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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                                 

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 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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Last-modified: 2015-08-16 (Æü) 23:42:39