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#define go_straight(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC); //ľ¿Ê #define go_back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC); //¸åÂà #define TURN_RIGHT(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_AC); //±¦¤ËÀû²ó #define TURN_LEFT(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_AC); //º¸¤ËÀû²ó #define cross_stop Off(OUT_AC);Wait(100); //°ì»þÄä»ß
#define kan_temae_toutyaku 10 //ËÜÂΤ¬´Ì¤¬¼êÁ°¤Þ¤ÇÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_sanko_motu 11 //¥¢¡¼¥à¤¬´Ì¤ò£³¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_sanko_motte_senkaisita 12 //ËÜÂΤ¬£³¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_niko_motta 13 //¥¢¡¼¥à¤¬´Ì¤ò£²¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_niko_motte_senkaisita 14 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤Æ¸µ¤ÎX¤Î°ÌÃ֤˱¦Àû²ó¤·¤Æ¤Ä¤¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_ikko_motta 15 //¥¢¡¼¥à¤¬´Ì¤ò£±¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_ikko_motte_senkaisita 16 //ËÜÂΤ¬£±¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤ÆÁ°¤ËÃÖ¤¤¤¿£±¸Ä¤Î´Ì¤Î¾å¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_okiowatta 17 //¥¢¡¼¥à¤¬£±¸Ä¤Î´Ì¤ò¤â¤¦°ì¸Ä¤Î´Ì¤Î¾å¤ËÃÖ¤¤¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_futatabi_modoru 18 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ÎÁ°¤ËºÆ¤ÓÌá¤Ã¤Æ¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_futatabi_motta 19 //¥¢¡¼¥à¤¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define y_toutyaku 20 //ËÜÂΤ¬Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
task main(){ SetSensor(SENSOR_3,SENSOR_LIGHT); go_straight(100); //Á°¤Ëľ¿Ê OnFwd(OUT_AC); until(SENSOR_3<=46); //X¤Î±ß¤ÎÁ°¤Ç»ß¤Þ¤ë¤è¤¦¤Ë¤¹¤ë¡¥ÌÀ¤ë¤µ¤Ï¾ì½ê¡Ê¶µ¼¼¡Ë¤Ë¤è¤Ã¤ÆÊѤï¤ë Off(OUT_AC); SendMessage(kan_temae_toutyaku); //ËÜÂΤ¬´Ì¤Î¼êÁ°¤Þ¤Ç¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë ClearMessage(); until (Message()==kan_sanko_motu); //¥¢¡¼¥à¤¬3¸Ä¤Î´Ì¤ò»ý¤Ä¤Î¤òÂÔ¤Ä TURN_LEFT(90); //3¸Ä¤Î´Ì¤ò»ý¤Áº¸Àû²ó Off(OUT_AC); SendMessage(kan_sanko_motte_senkaisita); //3¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë ClearMessage(); until (Message()==kan_niko_motta); //¥¢¡¼¥à¤¬´Ì¤ò2¸Ä»ý¤Ä¤Þ¤ÇÂÔ¤Ä TURN_RIGHT(140); //´Ì¤ò»ý¤Á±¦¤ËÀû²ó Off(OUT_AC); SendMessage(kan_niko_motte_senkaisita); //¥¢¡¼¥à¤Ë´Ì¤ò2¸Ä»ý¤Ã¤Æ±¦Àû²ó¡ÊX¤Î°ÌÃÖ¤ËÌá¤ë¡Ë¤·¤¿¤³¤È¤òÅÁ¤¨¤ë ClearMessage(); until (Message()==kan_ikko_motta); //¥¢¡¼¥à¤¬´Ì¤ò1¸Ä»ý¤Ä¤Þ¤ÇÂÔ¤Ä go_back(45); //¸åÂà¡Ê¤³¤Î»þ¥¢¡¼¥à¤Ï¾å¤Ë¤¢¤¬¤ê³¤±¤Æ´Ì¤â¤Ä¤«¤ß³¤±¤Æ¤¤¤ë¡Ë TURN_LEFT(97); //º¸Àû²ó Off(OUT_AC); go_back(10); //¸åÂà SendMessage(kan_ikko_motte_senkaisita); //»ý¤Ã¤Æ¤¤¤ë1¸Ä¤Î´Ì¤¬ÃÖ¤¤¤Æ¤¢¤ë1¸Ä¤Î´Ì¤Î¾å¤ËÍ褿¤³¤È¤òÅÁ¤¨¤ë ClearMessage(); until (Message()==kan_okiowwata); //¥¢¡¼¥à¤¬ÃÖ¤¤¤Æ¤¢¤ë1¸Ä¤Î´Ì¤Î¾å¤Ë»ý¤Ã¤Æ¤¤¤¿1¸Ä¤Î´Ì¤òÃÖ¤¯¤Þ¤ÇÂÔ¤Ä go_back(150); //¸åÂà Wait(100); go_straight(150); //¸åÂष¤¿Ê¬Ä¾¿Ê Off(OUT_AC); SendMessage(kan_futatabi_modoru); //ËÜÂΤ¬ÀèÄø¤¤¤¿2¸Ä¤Î´Ì¤Î¼êÁ°¤Þ¤ÇÍ褿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë ClearMessage(); until (Message()==kan_futatabi_motta); //¥¢¡¼¥à¤¬2¸Ä¤Î´Ì¤òºÆ¤Ó»ý¤Ä¤Þ¤ÇÂÔ¤Ä go_straight(400); //ľ¿Ê TURN_RIGHT(130); //±¦Àû²ó Off(OUT_AC); go_straight(10); //ľ¿Ê Wait(100); SendMessage(y_touchaku); //Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë Off(OUT_AC);
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#define arm_ueageru OnFwd(OUT_AC);Wait(120);Off(OUT_AC); //¥¢¡¼¥à¤ò°ìÄê»þ´Ö¾å¤²¤ë #define arm_sageru OnRev(OUT_C); //¥¢¡¼¥à¤ò²¼¤²Â³¤±¤ë #define kan_tukamu OnRev(OUT_A); //¥¢¡¼¥à¤òÄϤß³¤±¤ë #define arm_ageru OnFwd(OUT_C); //¥¢¡¼¥à¤ò¾å¤²Â³¤±¤ë #define kan_hanasu OnFwd(OUT_A);Wait(30);Off(OUT_AC); //´Ì¤ò¥¢¡¼¥à¤«¤éÊü¤¹ #define STOP Off(OUT_AC); //°ì»þÄä»ß
#define kan_temae_toutyaku 10 //ËÜÂΤ¬´Ì¤¬¼êÁ°¤Þ¤ÇÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_sanko_motu 11 //¥¢¡¼¥à¤¬´Ì¤ò£³¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_sanko_motte_senkaisita 12 //ËÜÂΤ¬£³¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_niko_motta 13 //¥¢¡¼¥à¤¬´Ì¤ò£²¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_niko_motte_senkaisita 14 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤Æ¸µ¤ÎX¤Î°ÌÃ֤˱¦Àû²ó¤·¤Æ¤Ä¤¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_ikko_motta 15 //¥¢¡¼¥à¤¬´Ì¤ò£±¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_ikko_motte_senkaisita 16 //ËÜÂΤ¬£±¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤ÆÁ°¤ËÃÖ¤¤¤¿£±¸Ä¤Î´Ì¤Î¾å¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_okiowatta 17 //¥¢¡¼¥à¤¬£±¸Ä¤Î´Ì¤ò¤â¤¦°ì¸Ä¤Î´Ì¤Î¾å¤ËÃÖ¤¤¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define kan_futatabi_modoru 18 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ÎÁ°¤ËºÆ¤ÓÌá¤Ã¤Æ¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë #define kan_futatabi_motta 19 //¥¢¡¼¥à¤¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë #define y_toutyaku 20 //ËÜÂΤ¬Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
sub ueno_kan_tukamu() { arm_ueageru; //¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç¤¢¤²¤ë Wait(10); arm_sageru; //¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë Wait(5); kan_tukamu; //´Ì¤ò¤Ä¤«¤à Wait(5); arm_ageru; //´Ì¤ò¤Ä¤«¤ó¤À¤Þ¤Þ¥¢¡¼¥à¤ò¤¢¤²Â³¤±¤ë }
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task main () { ClearMessage(); until(Message() == kan_temae_toutyaku); //X¤ËÃ夯¤Þ¤ÇÂÔ¤Ä kan_tukamu; Wait(50); SendMessage(kan_sanko_motu); ClearMessage(); //´Ì£³¸ÄÄϤó¤À¤³¤È¤òÅÁ¤¨¤ë until(Message() == kan_sanko_motte_senkaisita); //´Ì¤ò£³¸Ä»ý¤Ã¤ÆÀû²ó¤·¤Æ¤â¤é¤¦¤Þ¤ÇÂÔ¤Ä Wait(100); STOP; kan_hanasu; //´Ì¤ò£³¸Ä²£¤Ë°ÜÆ° ueno_kan_tukamu(); ClearMessage(); Wait(100); SendMessage(kan_niko_motta); //´Ì£²¸Ä»ý¤Á¾å¤²¤¿¤³¤È¤òÅÁ¤¨¤ë ClearMessage(); until(Message() == kan_niko_motte_senkaisita); //¤â¤¦°ì¤Ä¤Î¥í¥Ü¤ËÀû²ó¤·¤Æ¤â¤é¤¦ Wait(100); Off(OUT_C); //´Ì¤¬²¼¤ê¤ë¤Î¤òÂÔ¤Ä Wait(800); kan_hanasu; //´Ì¤ò£±¸Ä£²¸Ä¤Ëʬ¤±¤ë ueno_kan_tukamu(); Wait(100); ClearMessage(); SendMessage(kan_ikko_motta); //´Ì¤ò°ì¸Ä»ý¤Ã¤¿¤³¤È¤òÁê¼ê¤ËÅÁ¤¨¤ë ClearMessage(); until(Message() == kan_ikko_motte_senkaisita); //¥í¥Ü¥Ã¥È¤¬Àû²ó¤¹¤ë¤Þ¤Ç¤Þ¤Ä STOP; Wait(800); //´Ì¤¬²¼¤¬¤ë¤Î¤òÂÔ¤Ä kan_hanasu; //´Ì¤ò£²¸Ä£±¸Ä¤Ëʬ¤±¤¿ OnFwd(OUT_A); //¥¢¡¼¥à¤ò³«¤Â³¤±¤ë arm_ueageru; //¥¢¡¼¥à¤ò¾å¤²¤ë SendMessage(kan_okiowatta); //´Ì¤«¤é¥¢¡¼¥à¤ò´°Á´¤ËÊü¤·¤¿¤³¤È¤òÅÁ¤¨¤ë until(Message() == kan_futatabi_modoru); //ºÆ¤Ó´Ì¤Î¼êÁ°¤Þ¤ÇÌá¤Ã¤Æ¤¤¿¤³¤È¤òÅÁ¤¨¤ë kan_tukamu; //´Ì¤òÄϤà SendMessage(kan_futatabi_motta); //´Ì¤òÄϤó¤À¤³¤È¤òÅÁ¤¨¤ë until(Message() == y_toutyaku); //´Ì¤ò»ý¤Ã¤ÆY¤ËÅþÃ夷¤Æ¤â¤é¤¦¤Þ¤ÇÂÔ¤Ä kan_hanasu; //´Ì¤òÊü¤¹
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