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#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
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#define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶³¦Àþ¾å¤ÎÃÍ
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sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à { long ta=CurrentTick(); while (CurrentTick()-ta<=Assist_time){ if (SENSOR_1<average-11) { move1; //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move1¤ÎÆ°¤¤ò¤¹¤ë }else if (SENSOR_1<average-7){ move2; //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤¤ò¤¹¤ë } else if (SENSOR_1<average+7){ move3; //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤¤ò¤¹¤ë } else if (SENSOR_1<average+11){ move4; //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤¤ò¤¹¤ë } else { move5; //¤½¤ì°Ê³°¤Î»þ¡¢move5¤ÎÆ°¤¤ò¤¹¤ë } } }
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sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à { long tb=CurrentTick(); while (CurrentTick()-tb<=Assist_time){ if (SENSOR_1<average-11) { move5; //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move5¤ÎÆ°¤¤ò¤¹¤ë } else if (SENSOR_1<average-7){ move4; //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤¤ò¤¹¤ë } else if (SENSOR_1<average+7){ move3; //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤¤ò¤¹¤ë } else if (SENSOR_1<average+11){ move2; //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤¤ò¤¹¤ë } else { move1; //¤½¤ì°Ê³°¤Î»þ¡¢move1¤ÎÆ°¤¤ò¤¹¤ë } } }
³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤ëºÝ¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤³¤È¤¬¤¢¤ë¡£²¿¤âÂкö¤·¤Æ¤¤¤Ê¤¤¾ì¹ç¡¢¤½¤Î¤Þ¤Þ³Ñ¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤È¤Ê¤Ã¤Æ¤·¤Þ¤¦¡£
¤½¤ÎÂкö¤È¤·¤Æ¡¢¸òº¹ÅÀǧ¼±¤¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¡£ ¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£ º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¡¢move1¤¬Ï¢Â³¤ÇÆ°ºî¤·¤¿¤È¤¤Ë¸òº¹ÅÀ¤¬¤¢¤ë¤È¹Í¤¨¤é¤ì¤ë¤Î¤Çmove1¤Ë¤Ä¤¤¤Æ¹Í¤¨¤ë¡£¤Þ¤¿¡¢±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Ïmove5¤ÎÆ°ºî¤È¹Í¤¨¤é¤ì¤ë¡£
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sub L_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë { long t1=CurrentTick(); while (CurrentTick()-t1<=Stop_time){ if (SENSOR_1<average-11) { move1; } else if (SENSOR_1<average-7){ move2; t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } else if (SENSOR_1<average+7){ move3; t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } else if (SENSOR_1<average+11){ move4; t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } else { move5; t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } } Off(OUT_AB); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£ }
¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±
sub R_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë { long t2=CurrentTick(); while (CurrentTick()-t2<=Stop_time){ if (SENSOR_1<average-11) { move5; } else if (SENSOR_1<average-8){ move4; t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } else if (SENSOR_1<average+6){ move3; t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } else if (SENSOR_1<average+11){ move2; t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } else { move1; t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£ } } Off(OUT_AB); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£ }
¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢Ä¾¿Ê¡¢º¸ÀÞ¡¢±¦ÀÞ¡¢£Õ¥¿¡¼¥ó¤Ê¤É¤ÎÆ°ºî¤¬Í׵ᤵ¤ì¤ë¡£¤½¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤È¤·¤Æ¡Ö²¿Éô֤¢¤ëÆ°ºî¤ò¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸òº¹ÅÀ²£ÃǤò¤¹¤ë¡×¤È¤¤¤¦¤â¤Î¤¬¹Í¤¨¤é¤ì¤¿¡£ ¤·¤«¤·¡¢¾åµ¤Î¤ä¤êÊý¤Ç¤¢¤ë¤ÈÅÅÃӤθº¤ê¶ñ¹ç¤Ë¤è¤Ã¤Æ¡¢¤½¤ÎÅÙ¤Ë¥×¥í¥°¥é¥à¤òÊѤ¨¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£ ºÇ½ªÅª¤ÊÊýË¡¤È¤·¤Æ¡¢¤¢¤ëÌÀ¤ë¤µ¤ÎÃͤË㤹¤ë¤Þ¤Ç°ìÄê¤ÎÆ°ºî¤ò¤¹¤ë¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë¤³¤È¤Ç¡¢ÅÅÃӤθº¤ê¶ñ¹ç¤È´Ø·¸¤Ê¤¯¸òº¹ÅÀ²£ÃǤǤ¤ë¥×¥í¥°¥é¥à¤òºî¤ë¤È¤¤¤¦ÊýË¡¤Ë»ê¤Ã¤¿¡£
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sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à { while (SENSOR_1>blight){ OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë } Off(OUT_AB); }
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sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à { while (SENSOR_1<blight){ OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë } Off(OUT_AB); }
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sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à { Black_to_White(48,40,35); }
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sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { Black_to_White(48,-10,30); }
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sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { Black_to_White(48,40,10); }
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sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à { Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à(»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¡Ë Wait(800); Off(OUT_C); }
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sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { White_to_Black(33,-28,35); Black_to_White(48,-20,35); }
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sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à { White_to_Black(30,-50,0); Black_to_White(53,-30,0); }
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sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à { OnFwd(OUT_C,-30); Wait(900); Off(OUT_C); }
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sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { White_to_Black(35,30,-10); }
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sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à { Black_to_White(48,10,40); L_line(200,100); Black_to_White(48,20,30); OnFwd(OUT_A,20); OnFwd(OUT_B,40); Wait(500); Off(OUT_AB); }
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sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à { move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à Wait(100); White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ë }
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sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à { long ta=CurrentTick(); while (CurrentTick()-ta<=Assist_time){ if (SENSOR_1<average-11) { move1 }else if (SENSOR_1<average-7){ move2; } else if (SENSOR_1<average+7){ move3; } else if (SENSOR_1<average+11){ move4; } else { move5; } } } sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë { L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë long t1=CurrentTick(); while (CurrentTick()-t1<=Stop_time){ if (SENSOR_1<average-11) { move1; } else if (SENSOR_1<average-7){ move2; t1=CurrentTick(); } else if (SENSOR_1<average+7){ move3; t1=CurrentTick(); } else if (SENSOR_1<average+11){ move4; t1=CurrentTick(); } else { move5; t1=CurrentTick(); } } Off(OUT_AB); }
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sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à { long tb=CurrentTick(); while (CurrentTick()-tb<=Assist_time){ if (SENSOR_1<average-11) { move5; } else if (SENSOR_1<average-7){ move4; } else if (SENSOR_1<average+7){ move3; } else if (SENSOR_1<average+11){ move2; } else { move1; } } } sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë { R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë long t2=CurrentTick(); while (CurrentTick()-t2<=Stop_time){ if (SENSOR_1<average-11) { move5; } else if (SENSOR_1<average-8){ move4; t2=CurrentTick(); } else if (SENSOR_1<average+6){ move3; t2=CurrentTick(); } else if (SENSOR_1<average+11){ move2; t2=CurrentTick(); } else { move1; t2=CurrentTick(); } } Off(OUT_AB); }
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#define SO 392 //¥½¤Î²» #define DO 523 //¥É¤Î²» #define MI 659 //¥ß¤Î²» #define SO_H 784 //¹â¤¤¥½¤Î²» #define SI 988 //¥·¤Î²» #define DO_H 1047 //¹â¤¤¥É¤Î²» #define MI_H 1318 //¹â¤¤¥ß¤Î²» #define RE 1175 //¥ì¤Î²» #define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»
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sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë { PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); }
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sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î1UP¤Î²»¡Ë { PlayTone(MI,110);Wait(120); PlayTone(SO_H,110);Wait(120); PlayTone(MI_H,110);Wait(120); PlayTone(DO_H,110);Wait(120); PlayTone(RE,110);Wait(120); PlayTone(SO_SH,110);Wait(120); }
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sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë { PlayTone(SI,90);Wait(100); PlayTone(MI_H,140);Wait(150); }
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sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë { PlayTone(MI,100);Wait(110); PlayTone(MI,100);Wait(250); PlayTone(MI,100);Wait(160); PlayTone(DO,90);Wait(100); PlayTone(MI,90);Wait(230); PlayTone(SO_H,90);Wait(420); PlayTone(SO,170);Wait(180); }
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#define SO 392 //¥½¤Î²» #define DO 523 //¥É¤Î²» #define MI 659 //¥ß¤Î²» #define SO_H 784 //¹â¤¤¥½¤Î²» #define SI 988 //¥·¤Î²» #define DO_H 1047 //¹â¤¤¥É¤Î²» #define MI_H 1318 //¹â¤¤¥ß¤Î²» #define RE 1175 //¥ì¤Î²» #define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²» sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¥ê¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë { PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); } sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î1UP¤Î²»¡Ë { PlayTone(MI,110);Wait(120); PlayTone(SO_H,110);Wait(120); PlayTone(MI_H,110);Wait(120); PlayTone(DO_H,110);Wait(120); PlayTone(RE,110);Wait(120); PlayTone(SO_SH,110);Wait(120); } sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢¥¢¥·¥¹¥È¥¿¥¤¥à¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë { PlayTone(SI,90);Wait(100); PlayTone(MI_H,140);Wait(150); } sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë { PlayTone(MI,100);Wait(110); PlayTone(MI,100);Wait(250); PlayTone(MI,100);Wait(160); PlayTone(DO,90);Wait(100); PlayTone(MI,90);Wait(230); PlayTone(SO_H,90);Wait(420); PlayTone(SO,170);Wait(180); } #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à #define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶³¦Àþ¾å¤ÎÃÍ sub Stop_Motion() //°ì»þÄä»ß¤ò¤¹¤ë»þ¤Î¥×¥í¥°¥é¥à { Wait(300); //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¤È²¼¤Î²»¤òº®Æ±¤µ¤»¤Ê¤¤°Ù¤ÎÂÔ¤Á»þ´Ö pose_SE(); //¥Ý¡¼¥º²» Wait(1000); //°ì»þÄä»ß¤Î»þ´Ö } sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à { long ta=CurrentTick(); while (CurrentTick()-ta<=Assist_time){ if (SENSOR_1<average-11) { move1 }else if (SENSOR_1<average-7){ move2; } else if (SENSOR_1<average+7){ move3; } else if (SENSOR_1<average+11){ move4; } else { move5; } } coin_SE(); //¥³¥¤¥ó¤Î²» } sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à { long tb=CurrentTick(); while (CurrentTick()-tb<=Assist_time){ if (SENSOR_1<average-11) { move5; } else if (SENSOR_1<average-7){ move4; } else if (SENSOR_1<average+7){ move3; } else if (SENSOR_1<average+11){ move2; } else { move1; } } coin_SE(); //¥³¥¤¥ó¤Î²» } sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë { L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë long t1=CurrentTick(); while (CurrentTick()-t1<=Stop_time){ if (SENSOR_1<average-11) { move1; } else if (SENSOR_1<average-7){ move2; t1=CurrentTick(); } else if (SENSOR_1<average+7){ move3; t1=CurrentTick(); } else if (SENSOR_1<average+11){ move4; t1=CurrentTick(); } else { move5; t1=CurrentTick(); } } Off(OUT_AB); coin_SE(); //¥³¥¤¥ó¤Î²» } sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë { R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë long t2=CurrentTick(); while (CurrentTick()-t2<=Stop_time){ if (SENSOR_1<average-11) { move5; } else if (SENSOR_1<average-8){ move4; t2=CurrentTick(); } else if (SENSOR_1<average+6){ move3; t2=CurrentTick(); } else if (SENSOR_1<average+11){ move2; t2=CurrentTick(); } else { move1; t2=CurrentTick(); } } Off(OUT_AB); coin_SE(); //¥³¥¤¥ó¤Î²» } sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à { while (SENSOR_1>blight){ OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë } Off(OUT_AB); } sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à { while (SENSOR_1<blight){ OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë } Off(OUT_AB); } sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à { Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à Wait(800); Off(OUT_C); one_UP_SE(); //1UP¤Î²» } sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à { OnFwd(OUT_C,-30); Wait(900); Off(OUT_C); one_UP_SE(); //1UP¤Î²» } sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à { Black_to_White(48,40,35); } sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { Black_to_White(48,-10,30); } sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { Black_to_White(48,40,10); } sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { White_to_Black(33,-28,35); Black_to_White(48,-20,35); } sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à { White_to_Black(30,-50,0); Black_to_White(53,-30,0); } sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à { White_to_Black(35,30,-10); } sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à¡£¾¯¤·¤À¤±Æüì¤Ê¥×¥í¥°¥é¥à¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿ { Black_to_White(48,10,40); L_line(200,100); Black_to_White(48,20,30); OnFwd(OUT_A,20); OnFwd(OUT_B,40); Wait(500); Off(OUT_AB); one_UP_SE(); //1UP¤Î²» } sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à { move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à Start_SE(); //¥¹¥¿¡¼¥È¤Î²» Wait(100); White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ë } task main() { SetSensorLight(S1); //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ° Start_Set(); //¥¹¥¿¡¼¥È L_line(6000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢6ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼± Get_cup(); //»æ¥³¥Ã¥×¤ò¼è¤ë Return_cource_1(); //¥³¡¼¥¹¤ËÌá¤ë L_line(200,200); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.2ÉäǸòº¹ÅÀǧ¼± Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ R_line(700,110); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.7ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.11ÉäǸòº¹ÅÀǧ¼± Straight(); //¸òº¹ÅÀǧ¼±¤òľ¿Ê R_line(3000,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼± R_line(3500,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3.5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼± R_line(1000,100); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.1ÉäǸòº¹ÅÀǧ¼± Stop_Motion(); //°ì»þÄä»ß Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ R_Assist_line(5000); //5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡Ê»æ¥³¥Ã¥×¤ÎÃÖ¤¯¤È¤³¤í¤Þ¤Ç¤Î°ÜÆ°¡Ë Derailment_cource(); //¥³¡¼¥¹¤òæÀþ¡Ê»æ¥³¥Ã¥×¤òÃÖ¤¯¾ì½ê¤òÄ´À°¡Ë Put_cup(); //»æ¥³¥Ã¥×¤òÃÖ¤¯ Return_cource_2(); //¥³¡¼¥¹¤ËÌá¤ë L_line(2000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼± Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ R_line(1000,180); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.18ÉäǸòº¹ÅÀǧ¼± Stop_Motion(); //°ì»þÄä»ß Right(); //¸òº¹ÅÀ¤ò±¦ÀÞ L_line(1000,250); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.25ÉäǸòº¹ÅÀǧ¼± Stop_Motion(); //°ì»þÄä»ß Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ R_line(1000,130); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.13ÉäǸòº¹ÅÀǧ¼± Stop_Motion(); //°ì»þÄä»ß Go_goal(); //¥´¡¼¥ë¤Ø¸þ¤«¤¦ }
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