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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
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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 }
¤³¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï¾å¤ËÏ¢¤Ê¤Ã¤¿´Ì¤Î²¼¤«¤é2ÈÖÌܤδ̤ò¤Ä¤«¤ß¤¢¤²¤ë¤¿¤á¤Î¤â¤Î¤Ç¤¢¤ë¡¥¤³¤Î¥×¥í¥°¥é¥à¤ÎÃæ¤Ë¤Ê¤¼¥¢¡¼¥à¤ò²¼¤²¤ë¥×¥í¥°¥é¥à¤¬½ñ¤«¤ì¤Æ¤¤¤ë¤«¤È¤¤¤¦¤È¡¤¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë¤³¤È¤Ç¥¢¡¼¥à¤¬2ÈÖÌܤδ̤β¼Éô¤ò¤â¤Á¾¯¤·¤¢¤²¤é¤ì¤ë;͵¤¬ºî¤ì¤ë¤«¤é¤À¡¥¤½¤¦¤¹¤ë¤È¡¤´Ì¤ò¤Ä¤«¤ó¤Ç´Ì¤ò¾å¤Ë¤¢¤²¤ë¤³¤È¤¬¤Ç¤1ÈÖ²¼¤Î´Ì¤È2ÈÖÌܤδ̤Ȥδ֤ˤ¢¤ë°ìÄê°Ê¾å¤Î´Ö³Ö¤¬¤Ç¤¡¤1ÈÖ²¼¤Î´Ì¤Î¾å¤Î³°±ï¤Î½Ð¤ÃÄ¥¤ê¤È2ÈÖÌܤδ̤ÎÄ줬ÀÜ¿¨¤»¤º¤Ë2ÈÖÌܤδ̤ò¤Ä¤«¤ó¤Ç±¿¤Ö¤³¤È¤¬¤Ç¤¤ë¡¥¤³¤¦¤·¤Æ´Ì¤ò±¿¤Ö¤È¤¤ÎÌäÂê¤ò²ò·è¤·¤¿¡¥²¼¤Î¿Þ»²¾È
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 }
´ðËܤϡÈÁ´ÂΤÎή¤ì¡É¤Ç½Ò¤Ù¤¿¤è¤¦¤ÊÆ°¤¤ò¤¹¤ë¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡¥¤À¤¬¤½¤Îή¤ì¤ÎÀ®¸ùΨ¤ò¤Ç¤¤ë¤À¤±¾å¤²¤ë¤¿¤á¤ËWait();¤ò¿¤¯ÍѤ¤¤¿¡¥´Ì¤ò»ý¤Ã¤¿»þ¡¤Æ°ºî¤ÈÆ°ºî¤Î´Ö¤ËWait();¤ò»È¤¦¤³¤È¤ÇÆ°ºî¤ÈÆ°ºî¤Î´Ö¤ÎµÞ¤ÊÊѲ½¤Ë¤è¤Ã¤Æ´Ì¤¬¥¢¡¼¥à¤«¤é³°¤ì¤¿¤ê¤º¤ì¤¿¤ê¤¹¤ë¤Î¤ò¤Ê¤¯¤·¤¿¡¥¤Þ¤¿¡¤»ý¤Ã¤¿´Ì¤òÃÏÌ̤ËÃÖ¤¯»þ¥¢¡¼¥à¤ò¹ß¤í¤·¤Æ¤¹¤°¤Ë´Ì¤òÊü¤¹¤È´Ì¤ÈÃÏÌ̤Ȥδֳ֤¬¤¢¤¤¹¤®¤Æ´Ì¤¬ÃÏÌ̤ËÍî¤Á¤ë¤è¤¦¤Ê·Á¤Ë¤Ê¤ê¡¤´Ì¤¬Åݤì¤Æ¤·¤Þ¤¦²ÄǽÀ¤¬¤¢¤Ã¤¿¡¥¤½¤³¤Ç´Ì¤ò»ý¤Á¥¢¡¼¥à¤ò¹ß¤í¤·¤Æ¤«¤éWait():¤òÆþ¤ì¤¿¡¥¤½¤¦¤¹¤ë¤³¤È¤ÇWait();¤Î´Ö¤Ë´Ì¤¬¥¢¡¼¥à¤«¤é¤·¤¿¤Ë¤º¤ì¤Æ¤¤¤ÃÏÌ̤ȴ̤δֳ֤ò¾®¤µ¤¯¤¹¤ë¤³¤È¤¬¤Ç¤¡¤´Ì¤¬Åݤì¤ë¤³¤È¤Ê¤¯ÃÏÌ̤ËÃÖ¤¯¤³¤È¤¬¤Ç¤¤¿¡¥
#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 //¤³¤ì¤«¤é²¼¤ÎÄêµÁ¤Ï¥¢¡¼¥à¤Î¤â¤Î¤ÈƱ¤¸¤Ê¤Î¤Ç¾Êά #define kan_sanko_motu 11 #define kan_sanko_motte_senkaisita 12 #define kan_niko_motta 13 #define kan_niko_motte_senkaisita 14 #define kan_ikko_motta 15 #define kan_ikko_motte_senkaisita 16 #define kan_okiowwata 17 #define kan_futatabi_modoru 18 #define kan_futatabi_motta 19 #define y_touchaku 20
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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