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# define TMAX 29 # define forward OnFwd(OUT_AC); # define back OnRev(OUT_AC); # define t_left OnRev(OUT_A);OnFwd(OUT_C); //º¸Àû²ó # define turn_left Off(OUT_A);OnFwd(OUT_C); //º¸²óž # define t_right OnFwd(OUT_A);OnRev(OUT_C); //±¦Àû²ó # define turn_right OnFwd(OUT_A);Off(OUT_C); //±¦²óž # define stop(t) Off(OUT_AC);Wait(t); # define power(s) SetPower(OUT_AC,s); # define KOUON PlaySound(SOUND_UP); # define TEION PlaySound(SOUND_DOWN);
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int n=0; sub right(){ while(FastTimer(0)<TMAX){ if(SENSOR_2<42){ OnFwd(OUT_A);OnRev(OUT_C); }else if(SENSOR_2<47){ OnFwd(OUT_A);Off(OUT_C); }else if(SENSOR_2<52){ OnFwd(OUT_A);OnFwd(OUT_C); }else if(SENSOR_2<55){ Off(OUT_A);OnFwd(OUT_C); } else { OnRev(OUT_A);OnFwd(OUT_C); } if(SENSOR_2>42){ ClearTimer(0); } } n++; } sub left(){ while(FastTimer(0)<TMAX){ if(SENSOR_2<42){ OnRev(OUT_A);OnFwd(OUT_C); }else if(SENSOR_2<47){ Off(OUT_A);OnFwd(OUT_C); }else if(SENSOR_2<52){ OnFwd(OUT_A);OnFwd(OUT_C); }else if(SENSOR_2<55){ OnFwd(OUT_A);Off(OUT_C); } else { OnFwd(OUT_A);OnRev(OUT_C); } if(SENSOR_2>40){ ClearTimer(0); } } n++; }
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task main(){ power(0); SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(n<=13){
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if(n==0){ //T»úÏ© right(); KOUON; t_left;Wait(10); forward;Wait(40); //0.1ÉÃÄä»ß¤·¤Æ0.4ÉÃÁ°¿Ê¡¡º¸¤Ø ClearTimer(0); //¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È }
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else if(n==1){ left(); back;Wait(20); stop(80); TEION; t_left;Wait(30); forward;Wait(50); ClearTimer(0); }
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else if(n==2){ left(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }
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else if(n==3){ left(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }
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else if(n==4){ right(); TEION; t_left;Wait(25); stop(80); forward;Wait(50); ClearTimer(0); }
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else if(n==5){ right(); t_left;Wait(25); stop(80); TEION; forward;Wait(50); ClearTimer(0); }
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else if(n==6){ right(); KOUON; t_right;Wait(50); forward;Wait(50); turn_right;Wait(15); ClearTimer(0); }
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else if(n==7){ right(); forward;Wait(15); t_right;Wait(70); forward;Wait(50); turn_right;Wait(10); t_right;Wait(40); ClearTimer(0); }
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else if(n==8){ right(); KOUON; t_left;Wait(10); forward;Wait(40); ClearTimer(0); }
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else if(n==9){ left(); back;Wait(20); stop(80); TEION; t_left;Wait(30); forward;Wait(50); ClearTimer(0); }
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else if(n==10){ left(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }
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else if(n==11){ left(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }
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else if(n==12){ right(); KOUON; t_right;Wait(50); forward;Wait(40); turn_right;Wait(10); ClearTimer(0); }
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else if(n==13){ right(); KOUON; t_left;Wait(25); forward;Wait(250); } Off(OUT_AC); }
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