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 #define THRESHOLD 47   /*¤·¤­¤¤ÃͤÎÀßÄê*/
 #define LOWPOWER 3     /*¥Ñ¥ï¡¼¤ÎÃÍ*/
 #define set_power_l SetPower(OUT_AC,LOWPOWER); /*¥Ñ¥ï¡¼¤ÎÀßÄê*/
 #define straight set_power_l; OnFwd(OUT_AC); /*Á°¿Ê*/  
 #define back set_power_l; OnRev(OUT_AC); Wait(60); /*¸åÂà*/
 #define LEFT set_power_l; OnFwd(OUT_C); Off(OUT_A); /*º¸¤Ë¶Ê¤¬¤ë*/
 #define RIGHT set_power_l; OnFwd(OUT_A); Off(OUT_C); /*±¦¤Ë¶Ê¤¬¤ë*/ 
 #define LEFT_L set_power_l; OnFwd(OUT_C); OnRev(OUT_A); /*º¸¤ËÀû²ó*/
 #define RIGHT_L set_power_l; OnFwd(OUT_A); OnRev(OUT_C);/*±¦¤ËÀû²ó*/
 #define STOP1 Off(OUT_AC); Wait(200); /*2ÉôÖÄä»ß*/
 #define STOP2 Off(OUT_AC); Wait(20); /*0.2ÉôÖÄä»ß*/
 #define STEP 1 /*ȽÃǤËÍפ¹¤ë»þ´Ö*/
 #define arm_on OnRev(OUT_B); Wait(11); Off(OUT_B); /*¥¢¡¼¥à¤ò³«¤¯*/
 #define arm_close OnFwd(OUT_B); Wait(8); Off(OUT_B); /*¥¢¡¼¥à¤òÊĤ¸¤ë*/
 #define music PlayTone(523,25);  /*¥É¤Î²»¤ò½Ð¤¹*/
 #define MOVE_TIME 30 /*¤³¤Î´Ö¤ËÆ°¤¯*/
 #define judge_time 33 /*¸òº¹ÅÀ¤Þ¤¿¤Ï»°ºµÏ©¤Ç¤¢¤ë¤«È½ÃǤ¹¤ëºÝ¤ÎÃÍ*/

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 sub line1(){  
         if(SENSOR_1 <= THRESHOLD-10) {
                 LEFT;                    /*¸÷¥»¥ó¥µ¡¼¤¬£³£·°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïº¸¤Ë¶Ê¤¬¤ë*/
         }else{
                 if (SENSOR_1 <= THRESHOLD-12) {
                         straight;
                 }else{ 
                         RIGHT; ¡¡
                 } ClearTimer(0); 
         }¡¡/*¸÷¥»¥ó¥µ¡¼¤¬£³£µ°Ê²¼¤ÎÃͤò¼¨¤·¤¿»þ¤Ïľ¿Ê¡¢£³£·¤è¤ê¾å¤ÎÃͤò¼¨¤·¤¿»þ¤Ï¡¢±¦¤Ë¶Ê¤¬¤ê¡¢¤½¤Î¤É¤Á¤é¤Î¾ì¹ç¤Ç¤â¡¢¥¿¥¤¥Þ¡¼¤Ï¥ê¥»¥Ã¥È¤¹¤ë¡£
 }

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 sub line2(){
         if(SENSOR_1 <= THRESHOLD-10) {
                 LEFT_L;                  /*¸÷¥»¥ó¥µ¡¼¤¬£³£·°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïº¸Àû²ó¤ò¤¹¤ë¡£*/
         }else{
                 if (SENSOR_1 <=THRESHOLD-12) {
                         straight;}       /*¸÷¥»¥ó¥µ¡¼¤¬£³£µ°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïľ¿Ê¤¹¤ë¡£*/
                 }else if (SENSOR_1<= THRESHOLD-3){
                         RIGHT_L;}        /*¸÷¥»¥ó¥µ¡¼¤¬£´£´°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ï±¦Àû²ó¤¹¤ë¡£*/
                 }else{
                         RIGHT; }      /*¾åµ­°Ê³°¤Î¾õ¶·¤Î¾ì¹ç¡¢±¦¤Ë¶Ê¤¬¤ë¡£*/
         } 
 }

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 sub cross()
 { 
     STOP1;     /* ÆóÉôÖÄä»ß¤¹¤ë*/
     RIGHT_L; Wait(30);¡¡/*¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÄ´À°¤¹¤ë¤¿¤á¤Ë±¦¤ËÀû²ó¤¹¤ë¡£*/
     music;   /*¸òº¹ÅÀ¡¢»°ºµÏ©¤Ë¤Ä¤¤¤¿¤³¤È¤ò¼¨¤¹¤¿¤á¤ËÌĤ餹¡£*/
     straight; Wait(MOVE_TIME); /* ¸òº¹ÅÀ¡¢»°ºµÏ©¤ò²£ÃǤ¹¤ë¡£*/
 }

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 task main()
 {
   SetSensor(SENSOR_1, SENSOR_LIGHT);
   ClearTimer(0);
   while( FastTimer(0) <= judge_time) {
           line1(); Wait(STEP);   /*¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£*/
   }cross();                      
   ClearTimer(0);  

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   while( FastTimer(0) <= judge_time) {
          line1(); Wait(STEP);   
   }STOP2; arm_close;              /*¥Ü¡¼¥ë¤Î¤¢¤ë¤È¤³¤í¤Ç¡¢È½ÃǤ·¤Æ»ß¤Þ¤ê¥Ü¡¼¥ë¤òÄϤà*/

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   while( FastTimer(0) <= judge_time) {
           line1();  Wait(STEP);   /*µÞ¥«¡¼¥Ö¤Ëº¹¤·³Ý¤«¤ë¤Þ¤Ç¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£*/
   }ClearTimer(0); /*¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£*/

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   while( Timer(0) <= 200) {
           line2(); Wait(STEP); /*¥¿¥¤¥Þ¡¼¤Ç£²£°£°¤ÎÃͤޤǵޥ«¡¼¥ÖÍѤΥ饤¥ó¥È¥ì¡¼¥¹¤ÇµÞ¥«¡¼¥Ö¤òÁö¤êÀڤ롣*/
   }ClearTimer(0); /*¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È¤¹¤ë*/
   while( FastTimer(0) <= judge_time){
           line1(); 
   }cross();       /*¸òº¹ÅÀ¤Î°ÌÃÖ¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤Ã¤¿¤éÅϤ롣*/
   ClearTimer(1); ClearTimer(0); /*¥¿¥¤¥Þ¡¼£°¤È¥¿¥¤¥Þ¡¼£±¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£*/

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   while( Timer(1) <= 180){
          line2(); Wait(STEP); /*ľ³Ñ¥«¡¼¥Ö¤ÎÉôʬ¤òÅϤ뤿¤á¤Ë¥¿¥¤¥Þ¡¼£±¤Î£±£¸£°¤ÎÃͤˤʤë¤Þ¤Ç¤ËµÞ¥«¡¼¥ÖÍѤΥ饤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£*/
   }

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   while(FastTimer(0) <= judge_time){
           line1(); Wait(STEP);        /*¥·¥å¡¼¥È¤¹¤ëBÃÏÅÀ¤ÎÁ°¤Ç»ß¤Þ¤ë¤¿¤á¤Ë¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£*/
   }STOP2;     /*BÃÏÅÀ¤ËÍ褿¤éÄä»ß¤¹¤ë¡£*/
   arm_on; music;back; straight; Wait(80); STOP2;/*¥·¥å¡¼¥È¤ÎÆ°ºî*/
 }

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Last-modified: 2015-08-12 (¿å) 20:26:36