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#define THRESHOLD 45      //¤³¤ÎÃͤÏÃæ´Ö¤Î¿§¤Ç¤¹
#define BRACK 37           //¹õ¤Ç¤¹
#define DARK 36           //¤µ¤é¤Ë°Å¤¤¹õ¤Ç¤¹
#define WHITE 47          //Çò¤Ç¤¹
#define left Off(OUT_A); OnFwd(OUT_C);    //º¸¤Ë¶Ê¤¬¤ê¤Þ¤¹
#define right OnFwd(OUT_A); Off(OUT_C);    //±¦¤Ø¶Ê¤¬¤ê¤Þ¤¹
#define go_long OnFwd(OUT_AC);Wait(800);Off(OUT_AC);    //Á°¤Ë¿Ê¤ß¤Þ¤¹¡ÊŤ¤»þ´Ö¡Ë
#define go OnFwd(OUT_AC);Wait(200);Off(OUT_AC);       //Á°¤Ë¿Ê¤ß¤Þ¤¹¡Êû¤¤»þ´Ö¡Ë
#define right_senkai OnFwd(OUT_C); OnRev(OUT_A);      //±¦¤Ø¤ÎÀû²ó¤Ç¤¹
#define left_senkai OnFwd(OUT_A);OnRev(OUT_C);       //º¸¤Ø¤ÎÀû²ó¤Ç¤¹
#define STEP 1                 //0.01Éäδֳ֤ǥí¥Ü¤¬Ãͤò¬Äꤷ¤Æ¥¿¥¹¥¯¤ò¹Ô¤¤¤Þ¤¹
#define short_break Off(OUT_AC);Wait(100);      //¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤È¤­¤Î¤Ç¤¹

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¡¦¥é¥¤¥ó¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤ò¤¹¤ë¤¿¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó

sub line_followR()
{
int zk=0;¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤ò³Îǧ¤·¤¿¤È¤­¤Ë¿ô¤¬Áý¤¨¤ë¥«¥¦¥ó¥¿¡¼
  
SetSensor(SENSOR_3,  SENSOR_LIGHT);
   ClearTimer(0);

   while(zk==0) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥«¥¦¥ó¥¿¡¼¤¬0¤Î»þ¤³¤ÎÃæ¿È¤ò·«¤êÊÖ¤·¤Þ¤¹
      while(FastTimer(0)>100);¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤Ç1Éðʾ崶ÃΤ¹¤ë¤È²¼¤Îifʸ¤ò¹Ô¤¦¤Ï¤º¤À¤Ã¤¿
           if (SENSOR_3 < DARK){¡¡¡¡¡¡//¹õ¤ò1Éðʾ崶ÃΤ¹¤ë¤È¸òº¹ÅÀ¤È¸«¤Ê¤¹
                short_break;
       PlaySound(SOUND_DOUBLE_BEEP); ¡¡¡¡//1ÉÃÄä»ß¤·²»¤òÌĤ餹
         zk=1;         ¡¡//¥«¥¦¥ó¥¿¡¼¤¬1¤Î»þ¤³¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ò½ª¤ï¤ê¼¡¤ÎÆ°ºî¤Ø°Ü¤ê¤Þ¤¹
       }else if (SENSOR_3<BRACK){
                 right_senkai;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤¬37°Ê²¼¤ò´¶ÃΤ·¤¿¤È¤­±¦Àû²ó
                 ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ëè²ó¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë¤¿¤áɬÍ×
           }else if (SENSOR_3 < THRESHOLD){
                left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// ¥»¥ó¥µ¡¼¤¬45°Ê²¼¤ò´¶ÃΤ·¤¿¤È¤­º¸¤Ø
                ClearTimer(0);
           }else if(SENSOR_3> THRESHOLD) {
                right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤¬45°Ê¾å¤ò´¶ÃΤ·¤¿¤È¤­±¦¤Ø
                  ClearTimer(0);
             }
           Wait(STEP);
        }
    }

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sub line_followL()
{
int zk=0;
  
SetSensor(SENSOR_3,  SENSOR_LIGHT);
   ClearTimer(0);

   while(zk==0) {
      while(FastTimer(0)>100);
           if (SENSOR_3 < DARK){
                short_break;
       PlaySound(SOUND_DOUBLE_BEEP);
         zk=1;         
       }else if (SENSOR_3>WHITE){
                 right_senkai;
                 ClearTimer(0);
           }else if (SENSOR_3 < THRESHOLD){
                 right;
                ClearTimer(0);
           }else if(SENSOR_3> THRESHOLD) {
                left;
                  ClearTimer(0);
             }
           Wait(STEP);
        }
    }

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¡¦¸òº¹ÅÀ¤Çº¸ÀÞ¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó

sub cross_left()
{
     go;
     OnFwd(OUT_A); 
     OnRev(OUT_C);     
     Wait(280);
     Off(OUT_AC);
}

¡¦¸òº¹ÅÀ¤Ç±¦ÀÞ¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó

sub cross_right()
{
      go;
     OnFwd(OUT_C);
     OnRev(OUT_A);     
     Wait(250);
     Off(OUT_AC);
}

¡¦¼Ð¤á¤ËÆ°¤¯¥µ¥Ö¥ë¡¼¥Á¥ó

sub cross_nanameL()
{
    OnFwd(OUT_A); 
     Off(OUT_C);     
     Wait(230);
     Off(OUT_A);
}

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sub cross_leftshort()
{
     go;
     OnFwd(OUT_A); 
     OnRev(OUT_C);     
     Wait(220);
     Off(OUT_AC);
}

¡¦ºÇ½ªÅª¤Ê¥¿¥¹¥¯

task main()
{
line_followR();¡¡¡¡//C¢ªS¸òº¹ÅÀ¤Ø¡ÊºÇ½é¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï±¦¡Ë
cross_left();¡¡¡¡¡¡//S¸òº¹ÅÀ¤òº¸ÀÞ¡¡
line_followR();¡¡¡¡//S¢ªP¸òº¹ÅÀ¤Ø
cross_left();¡¡¡¡¡¡//P¸òº¹ÅÀ¤òº¸ÀÞ
line_followR();¡¡¡¡//P¢ªQ¸òº¹ÅÀ¤Ø
go;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê
line_followR();¡¡¡¡//Q¸òº¹ÅÀ¤«¤é±ß¤òÉÁ¤¤¤ÆQ¸òº¹ÅÀ¤Ø
cross_nanameL();¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÀÚ¤êÂؤ¨¤Î¤¿¤á¼Ð¤á°ÜÆ°
line_followL();¡¡ //Q¢ªR¸òº¹ÅÀ¤Ø¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ïº¸¤ØÊѲ½¡Ë
cross_right();¡¡¡¡//R¸òº¹ÅÀ¤ò±¦ÀÞ
line_followL();¡¡ //R¢ªP¸òº¹ÅÀ¤Ø
cross_leftshort();¡¡//P¸òº¹ÅÀ¤òº¸ÀÞ
line_followR();¡¡¡¡//P¢ªAÃÏÅÀ¤Ø¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï±¦¤ØÊѲ½¡Ë
go_long ;¡¡¡¡¡¡¡¡¡¡ //¥´¡¼¥ë¤ÎÃæ¤ËÆþ¤ë°Ù¤Îľ¿Ê
PlaySound(SOUND_UP);¡¡¡¡//¾¡Íø¤Î¥µ¥¦¥ó¥É
}

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Last-modified: 2016-08-03 (¿å) 23:25:48