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sub left_Line() { SetSensor(SENSOR_2,SENSOR_LIGHT);//¸÷¥»¥ó¥µ¡¼½àÈ÷ ClearTimer(0);//¥¿¥¤¥Þ¡¼¤ò¥»¥Ã¥È while(FastTimer(0)<=26)//¥¿¥¤¥Þ¡¼¥»¥Ã¥È¸å¤Î·Ð²á»þ´Ö¤¬0.26Éðʲ¼¤Ê¤é¤Ð¥ë¡¼¥× { if(SENSOR_2>THRESHOLD+5) { rightSENKAI;//Çò¤Ê¤é±¦µÞ¥«¡¼¥Ö ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else if(SENSOR_2>THRESHOLD+4) { right;//Çò¤Ã¤Ý¤¤¤Ê¤é±¦¤Ø ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC);//³¥¿§(Çò¤È¹õ¤Î¶³¦)¤Ê¤éľ¿Ê ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else if(SENSOR_2>THRESHOLD-4) { left;//¹õ¤Ã¤Ý¤¤¤Ê¤éº¸¤Ø ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else { leftSENKAI;//¹õ¤Ê¤éº¸µÞ¥«¡¼¥Ö } } Off(OUT_AC); }
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#define THRESHOLD 47//Çò¤ÎºÇ¹â53¡¢¹õºÇÄã38 #define forward(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);//ľ¿Ê #define leftSENKAI OnFwd(OUT_C);OnRev(OUT_A);//º¸µÞ¥«¡¼¥Ö #define left OnFwd(OUT_C);Off(OUT_A);//º¸¥«¡¼¥Ö #define rightSENKAI OnFwd(OUT_A);OnRev(OUT_C);//±¦µÞ¥«¡¼¥Ö #define LINEsyusei rightSENKAI;Wait(25);forward(30);//¸òº¹ÅÀ¸å¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë #define P SetPower(OUT_AC,5);
sub right_Line() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<=26) { if(SENSOR_2>THRESHOLD+5) { leftSENKAI; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+4) { left; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>THRESHOLD-4) { right; ClearTimer(0); } else { rightSENKAI; } } Off(OUT_AC); } sub right_Linehalf() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<=18) { if(SENSOR_2>THRESHOLD+5) { leftSENKAI; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+4) { left; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>THRESHOLD-4) { right; ClearTimer(0); } else { rightSENKAI; } } }
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sub left_Line() { SetSensor(SENSOR_2,SENSOR_LIGHT);//¸÷¥»¥ó¥µ¡¼½àÈ÷ ClearTimer(0);//¥¿¥¤¥Þ¡¼¤ò¥»¥Ã¥È while(FastTimer(0)<=26)//¥¿¥¤¥Þ¡¼¥»¥Ã¥È¸å¤Î·Ð²á»þ´Ö¤¬0.26Éðʲ¼¤Ê¤é¤Ð¥ë¡¼¥× { if(SENSOR_2>THRESHOLD+5) { rightSENKAI;//Çò¤Ê¤é±¦µÞ¥«¡¼¥Ö ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else if(SENSOR_2>THRESHOLD+4) { right;//Çò¤Ã¤Ý¤¤¤Ê¤é±¦¤Ø ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC);//³¥¿§(Çò¤È¹õ¤Î¶³¦)¤Ê¤éľ¿Ê ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else if(SENSOR_2>THRESHOLD-4) { left;//¹õ¤Ã¤Ý¤¤¤Ê¤éº¸¤Ø ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } else { leftSENKAI;//¹õ¤Ê¤éº¸µÞ¥«¡¼¥Ö } } Off(OUT_AC); } sub left_Linehalf() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<=12) { if(SENSOR_2>THRESHOLD+5) { rightSENKAI; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+4) { right; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>THRESHOLD-4) { left; ClearTimer(0); } else { leftSENKAI; } } }
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sub left_Line()¤ÏÆüì¤Ê¾ì¹ç¤ò½ü¤¤¤Æ¡¢º£²ó¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤¤¤Æ¼ç¤È¤·¤ÆÍѤ¤¤¿¤â¤Î¤À¤Ã¤¿¡£sub left_Linehalf()¤ÏP-Q¤Ê¤É¤Î±ß¤Î²Õ½ê¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë»þ¤Ë¡¢Â¾¤ÈƱ¤¸¤è¤¦¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤À¤±¤Ç¤ÏQ¤ò¸òº¹ÅÀ¤È¤·¤ÆȽÃǤ·¤Æ¤¯¤ì¤Ê¤«¤Ã¤¿¤¿¤á¤Ë¡¢FastTimer¤Î»þ´Ö¤òû¤¯¤¹¤ë¤Ê¤É¤ÎÊѲ½¤ò»ý¤¿¤»¤¿¤â¤Î¤À¡£
task main() { left_Line(); LINEsyusei;//CÄ̲á int B; for (B=1; B<=4; B++){ left_Line(); } Wait(100);//BÄ̲á left_Linehalf();//P-Q forward(30);//QÄ̲á right; Wait(30); ClearTimer(1); while(FastTimer(1)<=1300)//R-F { left_Line(); } int C; for (C=1; C<=2; C++){ left_Line(); } Wait(100); forward(40);//Y¤«¤é¥³¥Ã¥×¤ò¼è¤ë¤¿¤á¤Î½àÈ÷ leftSENKAI; Wait(98); Off(OUT_AC); OnRev(OUT_B);//¥¢¡¼¥à¤òÆ°¤«¤¹ Wait(70); Off(OUT_B);//Y¤«¤é¥³¥Ã¥×¼è¤ë rightSENKAI;//ºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤¿¤á¤Î½àÈ÷ Wait(80); left_Line(); Wait(100); LINEsyusei; int D;//S-Q for (D=1; D<=2; D++){ left_Line(); } Wait(100); left_Linehalf();//Q-R forward(30);//¥³¥Ã¥×¤òÃÖ¤¯¤¿¤á¤Î½àÈ÷ OnFwd(OUT_B); Wait(20); Off(OUT_B);//¥³¥Ã¥×¤òÃÖ¤¯ right; Wait(40); int E;//R-B for (E=1; E<=4; E++){ left_Line(); } LINEsyusei; forward(100);//¥´¡¼¥ë }
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