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#define BLACK 34 #define BLACKWH 42 #define WB 45 #define WHITE 48 #define SPEED_H 40 #define SPEED_L 35 #define OnRL(speed_R,speed_L) OnFwd(OUT_B,speed_R);OnFwd(OUT_C,speed_L); #define go_forward OnRL(SPEED_H, SPEED_H); #define turn_left1 OnRL(SPEED_L, -SPEED_L); // º¸Àû²ó #define turn_left0 OnRL(SPEED_L, 0); // º¸ÀÞ #define turn_right0 OnRL(0, SPEED_L); // ±¦ÀÞ #define turn_right1 OnRL(-SPEED_L, SPEED_L); // ±¦Àû²ó
sub Rine_Trace(int Move_time)¡¡//Move_time¤ËÆþ¤ì¤¿»þ´Ö¤À¤±¹õ¤¤Àþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë { long tb=CurrentTick();¡¡//»þ´Ö¤ò¥ê¥»¥Ã¥È while(CurrentTick()-tb<=Move_time){¡¡ if(SENSOR_3>WHITE){ turn_left1; } else if(SENSOR_3>WB){ turn_left0; } else if(SENSOR_3>BLACKWH){ go_forward; } else if(SENSOR_3>BLACK){ turn_right0; } else { turn_right1; } } Off(OUT_BC); }
sub Line_Trace(int Move_time) //Move_time¤ËÆþ¤ì¤¿»þ´Ö¤À¤±¹õ¤¤Àþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë { long tb=CurrentTick(); while(CurrentTick()-tb<=Move_time){ if(SENSOR_3>WHITE){ turn_right1; } else if(SENSOR_3>WB){ turn_right0; } else if(SENSOR_3>BLACKWH){ go_forward; } else if(SENSOR_3>BLACK){ turn_left0; } else { turn_left1; } } Off(OUT_BC); }
¸÷¥»¥ó¥µ¡¼¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬BLACK¤è¤ê¤â¾®¤µ¤ÊÃͤò´Ñ¬¤¹¤ë¾ì¹ç¤¬200²ó°Ê¾å³¤¯¤Þ¤Ç¡Ê¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤Ç¡Ë¹õ¤¤Àþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£°Ê²¼¡¢ÍѤ¤¤¿¥×¥í¥°¥é¥à
sub R_line_trace() { int n=0; while(n<=200){ if(SENSOR_3>WHITE){ turn_left1; n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È } else if(SENSOR_3>WB){ turn_left0; n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È } else if(SENSOR_3>BLACKWH){ go_forward; n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È } else if(SENSOR_3>BLACK){ turn_right0; n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È } else { turn_right1; n++; //¤³¤Î¤È¤¤Î¤ßn¤ÎÃͤòÊݸ¤·¤¿¤Þ¤Þwhile¤Î¼°¤ËÌá¤ë } } Off(OUT_BC); Wait(1000); }
¸÷¥»¥ó¥µ¡¼¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬BLACK¤è¤ê¤â¾®¤µ¤ÊÃͤò´Ñ¬¤¹¤ë¾ì¹ç¤¬200²ó°Ê¾å³¤¯¤Þ¤Ç¹õ¤¤Àþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£°Ê²¼¡¢ÍѤ¤¤¿¥×¥í¥°¥é¥à
sub L_line_trace() { int n=0; while(n<=200){ if(SENSOR_3>WHITE){ turn_right1; n=0; } else if(SENSOR_3>WB){ turn_right0; n=0; } else if(SENSOR_3>BLACKWH){ go_forward; n=0; } else if(SENSOR_3>BLACK){ turn_left0; n=0; } else { turn_left1; n++; } } Off(OUT_BC); Wait(1000); }
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sub BK_to_WT(int blight,int B_speed,int C_speed) { while (SENSOR_3<blight){ OnFwd(OUT_B,B_speed); OnFwd(OUT_C,C_speed); } Off(OUT_BC); }
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sub WT_to_BK(int blight,int B_speed,int C_speed) { while (SENSOR_3>blight){ OnFwd(OUT_B,B_speed); OnFwd(OUT_C,C_speed); } Off(OUT_BC); }
task main() { SetSensorLight(S3);¡¡¡¡¡¡¡¡¡¡//¡3È֥ݡ¼¥È¤Ë¸÷¥»¥ó¥µ¡¼¤òÄêµÁ BK_to_WT(34,40,40);¡¡¡¡¡¡¡¡¡¡//¢ÌÀ¤ë¤µ¤¬34¤Ë¤Ê¤ë¤Þ¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤ò40%¤ÇÆ°¤«¤¹ WT_to_BK(48,40,40);¡¡¡¡¡¡¡¡¡¡//£ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤ò40%¤ÇÆ°¤«¤¹ Rine_Trace(3000);¡¡¡¡¡¡¡¡¡¡¡¡//¤Àþ¤Î±¦Â¦¤ò3Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë R_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ BK_to_WT(48,40,-10);¡¡¡¡¡¡¡¡ //¦ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸40%¡¢±¦10%¸å¤í¸þ¤¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ RotateMotor(OUT_A,-40,100);¡¡//§±¦ÏӤΥ⡼¥¿¡¼A¤ò40%¸å¤í¸þ¤¤Ë100¡ë²óž¤¹¤ë Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¨A¤Î¥â¡¼¥¿¡¼¤ÎÅŸ»¤òÀÚ¤ë WT_to_BK(42,0,-40);¡¡¡¡¡¡¡¡¡¡//©ÌÀ¤ë¤µ¤¬42¤Ë¤Ê¤ë¤Þ¤Ç±¦40%¸å¤í¸þ¤¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ Rine_Trace(6000);¡¡¡¡¡¡¡¡¡¡¡¡//ªÀþ¤Î±¦Â¦¤ò6Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë BK_to_WT(48,60,20); //«ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%±¦20%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹¡× L_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¬¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë Line_Trace(1000);¡¡¡¡¡¡¡¡¡¡¡¡//Àþ¤Îº¸Â¦¤ò1Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë L_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//®¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë Line_Trace(20000);¡¡¡¡¡¡¡¡¡¡ //¯Àþ¤Îº¸Â¦¤ò20Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë L_line_trace(); //°¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë BK_to_WT(47,-25,40);¡¡¡¡¡¡¡¡ //±ÌÀ¤ë¤µ¤¬47¤Ë¤Ê¤ë¤Þ¤Çº¸25%¸å¤í¸þ¤±¦40%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ Line_Trace(1500);¡¡¡¡¡¡¡¡¡¡¡¡//²Àþ¤Îº¸Â¦¤ò1.5Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë L_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë BK_to_WT(48,-30,60);¡¡¡¡¡¡¡¡ //´ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸30%¸å¤í¸þ¤±¦60%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ Line_Trace(7000); //21Àþ¤Îº¸Â¦¤ò7Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë BK_to_WT(48,20,60);¡¡¡¡¡¡¡¡¡¡//22ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸20%±¦60%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ R_line_trace(); //23¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë BK_to_WT(48,60,-30); //24ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%±¦30%¸å¤í¸þ¤¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ RotateMotor(OUT_A,40,100);¡¡ //25±¦ÏӤΥ⡼¥¿¡¼A¤ò40%¤Ç100¡ë²óž¤µ¤»¤ë Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//26¥â¡¼¥¿¡¼A¤ÎÅŸ»¤òÀÚ¤ë WT_to_BK(34,-60,30);¡¡¡¡¡¡¡¡ //27ÌÀ¤ë¤µ¤¬34¤Ë¤Ê¤ë¤Þ¤Çº¸60%¸å¤í¸þ¤±¦30%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ BK_to_WT(48,-60,30); //28ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%¸å¤í¸þ¤±¦30%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ Rine_Trace(10000); //29Àþ¤Î±¦Â¦¤ò10Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë R_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//30¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë BK_to_WT(48,60,30); //31ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%±¦30%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ Rine_Trace(7000);¡¡¡¡¡¡¡¡¡¡¡¡//32Àþ¤Î±¦Â¦¤ò7Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë R_line_trace(); //33¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë BK_to_WT(48,40,40); //34ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸40%±¦40%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹ } //½ª
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