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#define THRESHOLD 45 
#define go_forward OnFwd(OUT_AC);                      //ľ¿Ê
#define turn_right0 OnFwd(OUT_A);OnRev(OUT_C);         //±¦Àû²ó
#define turn_right1 OnFwd(OUT_A);                      //±¦ÀÞ
#define turn_left0 OnRev(OUT_A);OnFwd(OUT_C);          //º¸Àû²ó
#define turn_left1 OnFwd(OUT_C);                       //º¸ÀÞ
#define s_up PlaySound(SOUND_UP);
#define s_down PlaySound(SOUND_DOWN);
#define Tmax 29                                        //¥é¥¤¥ó¾å¤òÁö¤ë»þ´Ö¤Î¾å¸Â
int t=0;                                               //¥é¥¤¥ó¾å¤ËTmax°Ê¾å¤¤¤¿²ó¿ô

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 sub cross_stop(){
   Off(OUT_AC);Wait(100);
   s_down;
 }                                            

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 sub cross_left(){
   s_up;
   turn_left0;
   until(SENSOR_2 < THRESHOLD -3);
 }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡

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 sub cross_straight(){ 
   turn_right1;
   Wait(20);
   go_forward;
   until(SENSOR_2 < THRESHOLD -3);
   turn_right1;
   until(SENSOR_2 < THRESHOLD +8);
 }                                 

Tmax¤òĶ¤¨¤ë¤Þ¤Ç¥é¥¤¥ó¤Îº¸Â¦¤ò¤Ê¤¾¤ë¡£

 sub linetrace0(){
  SetSensor(SENSOR_2,SENSOR_LIGHT);
     ClearTimer(0);
   while(FastTimer(0)<Tmax){
     if(SENSOR_2 < THRESHOLD -8){
       turn_left0;                                //Ç»¤¤¹õ¤Î¤È¤­¤Ïº¸Àû²ó
     }else if(SENSOR_2 < THRESHOLD -3){
       turn_left1;                                //Çö¤¤¹õ¤Î¤È¤­¤Ïº¸ÀÞ
     }else if(SENSOR_2 < THRESHOLD +3){
       go_forward;                                //¹õ¤ÈÇò¤ÎÃæ´Ö¤Î¤È¤­¤Ïľ¿Ê
     }else if(SENSOR_2 < THRESHOLD +8){
       turn_right1;                               //Çö¤¤Çò¤Î¤È¤­¤Ï±¦ÀÞ
     }else {
       turn_right0;                               //Ç»¤¤Çò¤Î¤È¤­¤Ï±¦Àû²ó
     }

     if(SENSOR_2 < THRESHOLD -8){
        ClearTimer(0);
      }                                           //Ç»¤¤¹õ¤Î¾å¤Ë¤¤¤ë»þ´Ö¤ò·×¤ë
    }
 t+=1;                                            //Tmax¤ò¤³¤¨¤¿¤ét¤ò1Áý¤ä¤¹
 }

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 void linetrace1(int s){
  SetSensor(SENSOR_2,SENSOR_LIGHT);
     ClearTimer(2);
   while(FastTimer(2)<s){
     if(SENSOR_2 < THRESHOLD -8){
       turn_left0;
     }else if(SENSOR_2 < THRESHOLD -3){
       turn_left1;
     }else if(SENSOR_2 < THRESHOLD +3){
       go_forward;
     }else if(SENSOR_2 < THRESHOLD +8){
       turn_right1;
     }else {
       turn_right0;
      }
   ClearTimer(0);
    }
 }

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 sub linetrace_2(){
  SetSensor(SENSOR_2,SENSOR_LIGHT);
   while(FastTimer(0)<26){
     if(SENSOR_2 < THRESHOLD -8){
       turn_left0;
     }else if(SENSOR_2 < THRESHOLD -3){
       turn_left1;
     }else if(SENSOR_2 < THRESHOLD +3){
       go_forward;
     }else if(SENSOR_2 < THRESHOLD +8){
       turn_right1;
     }else {
       turn_right0;
     }
     if(SENSOR_2 < THRESHOLD -8){
       ClearTimer(0);
     } 
    }
 t+=1;
 }                                      

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(²¿Åٻ¤Æ¤â¡Ötask main¤¬ÄêµÁ¤µ¤ì¤Æ¤¤¤Ê¤¤¡×¤È¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢Æ°¤«¤¹¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿)

task main()
{
 SetSensor(SENSOR_2,SENSOR_LIGHT);
     ClearTimer(0);
  while(<=13){
    if(t==0){
      linetrace1(6000);                                   //­¡­¢
      linetrace0();
      cross_left();                                       //­£    
    }else if((t==1)||(t==8)||(t==11)){
      linetrace0();
      cross_stop();
      turn_left0;until(SENSOR_2 < THRESHOLD +3);          //­¤­«­®
    }else if((t==2)||(t==9)){ 
      linetrace1(500);
      linetrace2();
      s_up;
      cross_straight();                                   //­¥­¬
    }else if((t==3)||(t==10)){
      linetrace1(500);
      linetrace0();
      cross_left();                                       //­¦­­
    }else if(t==4){
      linetrace0();
      cross_left();                                       //­§
     }else if(t==5){
      linetrace1(4000);                                   
      linetrace0();
      cross_left();
      ClearTimer(0);                                      //­¨
    }else if(t==6){
      linetrace0();
      cross_stop();
      cross_straight();                                   //­©
    }else if(t==7){        
      linetrace1(2000); 
      linetrace0();
      cross_stop();
      cross_straight();                                   //­ª
    }else if(t==12){
      linetrace0();
      s_down;
      Off(OUT_AC);                                        //­¯
    }
  }  
}
  
  

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Last-modified: 2017-08-20 (Æü) 09:14:46