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#define speedA 38 //±¦¥¿¥¤¥ä¤Î¥¹¥Ô¡¼¥É #define speedB 36 //º¸¥¿¥¤¥ä¤Î¥¹¥Ô¡¼¥É #define THRESHOLD 50 //ïçÃÍ #define STEP 1 //Wait¤Î°ú¿ô #define sA2 speedA/2 //¥¹¥Ô¡¼¥É¤òÃÙ¤¯¤¹¤ë»þ¤Ë»ÈÍÑ #define sB2 speedB/2 //¥¹¥Ô¡¼¥É¤òÃÙ¤¯¤¹¤ë»þ¤Ë»ÈÍÑ
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sub go_forward(long x,long y) //Á°¿Ê { OnFwd(OUT_A,speedA-x);OnFwd(OUT_B,speedB-y); } sub go_right1(long x,long y) //±¦¥«¡¼¥Ö { OnFwd(OUT_B,speedB-y);Off(OUT_A); } sub go_left1(long x,long y) //º¸¥«¡¼¥Ö { OnFwd(OUT_A,speedA-x);Off(OUT_B); } sub go_right2(long x,long y) //±¦Àû²ó { OnFwd(OUT_A,-speedA-x);OnFwd(OUT_B,speedB-y); } sub go_left2(long x,long y) //º¸Àû²ó { OnFwd(OUT_A,speedA-x);OnFwd(OUT_B,-speedB-y); }
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sub L_Turn1(long x,long y) //µÞ¥«¡¼¥Ö¡Êº¸ÀÞ¡Ë { long n = 0; //³¤±¤Æľ¿Ê¤·¤¿²ó¿ô while (n < 300){ if (SENSOR_1 < THRESHOLD -17) { go_left2(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } else if (SENSOR_1 < THRESHOLD -13) { go_left1(x,y); } else if (SENSOR_1 < THRESHOLD-9) { go_forward(x,y);n=n+1; //n¤ò+1¥«¥¦¥ó¥È } else if (SENSOR_1 < THRESHOLD +15) { go_right1(x,y); } else { go_right1(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } Wait(STEP); } PlayTone(523,50); } sub L_Turn2(long x,long y) //µÞ¥«¡¼¥Ö¡Ê±¦ÀÞ¡Ë { long n = 0; //³¤±¤Æľ¿Ê¤·¤¿²ó¿ô while (n < 300){ if (SENSOR_1 < THRESHOLD -17) { go_left2(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } else if (SENSOR_1 < THRESHOLD -13) { go_left1(x,y); } else if (SENSOR_1 < THRESHOLD-9) { go_forward(x,y);n=n+1; //n¤ò+1¥«¥¦¥ó¥È } else if (SENSOR_1 < THRESHOLD +15) { go_right1(x,y); } else { go_right2(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } Wait(STEP); } PlayTone(523,50); }
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sub L_Straight1(long x,long y) //Ä̾ï»þ¡¡ÊľÀþµÚ¤Óľ³Ñ¤Î¸òº¹ÅÀ¡Ë { long n =0; //³¤±¤Æº¸Àû²ó¤·¤¿¡Ê¹õ¤Ë¤Ê¤Ã¤¿¡Ë²ó¿ô while (n < 250){ if (SENSOR_1 < THRESHOLD -13) { go_left2(x,y);n=n+1; //n¤ò+1¥«¥¦¥ó¥È } else if (SENSOR_1 < THRESHOLD) { go_forward(x,y); } else { go_right1(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } Wait(STEP); } PlayTone(523,50); } sub L_Straight2(long x,long y) //Ä̾ï»þ¢¡Ê±ß¡Ë { long n =0; //³¤±¤Æº¸¥«¡¼¥Ö¤·¤¿¡Ê¹õ¤Ë¤Ê¤Ã¤¿¡Ë²ó¿ô while (n < 250){ if (SENSOR_1 < THRESHOLD -13) { go_left1(x,y);n=n+1; //n¤ò+1¥«¥¦¥ó¥È } else if (SENSOR_1 < THRESHOLD) { go_forward(x,y); } else { go_right1(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } Wait(STEP); } PlayTone(523,50); } sub L_Straight3(long x,long y) //Ä̾ï»þ£¡ÊµÞ¥«¡¼¥Ö´Ö¤ÎľÀþ¡Ë { long n =0; //³¤±¤Æ±¦¥«¡¼¥Ö¤·¤¿¡ÊÇò¤Ë¤Ê¤Ã¤¿¡Ë²ó¿ô while (n < 300){ if (SENSOR_1 < THRESHOLD -13) { go_left2(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } else if (SENSOR_1 < THRESHOLD) { go_forward(x,y); } else { go_right1(x,y);n=n+1; //n¤ò+1¥«¥¦¥ó¥È } Wait(STEP); } PlayTone(523,50); } sub L_Straight4(long x,long y) //Ä̾ï»þ¤¡Ê»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤¯½àÈ÷¡Ë { long n =0; //³¤±¤Æľ¿Ê¤·¤¿¡Ê¹õ¤Ë¤Ê¤Ã¤¿¡Ë²ó¿ô while (n < 300){ if (SENSOR_1 < THRESHOLD -13) { go_forward(x,y);n=n+1; //n¤ò+1¥«¥¦¥ó¥È } else if (SENSOR_1 < THRESHOLD) { go_forward(x,y);n=n+1; //n¤ò+1¥«¥¦¥ó¥È } else { go_right1(x,y);n=0; //n¤ò¥ê¥»¥Ã¥È } Wait(STEP); } PlayTone(523,50); }
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sub Start_Set(long x,long y) //D¤«¤é¥¹¥¿¡¼¥È¤ÎÀþ¤Þ¤Ç { while (SENSOR_1 > THRESHOLD -9) { go_forward(x,y); Wait(STEP); } PlayTone(523,50); go_right1(x,y);Wait(300); PlayTone(740,300); }
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sub Cup_Catch() //»æ¥³¥Ã¥×¤ò¼è¤ë { OnFwd(OUT_C,20);Wait(1300); Off(OUT_C); PlayTone(880,100); } sub Cup_Release() //»æ¥³¥Ã¥×¤òÎ¥¤¹ { OnFwd(OUT_C,-20);Wait(1300); Off(OUT_C); PlayTone(880,100); }
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task main() { SetSensorLight(S1); //¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È Start_Set(0,0); //D¡Á¥¹¥¿¡¼¥È L_Straight1(0,0); //¥¹¥¿¡¼¥È¡ÁC go_right1(0,0);Wait(300); //CÃÏÅÀľ¿Ê L_Straight1(0,0); //C¡ÁB go_left2(0,0);Wait(200); //µ°Æ»½¤Àµ L_Straight1(0,0); //B¡ÁP Off(OUT_AB);Wait(1000); //°ì»þÄä»ß go_left1(0,0);Wait(350); //µ°Æ»½¤Àµ L_Straight2(0,0); //P¡ÁQ go_right1(0,0);Wait(300); //QÃÏÅÀľ¿Ê L_Straight2(0,0); //Q¡ÁR go_left1(0,0);Wait(200); //µ°Æ»½¤Àµ L_Straight1(0,0); //R¡ÁE go_left2(0,0);Wait(300); //µ°Æ»½¤Àµ L_Straight1(0,0); //E¡ÁµÞ¥«¡¼¥Ö¤ÎÆþ¤ê L_Turn1(sA2,sB2); //µÞ¥«¡¼¥Ö L_Straight3(0,0); //ľÀþ L_Turn2(sA2,sB2); //µÞ¥«¡¼¥Ö L_Straight1(0,0); //µÞ¥«¡¼¥Ö¤Î½Ð¡ÁF go_left2(0,0);Wait(150); //µ°Æ»½¤Àµ L_Straight1(0,0); //F¡ÁS Off(OUT_AB);Wait(1000); //°ì»þÄä»ß go_right1(0,0);Wait(300); //SÃÏÅÀľ¿Ê L_Straight4(0,0); S¡Á go_right2(0,0);Wait(900);Off(OUT_AB); //»æ¥³¥Ã¥×¤ò¼è¤ëºî¶È³«»Ï Cup_Catch(); go_left2(0,0);Wait(1100);Off(OUT_AB); //´°Î» L_Straight2(0,0); //¡ÁS Off(OUT_AB);Wait(1000); //°ì»þÄä»ß go_right1(0,0);Wait(300); //SÃÏÅÀľ¿Ê L_Straight1(0,0); //S¡ÁQ Off(OUT_AB);Wait(1000); //°ì»þÄä»ß go_left1(0,0);Wait(350); //µ°Æ»½¤Àµ L_Straight2(0,0); //Q¡ÁR go_right1(0,0);Wait(300); //RÃÏÅÀľ¿Ê go_right2(0,0);Wait(1000);Off(OUT_AB); //»æ¥³¥Ã¥×¤òÃÖ¤¯ºî¶È³«»Ï Cup_Release(); go_left2(0,0);Wait(1000);Off(OUT_AB); //´°Î» L_Straight2(0,0); //R¡ÁP L_Straight1(0,0); //P¡ÁB go_left2(0,0);Wait(150); //µ°Æ»½¤Àµ Off(OUT_AB);Wait(1000); //°ì»þÄä»ß L_Straight1(0,0); //B¡Á¥´¡¼¥ë PlayTone(740,300); go_right1(0,0);Wait(200); go_forward(0,0);Wait(500); //¥´¡¼¥ë¤«¤éA }
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