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#define signal_can 11      //ÀѤà¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_move 12     //Âæ¼Ö¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_last 13     //ºÇ¸å¡¢¥´¡¼¥ë¤Î±ß¤ËÃÖ¤¯»Ø¼¨

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#define turn_right(t) OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_AC);  //±¦¤Øt/100Éòóž
#define turn_left(t) OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_AC);     //º¸¤Øt/100Éòóž
#define back(t) OnFwd(OUT_AC); Wait(t); Off(OUT_AC);              //t/100ÉøåÂà 

sub´Ø¿ô¤Ë¤Ä¤¤¤Æ

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sub move_can()    //´Ì¤òÀѤàÁ°¤ÈÀѤó¤Ç¤¤¤ëºÇÃæ¤ÎÆ°¤­
{
   OnRev(OUT_AC);
   until(Message() == signal_can);    //´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤ÇÁ°¿Ê
   OnRev(OUT_AC);                   //´Ì¤È¤Îµ÷Î¥¤òµÍ¤á¤ë¤¿¤á150/100ÉÃÁ°¿Ê
   Wait(150);
   Off(OUT_AC);
   until(Message() == signal_move);  //´Ì¾å¤²½ª¤ï¤ë¤Þ¤ÇÄä»ß
}

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sub last()     //ºÇ¸å¤Ë´Ì¤ò¥´¡¼¥ë¤ËÃÖ¤¯Éôʬ¤ÎÆ°¤­
{
   turn_left(31);             //º¸¤Ø31/100Éòóž
   SendMessage(signal_last);  //´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à¤Ø¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë
   until(Message() == signal_move); 
   back(100);                 //´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à¤«¤é¥á¥Ã¥»¡¼¥¸¤¬¤­¤¿¸å¡¢100/100Éøå¿Ê
}

main´Ø¿ô¤Ë¤Ä¤¤¤Æ

task main()
{
   ClearMessage();
   move_can();       //EÃÏÅÀ¤Î´Ì¤òÄϤà°ÌÃ֤ޤǰÜÆ°
   turn_right(80);   //80/100Éñ¦²óž      
   move_can();       //TÃÏÅÀ¤Î´Ì¤òÄϤà°ÌÃ֤ޤǰÜÆ°
   last();           //´Ì¤ò¥´¡¼¥ëÃæ¿´¤Þ¤Ç±¿¤Ó¡¢´Ì¤òÃÖ¤¯
}

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#define signal_can 11              //ÀѤà¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_move 12             //Âæ¼Ö¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_last 13             //ºÇ¸å´Ì¤ò¥´¡¼¥ë¤ËÃÖ¤¯»Ø¼¨
#define close OnFwd(OUT_B);        //¥¢¡¼¥à¤òÊĤ¸¤ë
#define can_find 28                //¸÷¥»¥ó¥µ¡¼¤ÎïçÃͤ¬28¤È¤Ê¤Ã¤¿¾ì¹ç´Ì¤¬ÌܤÎÁ°¤Ë¤¢¤ë¤ÈȽÃÇ

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#define open(t) OnRev(OUT_B); Wait(t); Off(OUT_B);    //¥¢¡¼¥à¤òt/100É󫤯
#define can_up(t) OnRev(OUT_A); Wait(t); Off(OUT_A);  //¥¢¡¼¥à¤òt/100Éþ夲¤ë
#define can_down(t) OnFwd(OUT_A); Wait(t); Off(OUT_A); //¥¢¡¼¥à¤òt/100Éò¼¤²¤ë

sub´Ø¿ô¤Ë¤Ä¤¤¤Æ

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sub hazime()      //Æ°¤­»Ï¤á¡Ê´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤Ç¤Ï²¿¤â¤·¤Ê¤¤¡Ë
{
   Off(OUT_AB);
   until(SENSOR_2 < can_find);
   SendMessage(signal_can);
   Wait(150);   //´Ì¤È¤Îµ÷Î¥¤òµÍ¤á¤Æ¤¤¤ë´Ö¾¯¤·ÂÔ¤Ä
} 

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sub ageru()  //´Ì¤ò»ý¤Á¾å¤²¤ë
{
   close;
   can_up(200);
   SendMessage(signal_move);
}

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sub idoutyuu()  //°ÜÆ°Ãæ´Ì¤ò¾å¤²¤ë(½Å¤µ¤Ç¾¯¤·²¼¤¬¤Ã¤Æ¤¯¤ë¤Î¤Ç¡Ë
{
   while(SENSOR_2 < can_find){
        can_up(10);
        Wait(20);
   }
} 

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sub tumu()  //´Ì¤òÀѤà
{   
    can_up(20);  //¾å¤Þ¤Ç20/100Éþ夲¤ë
    SendMessage(signal_can);
    can_down(100);  //´Ì¤ò¹ç¤ï¤»¤ë
    open(100);      //³«¤¤¤Æ
    can_down(100);  //²¼¤Þ¤Ç²¼¤²¤Æ¼¡¤Î´Ì¤ò»ý¤Á¾å¤²¤ë½àÈ÷
} 

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sub last()  //ºÇ¸å¥´¡¼¥ë¤Ë´Ì¤òÃÖ¤¯»þ
{
    until(Message() == signal_last);
    can_down(200);
    SendMessage(signal_move);
}
  

main´Ø¿ô¤Ë¤Ä¤¤¤Æ

task main()
{
    SetSensor(SENSOR_2,SENSOR_LIGHT);  
    hazime();
    ageru();
    idoutyuu();
    tumu();
    ageru();
    last();
}

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Last-modified: 2017-08-18 (¶â) 16:25:53