #define ARMOPEN RotateMotor(OUT_A,50,90); #define SHOT ARMOPEN;OnFwd(OUT_BC,100);Wait(100); #define SEARCH OnFwd(OUT_B,KOUSOKU);OnRev(OUT_C,KOUSOKU); #define KAITENZIKAN 10000
task main() { int kiteiti=100;
¡¡ SetSensorLowspeed(S2);
long t0 = CurrentTick(); while(CurrentTick()-t0<=KAITENZIKAN){ SEARCH; if(SensorUS(S2)<=kiteiti){ SensorUS(S2)=kiteiti; } }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ SEARCH;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ until(SensorUS(S2)<=kiteiti); Off(OUT_BC); int tyousei; while(tyousei==0){ if(SensorUS(S2)<=25){ OnRev(OUT_BC,TEISOKU); until(SensorUS(S2)>=30); Off(OUT_BC); tyousei++; } else if(SensorUS(S2)>25){ OnFwd(OUT_BC,TEISOKU); until(SensorUS(S3)<=25); Off(OUT_BC); tyousei++; }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ SHOT;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ } }
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