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#define THRESHOLD 42 #define go_forward OnFwd(OUT_A);OnFwd(OUT_C); // ľ¿Ê #define turn_left OnFwd(OUT_C);OnRev(OUT_A); // º¸Àû²ó #define turn_right OnFwd(OUT_A);OnRev(OUT_C); // ±¦Àû²ó #define STEP 1 // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö #define down OnFwd(OUT_B);Wait(15);Off(OUT_B);//¥¢¡¼¥à¤ò²¼¤²¤ë #define up OnRev(OUT_B);Wait(15);Off(OUT_B);//¥¢¡¼¥à¤ò¾å¤²¤ë
task main() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while (FastTimer(0)<1600){ //¡ if (SENSOR_2 < THRESHOLD-3) { turn_left; } else { if (SENSOR_2 < THRESHOLD+3) { go_forward; } else { turn_right; } } } ClearTimer(0); while (FastTimer(0)< 17) {¡¡¡¡¡¡¡¡¡¡¡¡//¢ if (SENSOR_2 < THRESHOLD-3) { turn_left; } else { if (SENSOR_2 < THRESHOLD+3) { go_forward; } else { turn_right; } ClearTimer(0);// ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È } Wait(STEP); } PlaySound(SOUND_DOWN); Off(OUT_AC);Wait(200); turn_right;Wait(25); // ¿Ê¹ÔÊý¸þ½¤Àµ go_forward;Wait(18); down; ClearTimer(0); while (FastTimer(0)<1100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£ if (SENSOR_2 < THRESHOLD-3) { turn_left; } else { if (SENSOR_2 < THRESHOLD+3) { go_forward; } else { turn_right; } } } ClearTimer(0); while (FastTimer(0)< 20) {¡¡¡¡¡¡¡¡¡¡¡¡//¤ if (SENSOR_2 < THRESHOLD-3) { turn_left; } else { if (SENSOR_2 < THRESHOLD+3) { go_forward; } else { turn_right; } ClearTimer(0);// ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È } Wait(STEP); } PlaySound(SOUND_DOWN); Off(OUT_AC);Wait(200); turn_right;Wait(20); // ¿Ê¹ÔÊý¸þ½¤Àµ go_forward;Wait(15); ClearTimer(0); while (FastTimer(0)<700){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ if (SENSOR_2 < THRESHOLD-3) { turn_left; } else { if (SENSOR_2 < THRESHOLD+3) { go_forward; } else { turn_right; } } } turn_right;Wait(20); up; go_forward;Wait(100); Off(OUT_AC); }
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#define THRESHOLD 43 #define go_forward OnFwd(OUT_AC); // ľ¿Ê #define turn_left OnFwd(OUT_C);OnRev(OUT_A); // º¸Àû²ó #define turn_right OnFwd(OUT_A);OnRev(OUT_C); // ±¦Àû²ó #define STEP 1 // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö #define shoot OnRev(OUT_B);Wait(30);Off(OUT_B);
task main() { SetSensor(SENSOR_2,SENSOR_LIGHT); int black=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while (FastTimer(0)<1800){ if (SENSOR_2 < THRESHOLD-3) { turn_left } else { if (SENSOR_2 < THRESHOLD+3) { go_forward; } else { turn_right; } } } down; while (black < 10) { if (SENSOR_2 < THRESHOLD-5) { turn_right; black++; // ¥«¥¦¥ó¥¿¤òÁý¤ä¤¹ } else if (SENSOR_2 < THRESHOLD+5) { go_forward; black=0; } else { turn_left; black=0; // ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È } } Off(OUT_AC);Wait(200); OnFwd(OUT_AC);Wait(20); ClearTimer(0); while (FastTimer(0)<500) { if (SENSOR_2 < THRESHOLD-5) { turn_right; } else if (SENSOR_2 < THRESHOLD+5) { go_forward; black=0; } else { turn_left; } } Off(OUT_AC);Wait(100); shoot; }
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