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DSC_0138.JPG

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#define TURN OnFwd(OUT_B,20);OnRev(OUT_C,20);
#define TURN_TIME 7000
#define GO OnFwd(OUT_BC,50);
#define SHOOT_DIST 25
#define SHOOT OnRev(OUT_BC,80);Wait(500);OnFwd(OUT_BC,80);OnFwd(OUT_A,80);Wait(500);
#define STOP Off(OUT_BC);Wait(1000);
task main()
{
  SetSensorLowspeed(S3);
  int dist_mini=100; 
  
    long t = CurrentTick();
    while(CurrentTick()-t <= TURN_TIME) {
        TURN;
        if (SensorUS(S3) < dist_mini) {
            dist_mini=SensorUS(S3);
        } 
    }
    STOP;  
    TURN;
    until(SensorUS(S3) == dist_mini);
    GO;
    until(SensorUS(S3) <= SHOOT_DIST);
    STOP; 
    SHOOT;
    Off(OUT_BC);
}

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Last-modified: 2015-08-06 (ÌÚ) 13:45:20