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#define up(t) OnRev(OUT_A);Wait(t);Off(OUT_A);   //tÉþ夲¤ë
#define down(t) OnFwd(OUT_A);Wait(t);Off(OUT_A); //tÉò¼¤²¤ë
#define st(t) Off(OUT_A);Wait(t);                //tÉÃÂÔµ¡

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task main ()
{
    Wait(870); //XÃÏÅÀ¤ËÃ夯¤Þ¤Ç¤Î»þ´Ö
    up(30);    //¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë
    st(200);   //³ä¤ê¤Ð¤·¤ÎÀµÊý·Á¤ÎÃæ¤Ë¥³¥Ã¥×¤¬Æþ¤ë¤Þ¤ÇÂÔµ¡
    down(30);  //¥³¥Ã¥×¤ò²¼¤í¤¹
}

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#define leftSENKAI OnFwd(OUT_A);OnRev(OUT_C);      //º¸Àû²ó
#define leftMAGARU OnFwd(OUT_A);Off(OUT_C);        //º¸ÀÞ
#define rightSENKAI OnFwd(OUT_C);OnRev(OUT_A);     //±¦Àû²ó
#define rightMAGARU OnFwd(OUT_C);Off(OUT_A);       //±¦ÀÞ
#define ch OnFwd(OUT_B);Wait(30);Off(OUT_B);       //¥¢¡¼¥à¤òÊĤ¸¤ë
#define re OnRev(OUT_B);Wait(20);Off(OUT_B);       //¥¢¡¼¥à¤ò³«¤¯
#define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);   //£ôÉÃÁ°¿Ê
#define back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC); //£ôÉøåÂà
#define cross_stop Off(OUT_AC);Wait(100);          //1Éûߤޤë
#define carb 46                                    //ïçÃÍ

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sub r()
{
 SetSensor(SENSOR_2,SENSOR_LIGHT); //ü»Ò2¤Ë¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
 ClearTimer(0);
 while(FastTimer(0)<=24)           //0.24ÉðÊÆâ¤Î¾ì¹ç¤Ï¥ë¡¼¥× Ķ¤¨¤¿¾ì¹ç¤Ï¸òº¹ÅÀ¤È¤·¤ÆȽÃÇ
  {
   if(SENSOR_2>carb+5)             // ¥»¥ó¥µ¡¼¤¬ïçÃÍ¡Ü£µ¤ÎÃͤòĶ¤¨¤¿¤éº¸Àû²ó
    {
     leftSENKAI
     ClearTimer(0);
    }
   else if(SENSOR_2>carb+3)        //¥»¥ó¥µ¡¼¤¬ïçÃÍ¡Ü£³¤ÎÃͤòĶ¤¨¤¿¤éº¸ÀÞ   
    {
     leftMAGARU
     ClearTimer(0);
    }
   else if(SENSOR_2>carb)          //¥»¥ó¥µ¡¼¤¬ïçÃͤòĶ¤¨¤¿¤éľ¿Ê  
    {
     OnFwd(OUT_AC);
     ClearTimer(0);
    }
   else if(SENSOR_2>carb-3)        //¥»¥ó¥µ¡¼¤¬ïçÃÍ¡Ý£³¤ÎÃͤòĶ¤¨¤¿¤é±¦ÀÞ
    {
     rightMAGARU
     ClearTimer(0);
    }
   else                            //¾åµ­¤Î¤É¤Î¾ò·ï¤Ë¤âÅö¤Æ¤Ï¤Þ¤é¤Ê¤¤¤È¤­¤Ë±¦Àû²ó
    {
     rightSENKAI
    }
   }
 Off(OUT_AC);
} 

¥á¥¤¥ó¥×¥í¥°¥é¥à

task main ()
{
    go(30);          //AÃÏÅÀ¤ÎÏȤ«¤é½Ð¤ë
    r();             //A¡ÁB¥é¥¤¥ó¥È¥ì¡¼¥¹
    leftSENKAI;
    Wait(5);         //0.05Éôֺ¸Àû²ó¤·¤Æ°ÌÃÖÄ´À°
    re;              //¥¢¡¼¥à¤ò³«¤¯
    go(160);         //ľÀþAB¤Î±äĹ¾å¤Ë¤¢¤ë¥³¥Ã¥×¤Ë¶á¤Å¤¯
    cross_stop;      //1ÉÃÄä»ß
    ch;              //¥¢¡¼¥à¤òÊĤ¸¥³¥Ã¥×¤ò¤Ä¤«¤à
    rightSENKAI;
    Wait(140);       //1.4Éôֱ¦Àû²ó¤·¤Æ°ÌÃÖÄ´À°
    cross_stop;      //1ÉÃÄä»ß
    ch;              //¥³¥Ã¥×¤òÎ¥¤µ¤Ê¤¤¤è¤¦¤ËºÆ¤Ó¥¢¡¼¥à¤òÊĤ¸¤ë
    go(90);          //XÃÏÅÀ¤Ë¶á¤Å¤¯
    cross_stop;      //1ÉÃÄä»ß
    re;              //¥¢¡¼¥à¤ò³«¤­XÃÏÅÀ¤Ë¥³¥Ã¥×¤òÃÖ¤¯
    back(100);       //1ÉøåÂष¤Æ°ÌÃÖÄ´À°
    leftSENKAI;
    Wait(30);        //0.3Éú¸Àû²ó¤·¤Æ°ÌÃÖÄ´À°
    go(200);         //2ÉÃÁ°¿Ê¤·¤Æ°ÌÃÖÄ´À°
    rightSENKAI;
    Wait(40);        //0.4Éñ¦Àû²ó¤·¤Æ¾ã³²Êª¤ËÅö¤¿¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë
    re;              //¥¢¡¼¥à¤ò³«¤¯
    go(250);         //¸òº¹ÅÀQ¤Î¾å¤Ë¤¢¤ë¥³¥Ã¥×¤òËÜÂΤDz¡¤·¤Ê¤¬¤éYÃÏÅÀ¤Ë¸þ¤«¤¦
}

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Last-modified: 2018-02-12 (·î) 12:45:48