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/*---------- Äê¿ô¡¦¥Þ¥¯¥í ÄêµÁ -----------*/
/*¡¡ïçÃÍÀßÄê¡¡*/
#define LINE_BLACK 38					//¹õ
#define THRESHOLD_LOW 40				//ïçÃͺǾ®¡Ê¹õ¤è¤ê¡Ë
#define THRESHOLD_HIGH 47				//ïçÃͺÇÂç¡ÊÇò¤è¤ê¡Ë
#define LINE_WHITE 49					//Çò

/*¡¡Æ°ºî¡¡*/
#define FOWORD OnFwd(OUT_AC);				//ľ¿Ê
#define BACK OnRev(OUT_AC);				//¸åÂà
#define STOP Off(OUT_AC);				//Ää»ß
#define TURN_LEFT OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
#define TURN_RIGHT OnFwd(OUT_A); OnRev(OUT_C);		//±¦Àû²ó
#define CURVE_LEFT OnFwd(OUT_C); Off(OUT_A);		//º¸ÀÞ
#define CURVE_RIGHT OnFwd(OUT_A); Off(OUT_C);		//±¦ÀÞ

/*¡¡¸òº¹ÅÀȽÄêÍѤλþ´Ö¡¡*/ 
#define TIME_MAX_N	26				//T¢ªG´Ö°Ê³°¤Ç¤Î¸òº¹ÅÀȽÄê¤Þ¤Ç¤Î»þ´Ö
#define TIME_MAX_TG	33				//T¢ªG´Ö¤Ç¤Î¸òº¹ÅÀȽÄê¤Þ¤Ç¤Î»þ´Ö

/*----------- ¥°¥í¡¼¥Ð¥ëÊÑ¿ô ÄêµÁ ----------*/
int timer = 0;						//¹õÈ¿±þ»þ´Ö
int time_max = 0;					//¸òº¹ÅÀȽÄêÍÑ

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¡¡¤Þ¤¿¡¢"TIME_MAX_N"¤È"TIME_MAX_TG"¡¢"timer"¡¢"timer_max"¤Ï¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤È¤­¤Ë»ÈÍѤ·¤Æ¤¤¤ë¡£¤³¤ì¤é¤Î¾Ü¤·¤¤ÀâÌÀ¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤È¥á¥¤¥ó¥¿¥¹¥¯¤Î¤È¤³¤í¤Ç¤·¤Æ¤¤¤ë¤Î¤Ç¡¢¤³¤³¤Ç¤Ï¾Êά¤¹¤ë¡£

¡¡ïçÃÍÀßÄê

¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ëºÝ¤Ë¡¢¹õÀþ¤ÈÇòÀþ¤¬¶­³¦¤Ç¤­¤Ã¤Á¤êʬ¤«¤ì¤Æ¤¤¤ë¤ï¤±¤Ç¤Ï¤Ê¤¯¡¢¤É¤Á¤é¤Ç¤â¤Ê¤¤Ãæ´Ö¤ÎÈϰϤ¬Â¸ºß¤¹¤ë¡£¤½¤³¤Ç¡¢¤É¤³¤«¤é¤¬¹õ¤Ç¤É¤³¤«¤é¤¬Çò¤Ê¤Î¤«¡¢¤Þ¤¿¤½¤Î¶­ÌܤÎÈϰϤÎÃæ¤ÇÃæ±û¤Ï¤É¤³¤Ë¤Ê¤ë¤Î¤«¤ò"LINE_BLACK"¡¢"THRESHOLD_LOW"¡¢"THRESHOLD_HIGH"¡¢"LINE_WHITE"¤È¤¤¤¦£´¤Ä¤òÄêµÁ¤·¡¢¹õ¤«¤éÇò¤Î´Ö¤ò£µ¤Ä¤Ëʬ¤±¤ë¤³¤È¤ÇȽÊ̤·¤Æ¤¤¤ë¡£

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¡¡¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï¡¢¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤¹¤ë¤¿¤á¤Î¤â¤Î¤ò"Follow_Line_R()"¤È"Follow_Line_L()"¤È¤·¤Æº¸±¦¤ÇÀßÄꤷ¤Æ¤¤¤ë¡£¤Þ¤¿¡¢¸òº¹ÅÀ¤ÎȽÃǤ⤳¤³¤Ç¹Ô¤Ã¤Æ¤¤¤ë¡£

/*---------- ¥é¥¤¥ó¤Î±¦Â¦¤òÁö¹Ô ----------*/
sub Follow_Line_R()
{
	while(timer < time_max){
		if(SENSOR_2 > LINE_WHITE){
			TURN_LEFT;
			ClearTimer(0); 
		}
		else if(SENSOR_2 > THRESHOLD_HIGH){
			CURVE_LEFT;
			ClearTimer(0); 
		}
		else if(SENSOR_2 > THRESHOLD_LOW){
			FOWORD;
			ClearTimer(0);
		}
		else if(SENSOR_2 > LINE_BLACK){
			CURVE_RIGHT;
			ClearTimer(0);
		}
		else{
 			TURN_RIGHT;
		}	
		timer = FastTimer(0);
	}
	timer = 0;
}

/*---------- ¥é¥¤¥óº¸Â¦¤òÁö¹Ô ----------*/
sub Follow_Line_L()
{
	while(timer < time_max){
		if(SENSOR_2 > LINE_WHITE){
			TURN_RIGHT;
			ClearTimer(0); 
		}
		else if(SENSOR_2 > THRESHOLD_HIGH){
			CURVE_RIGHT;
			ClearTimer(0); 
		}
		else if(SENSOR_2 > THRESHOLD_LOW){
			FOWORD;
			ClearTimer(0);
		}
		else if(SENSOR_2 > LINE_BLACK){
			CURVE_LEFT;
			ClearTimer(0);
		}
		else{
 			TURN_LEFT;
		}	
		timer = FastTimer(0);
	}
	timer = 0;
}

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¡¡Äê¿ô¡¦¥Þ¥¯¥í¤Î¤È¤³¤í¤ÇÀâÌÀ¤·¤¿¤è¤¦¤Ë¡¢ïçÃͤˤè¤Ã¤Æ¹õ¤ÈÇò¤È¤½¤Î¶­Ìܤò£µ¤Ä¤Ëʬ¤±¤Æ¤¤¤ë¤¿¤á¡¢¤½¤ì¤¾¤ì¤Î¾ì½ê¤Ë±þ¤¸¤ÆÆ°ºî¤òÀßÄꤷ¤Æ¤¤¤ë¡£¸÷¥»¥ó¥µ¤ÎÃͤ¬"THRESHOLD_LOW"¤«¤é"THREHOLD_HIGH"¤Î´Ö¤Ï¡¢¶­ÌܤÎÃæ±û¤Ë¤Ê¤ë¤¿¤áº¸±¦¤É¤Á¤é¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤â¡Öľ¿Ê¡×¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£"THRESHOLD_LOW"¤è¤ê¾®¤µ¤¤¾ì¹ç¤È"THRESHOLD_HIGH"¤è¤êÂ礭¤¤¾ì¹ç¤Ïº¸±¦¤ÇÆ°ºî¤¬µÕ¤Ë¤Ê¤Ã¤Æ¤Ï¤¤¤ë¤¬¡¢"LINE_BLACK"¤ä"LINE_WHITE"¤òĶ¤¨¤ë¤Þ¤Ç¤Ï¡Ö¥¿¥¤¥ä¤òÊÒÊýÄä»ß¤·¤Æ¤Î¥¿¡¼¥ó¡×¡¢Ä¶¤¨¤¿¤é¡ÖÊÒÊý¤ÏÀµÅ¾¡¢È¿ÂЦ¤ÏµÕž¤·¤Æ¤ÎÀû²ó¡×¤ò¹Ô¤¦¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£

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¡¡¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤È¤­¡¢¸÷¥»¥ó¥µ¤ÏŤ¤´Ö¹õ¤òǧ¼±¤·¤Æ¤¤¤ë¤³¤È¤Ë¤Ê¤ë¡£¤½¤³¤Ç¡¢¸÷¥»¥ó¥µ¤ÎÃͤ¬"LINE_BLACK"¤è¤ê¾®¤µ¤¤¡Ê¹õ¿§¤ò¸¡ÃΤ·¤Æ¤¤¤ë¡Ë´Ö¥¿¥¤¥Þ¡¼¤Ç»þ´Ö¤ò·×¬¤·¡¢ÊÑ¿ô"timer"¤Ë¤½¤ÎÃͤòÅϤ¹¡£¤³¤Î"timer"¤ÎÃͤò"time_max"¤ÎÃ͡ʥᥤ¥ó¥¿¥¹¥¯¤ÇÀßÄê¡Ë¤ÈÈæ³Ó¤·¡¢Â礭¤¤¾ì¹ç¤Ï¥ë¡¼¥×¤«¤éÈ´¤±¤ë¤³¤È¤Ç¸òº¹ÅÀ¤òȽÃǤ·¤Æ¤¤¤ë¡£

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¡¡¥á¥¤¥ó¥¿¥¹¥¯¤Ï¡¢Â礭¤¯Ê¬¤±¤Æ¸÷¥»¥ó¥µ¤È¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼¤ÎÀßÄê¤È¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤¹¤ëÆ°ºîÉôʬ¤Î£²¤Ä¤Ëʬ¤±¤é¤ì¤ë¡£Æ°ºîÉôʬ¤Ë¤Ä¤¤¤Æ¤Ï¥×¥í¥°¥é¥à¤Î²¼¤ÇÀâÌÀ¤¹¤ë¡£

/*---------- ¥á¥¤¥ó¥¿¥¹¥¯ ----------*/
task main()
{
      /*	¸÷¥»¥ó¥µ¡¦¥â¡¼¥¿¥Ñ¥ï¡¼¡¡ÀßÄê	*/ 
	SetSensor(SENSOR_2 , SENSOR_LIGHT);
 	SetPower(OUT_AC , 3);

      /*	Æ°ºîÉôʬ	*/
// AÃÏÅÀ¢ªEÃÏÅÀ ---------------------------------------- 
	time_max = TIME_MAX_N;

	Follow_Line_R();

	// EÃÏÅÀ¡¡Åþã
	// SOUND_UP ¡õ ±¦ÀÞ
	PlaySound(SOUND_UP);
	TURN_RIGHT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// EÃÏÅÀ¢ªPÃÏÅÀ ----------------------------------------
	Follow_Line_R();

	// PÃÏÅÀ¡¡Åþã (°ì»þÄä»ß)
	// SOUND_DOWN & º¸ÀÞ
	PlaySound(SOUND_DOWN);
	STOP;
	Wait(100);
	TURN_LEFT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// PÃÏÅÀ¢ªQÃÏÅÀ ----------------------------------------
	Follow_Line_L();

	// QÃÏÅÀ¡¡Åþã
	// SOUND_DOWN & ľ¿Ê¡Ê¸úΨ²½¤Î¤¿¤á±¦Àޤˤè¤ë²£ÃÇ¡Ë
	PlaySound(SOUND_UP);
	CURVE_RIGHT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// QÃÏÅÀ¢ªRÃÏÅÀ ----------------------------------------
	Follow_Line_L();

	// RÃÏÅÀ¡¡Åþã
	// SOUND_UP & º¸ÀÞ
	PlaySound(SOUND_UP);
	TURN_LEFT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// RÃÏÅÀ¢ªTÃÏÅÀ ----------------------------------------
	Follow_Line_L();

	// TÃÏÅÀ¡¡Åþã¡Ê°ì»þÄä»ß¡Ë
	// SOUND_DOWN & ľ¿Ê
	PlaySound(SOUND_DOWN);
	STOP;
	Wait(100);
	FOWORD;
	until(SENSOR_2 > THRESHOLD_HIGH);

// TÃÏÅÀ¢ªTÃÏÅÀ ----------------------------------------
	time_max = TIME_MAX_TG;

	Follow_Line_L();
	// TÃÏÅÀ¡¡Åþã¡Ê°ì»þÄä»ß¡Ë
	// SOUND_DOWN & ľ¿Ê¡Ê¥é¥¤¥ó±¦Â¦¤Ø°ÜÆ°¡Ë
	PlaySound(SOUND_DOWN);
	STOP;
	Wait(100);
	CURVE_RIGHT;
	until(SENSOR_2 > THRESHOLD_HIGH);
	until(SENSOR_2 < THRESHOLD_LOW);
	until(SENSOR_2 > THRESHOLD_HIGH);

// TÃÏÅÀ¢ªHÃÏÅÀ ----------------------------------------
	Follow_Line_R();

	// HÃÏÅÀ¡¡Åþã
	// SOUND_UP & ±¦ÀÞ
	PlaySound(SOUND_UP);
	CURVE_RIGHT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// HÃÏÅÀ¢ªÃÏÅÀG ----------------------------------------
	Follow_Line_R();

	// GÃÏÅÀ¡¡Åþã
	// SOUND_UP & ľ¿Ê
	PlaySound(SOUND_UP);
	FOWORD;
	until(SENSOR_2 > THRESHOLD_HIGH);

// GÃÏÅÀ¢ªSÃÏÅÀ ----------------------------------------
	time_max = TIME_MAX_N;

	Follow_Line_L();

	// SÃÏÅÀ¡¡Åþã¡Ê°ì»þÄä»ß¡Ë
	// SOUND_DOWN & º¸ÀÞ
	PlaySound(SOUND_DOWN);
	STOP;
	Wait(100);
	TURN_LEFT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// SÃÏÅÀ¢ªPÃÏÅÀ ----------------------------------------
	Follow_Line_L();

	// PÃÏÅÀ Åþã
	// SOUN_UP & ľ¿Ê¡Ê¸úΨ²½¤Î¤¿¤á¤Ë±¦Àޤˤè¤ë²£ÃÇ¡Ë
	PlaySound(SOUND_UP);
	CURVE_RIGHT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// PÃÏÅÀ¢ªQÃÏÅÀ ----------------------------------------
	Follow_Line_L();

	// QÃÏÅÀ¡¡Åþã
	// SOUND_UP & º¸Àޡʥ饤¥ó±¦Â¦¤Ø°ÜÆ°¡Ë
	PlaySound(SOUND_UP);
	CURVE_RIGHT;
	until(SENSOR_2 > THRESHOLD_HIGH);

// QÃÏÅÀ¢ªFÃÏÅÀ ----------------------------------------
	Follow_Line_R();

	// FÃÏÅÀ¡¡Åþã
	// SOUND_UP & º¸ÀÞ¡Êľ¿Ê¤Ë¤è¤Ã¤Æ¥é¥¤¥ó²£ÃÇ¡Ë
	PlaySound(SOUND_UP);
	FOWORD;
	until(SENSOR_2 > THRESHOLD_HIGH);

// FÃÏÅÀ¢ªEÃÏÅÀ ----------------------------------------
	Follow_Line_L();

	// EÃÏÅÀ¡¡Åþã
	//¡Êľ¿Ê¤Ë¤è¤ë²£ÃÇ¡Ë
	FOWORD;
	until(SENSOR_2 > THRESHOLD_HIGH);

// EÃÏÅÀ¢ªAÃÏÅÀ ----------------------------------------
	Follow_Line_L();

	// AÃÏÅÀ¡¡Åþã
	// ¥é¥¤¥ó²£ÃǸ塢AÃÏÅÀÆâ¤ÇÄä»ß
	PlaySound(SOUND_DOWN);
	CURVE_RIGHT;
	until(SENSOR_2 > THRESHOLD_HIGH);
	FOWORD;
	Wait(70);
	STOP;
//¥´¡¼¥ë
}

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Last-modified: 2017-07-07 (¶â) 22:31:30