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#define turn_l1 OnFwd(OUT_B,33);OnRev(OUT_C,33);  //º¸Àû²ó
#define turn_r1 OnFwd(OUT_C,33);OnRev(OUT_B,33);  //±¦Àû²ó
#define turn_l0 OnFwd(OUT_B,30);Off(OUT_C);  //º¸ÀÞ
#define turn_r0 Off(OUT_B);OnFwd(OUT_C,30);  //±¦ÀÞ
#define go_s OnFwd(OUT_BC,30); //ľ¿Ê

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SetSensorLight(S1);¡¡//1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_r1;   //±¦Àû²ó                        
}else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_r0;¡¡//±¦ÀÞ
}else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    go_s;  ¡¡//ľ¿Ê                                                  
}else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_l0;¡¡//º¸ÀÞ                                         
}else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_l1;¡¡//º¸Àû²ó
}

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void tuuzyou()
{
    SetSensorLight(S1);  //1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
    long t0;              //long·¿¤Ît0¤òÄêµÁ                                                   
    t0=CurrentTick(); ¡¡¡¡//¸½ºß¤Î»þ´Ö¤òµ­Ï¿
    while(CurrentTick()-t0<90){   //¸½ºß¤Î»þ´Ö¤Èt0¤Îº¹¤¬0.09Éðʲ¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò·«¤êÊÖ¤¹
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r1;   //±¦Àû²ó    
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë                   
        }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r0;¡¡//±¦ÀÞ
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë
        }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            go_s;  ¡¡//ľ¿Ê       
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë                                           
        }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l0;¡¡//º¸ÀÞ   
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë                                      
        }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l1;¡¡//º¸Àû²ó
            }
    }
}

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void special()
{
    SetSensorLight(S1);   //1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦                                                       
    long t1;                  //long·¿¤Ît1¤òÄêµÁ¤¹¤ë                                                     
    t1=CurrentTick()¡¡//¸½ºß¤Î»þ´Ö¤òµ­Ï¿
    while(CurrentTick()-t1<23500){ //¸½ºß¤Î»þ´Ö¤Èt1¤Îº¹¤¬23,5Éðʲ¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò·«¤êÊÖ¤¹  
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r1;   //±¦Àû²ó                        
        }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r0;¡¡//±¦ÀÞ
        }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            go_s;  ¡¡//ľ¿Ê                                                  
        }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l0;¡¡//º¸ÀÞ                                         
        }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l1;¡¡//º¸Àû²ó
            }
    }                                              
}

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void massugu()
{                                                                             
    turn_r1;    //±¦Àû²ó
    Wait(150);¡¡//±¦Àû²ó¤ò0.15Éü¹Ô
    go_s;¡¡//ľ¿Ê
    Wait(1200);    //ľ¿Ê¤ò1.2Éü¹Ô
}

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void sirotuuzyou()
{
    SetSensorLight(S1);¡¡//1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
    long t2;         //long·¿¤Ît2¤òÄêµÁ                                                          
    t2=CurrentTick(); ¡¡//¸½ºß¤Î»þ´Ö¤òµ­Ï¿
    while(CurrentTick()-t2<90){ //¸½ºß¤Î»þ´Ö¤Èt2¤Îº¹¤¬0.9Éðʲ¼¤Î»þ¤Ë°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò·«¤êÊÖ¤¹
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é 
            turn_r1;   //±¦Àû²ó                        
        }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r0;¡¡//±¦ÀÞ
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë
        }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            go_s;  ¡¡//ľ¿Ê   
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë                                               
        }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l0;¡¡//º¸ÀÞ                
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë                         
        }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l1;¡¡//º¸Àû²ó
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë
        }
    }   
}

D-E´Ö¤ÎÀþ¤Î±¦Â¦¤ò±è¤Ã¤Æ¿Ê¤ß¡¢E¤Îľ³Ñ¤Ç¤â»ß¤Þ¤é¤Ê¤¤¥×¥í¥°¥é¥à

¤Þ¤º¤Ï¡¢º£¤Þ¤Ç¤È¤Ï°ã¤¤¡¢Àþ¤Î±¦Â¦¤ò±è¤Ã¤Æ¿Ê¤à¥×¥í¥°¥é¥à¤ò¹Í¤¨¤ë¡£

±¦Â¦Ä̹ԤοʤßÊý

Àþ¤Îº¸Â¦¤Ë±è¤Ã¤Æ¿Ê¤à¥×¥í¥°¥é¥à¤Ï¡¢¸÷¥»¥ó¥µ¤¬Â¬Äꤹ¤ëÃͤ¬Çò¤±¤ì¤ÐÇò¤¤¤Û¤É±¦¤Ë¸þ¤«¤Ã¤Æ¿Ê¤ß¡¢¹õ¤±¤ì¤Ð¹õ¤¤¤Û¤Éº¸¤Ë¸þ¤«¤Ã¤Æ¿Ê¤ó¤Ç¤¤¤¿¡£¤·¤«¤·¡¢Àþ¤Î±¦Â¦¤ò¿Ê¤à¥×¥í¥°¥é¥à¤Ï¤½¤ÎµÕ¤Ç¡¢¸÷¥»¥ó¥µ¤¬Â¬Äꤹ¤ëÃͤ¬Çò¤±¤ì¤ÐÇò¤¤¤Û¤Éº¸¤Ë¸þ¤«¤Ã¤Æ¿Ê¤ß¡¢¹õ¤±¤ì¤Ð¹õ¤¤¤Û¤É±¦¤Ë¸þ¤«¤Ã¤Æ¿Ê¤á¤Ð¡¢Àþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤¬¤Ç¤­¤ë¡£¤½¤Î¥×¥í¥°¥é¥à¤Ï°Ê²¼¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£

SetSensorLight(S1);¡¡//1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_l1;¡¡//º¸Àû²ó
}else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_l0;¡¡//º¸ÀÞ
}else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    go_s;  ¡¡//ľ¿Ê                                                   
}else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_r0;¡¡//±¦ÀÞ                                         
}else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_r1;   //±¦Àû²ó   
}

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void gyakuspe()
{
    SetSensorLight(S1);¡¡//1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
    long t6;    //long·¿¤Ît6¤òÄêµÁ                                                          
    t6=CurrentTick();      //¸½ºß¤Î»þ´Ö¤òµ­Ï¿                                        
    while(CurrentTick()-t6<6000){   //¸½ºß¤Î»þ´Ö¤Èt6¤Îº¹¤¬6ÉðÊÆâ¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥Õ¥é¥à¤ò³¤±¤ë
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
        turn_l1;¡¡//º¸Àû²ó
    }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
        turn_l0;¡¡//º¸ÀÞ
    }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
        go_s;  ¡¡//ľ¿Ê                                                   
    }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
        turn_r0;¡¡//±¦ÀÞ                                         
    }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
        turn_r1;   //±¦Àû²ó   
        }
    }
}

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I¤Î¸òº¹ÅÀ¤Çľ¿Ê¤¹¤ë¤Ë¤ÏÀþ¤Î±¦Â¦¤Ë±è¤Ã¤Æ¿Ê¤ß¡¢¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¥×¥í¥°¥é¥à¤¬É¬ÍפǤ¢¤ë¡£¾åµ­¤ÎÀþ¤Î±¦Â¦¤Ë±è¤Ã¤Æ¿Ê¤à¥×¥í¥°¥é¥à¤ò±þÍѤ·¤Æ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤òºî¤Ã¤¿¡£

void gyakutuuzyou()                                                     
{
    SetSensorLight(S1);¡¡//1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
    long t5;        //long·¿¤Ît5¤òÄêµÁ¤¹¤ë                                                                   
    t5=CurrentTick(); ¡¡//¸½ºß¤Î»þ´Ö¤òµ­Ï¿
    while(CurrentTick()-t5<90){   //¸½ºß¤Î»þ´Ö¤Èt5¤Îº¹¤¬0.09ÉðÊÆâ¤Î»þ°Ê²¼¤Î¥×¥í¥°¥é¥à¤¬·«¤êÊÖ¤¹
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l1;¡¡//º¸Àû²ó
            t5=CurrentTick(); ¡¡//t5¤ò¹¹¿·¤¹¤ë
        }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l0;¡¡//º¸ÀÞ
            t5=CurrentTick(); ¡¡//t5¤ò¹¹¿·¤¹¤ë
        }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            go_s;  ¡¡//ľ¿Ê       
            t5=CurrentTick(); ¡¡//t5¤ò¹¹¿·¤¹¤ë                                            
        }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r0;¡¡//±¦ÀÞ         
            t5=CurrentTick(); ¡¡//t5¤ò¹¹¿·¤¹¤ë                                
        }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r1;   //±¦Àû²ó   
        }
    }
}

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¤³¤ì¤òÍѤ¤¤ë¡£¡Ö¿¿¤Ã¹õ¡×°Ê³°¤¬Â¬Äꤵ¤ì¤ë¤¿¤Ó¤Ët5¤ò¹¹¿·¤¹¤ë¤È¸½ºß¤Î»þ´Ö¤Èt5¤Îº¹¤¬0.09Éäˤʤ餺¡¢whileʸ¤Î¥×¥í¥°¥é¥à¤ò·«¤êÊÖ¤·Â³¤±¤ë¡£¤·¤«¤·¸òº¹ÅÀ¤ËÆþ¤ë¤È¡¢¡Ö¿¿¤Ã¹õ¡×¤¬Â¬Äꤵ¤ì¤Æ¡¢t5¤Ï¹¹¿·¤µ¤ì¤Ê¤¤¤¿¤á¡¢¸½ºß¤Î»þ´Ö¤Èt5¤Îº¹¤¬0.09Éðʾå¤Ë¤Ê¤ë¤Î¤Çwhileʸ¤Î·«¤êÊÖ¤·¤¬½ª¤ï¤ê¡¢¥×¥í¥°¥é¥à¤¬½ª¤ï¤ë¡£

¸òº¹ÅÀ¤òǧÃΤ·¤Æľ¿Ê¤¹¤ë¤Ë¤Ï¡¢¡Ötask main¡×Ãæ¤Ëº£¤Î¥×¥í¥°¥é¥à¤ò¤ª¤¤¤Æ¡¢¼¡¤Ëľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à¡Êgo_s¡Ë¤òÃÖ¤±¤Ð¤è¤¤¡£

¥Ü¡¼¥ë¤òÄϤà¥×¥í¥°¥é¥à

¥Ü¡¼¤Ä¤òÄϤà»þ¤ÏÄÌ¿®¤ò»È¤Ã¤¿¡£

#define CONN 1¡¡//»Òµ¡¤ÎÀܳÈÖ¹æ

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¤Þ¤º¤Ï¿Æµ¡¤Î¥×¥í¥°¥é¥à

void tukamu()
{
    RemoteStartProgram(CONN,"CATCH.rxe");   //¥Ü¡¼¥ë¼è¤ë...­¡
    Wait(9000);                                     //¥Ü¡¼¥ë¼è¤ë»þ´Ö...­¢
}

­¡¤Ï»Òµ¡¤Ë¤¢¤é¤«¤¸¤áÆþ¤ì¤Æ¤ª¤¤¤¿¡ÖCATCH.nxc¡×¤È¤¤¤¦¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤·¤í¤ÈÌ¿Îᤷ¤Æ¤¤¤ë¡£»Òµ¡¤Ç¼Â¹Ô¤¹¤ë¥×¥í¥°¥é¥à¤Ï¡ÖCATCH.nxc¡×¤Ê¤Î¤Ë¿Æµ¡¤Ë½ñ¤¤¤¿¥×¥í¥°¥é¥à¤Ï¡ÖCTACH.rxe¡×¤Ê¤Î¤Ï¡¢NXT¾å¤Ë¤¢¤ë¥×¥í¥°¥é¥à¤Î̾Á°¤Ï¥³¥ó¥Ñ¥¤¥ë¸å¤Î test2.rxe ¤È¤Ê¤ë¤«¤é¤Ç¤¢¤ë¡£

­¢¤Ï¤¢¤é¤«¤¸¤á»Òµ¡¤Ç¡ÖCATCH.nxc¡×¤ò¼Â¹Ô¤¹¤ë»þ´Ö¤ò¬Äꤷ¤Æ¤ª¤¤¤Æ¡¢¤½¤Î»þ´Ö¤Ï¿Æµ¡¤ÏÂԤĤȤ¤¤¦¤³¤È¤Ç¤¢¤ë¡£

¼¡¤Ë»Òµ¡¤Î¥×¥í¥°¥é¥à¤Ï

#define UP OnFwd(OUT_B,20);Wait(4750);Off(OUT_BC);   //ÏӾ夲
#define DOWN OnRev(OUT_B,20);Wait(2600);Off(OUT_BC);  //ÏÓ²¼¤²
#define CATCH OnRev(OUT_C,15);Wait(725);Off(OUT_BC);  //¼êÄϤß

¤òÄêµÁ¤·¤Æ

task main()
{
DOWN¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
CATCH¡¡//¸µ¡¹ÏӤϳ«¤¤¤Æ¤¤¤Æ¥¢¡¼¥à¤ÎÏÓ¤òÊĤ¸¤Æ¥Ü¡¼¥ë¤òÄϤà
UP¡¡//¥¢¡¼¥à¤ò»ý¤Á¾å¤²¤ë
}

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¥í¥Ü¥Ã¥È¤«¤é¤Îµ÷Î¥¤¬ºÇ¾®¤ÎʪÂΤòõ¤¹

¥³¥ó¥Æ¥¹¥È¤Ç¤Ï¥À¥ß¡¼¤Î´Ì¤âÃÖ¤±¤¿¤¬¡¢»ä¤¿¤Á¤Î¥°¥ë¡¼¥×¤Ï¥À¥ß¡¼¤Î´Ì¤òÃÖ¤«¤º¡¢¥Ü¡¼¥ë¤òÃÖ¤«¤Ê¤±¤ì¤Ð¤¤¤±¤Ê¤¤´Ì¤òɬ¤º¥í¥Ü¥Ã¥È¤È¤Îµ÷Î¥¤ò1ÈֶᤤʪÂΤˤ·¤¿¡£¤³¤ì¤Ë¤è¤ê¡¢´Ì¤òõ¤¹¥×¥í¥°¥é¥à¤ÏĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤Ã¤Æ¡¢¥í¥Ü¥Ã¥È¤È¤Îµ÷Î¥¤¬ºÇ¾®¤ÎʪÂΤÎÊý¸þ¤ò¸þ¤¯¥×¥í¥°¥é¥à¤ò»È¤¦¡£¤½¤ì¤Ï°Ê²¼¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£

¤Þ¤º

#define speed 70
#define speed_s 50
const float diameter=5.54;  //¥¿¥¤¥ä¤Îľ·Â(cm)                                              
const float track=10.35; //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm)
const float pi=3.1415; //±ß¼þΨ

¤ÈÄêµÁ¤·¡¢

void fwdDist(float d)
{
    long angle;                                                         
    angle= d/(diameter*pi)*360.0;
    RotateMotorEx(OUT_BC,speed_s,angle,0,true,true);                      
}

void turnAng(long ang) //³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó¤ò¤¹¤ë
{
    long angle;
    angle=track/diameter*ang;
    RotateMotorEx(OUT_BC,speed_s,angle,100,true,true);
}                                                                     

int searchDirection(long ang)  //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤¹                                      
                                                 //¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
{
    long angle,tacho_min=0,tacho_corr;
    int d_min;

    d_min=300; //²¾¤ÎºÇ¾®ÃÍ

    angle=(track/diameter)*ang;  //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë                                                
    turnAng(ang/2); //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó¤¹¤ë
    ResetTachoCount(OUT_BC);       //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È                                       

    OnFwdSync(OUT_BC,speed_s,-100);¡¡//È¿»þ·×²ó¤ê¤ËÀû²ó¤¹¤ë
    while(MotorTachoCount(OUT_B)<=angle){
        if(SensorUS(S4)<d_min){
            d_min=SensorUS(S4);¡¡//²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë
            tacho_min=MotorTachoCount(OUT_B);
        }
    }                                                                           
    OnFwdSyncEx(OUT_BC,speed_s,100,RESET_NONE);
    until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S4)<=d_min);             

    Wait(14);¡¡//ÈùÄ´À°
    Off(OUT_BC);Wait(500);
    return d_min;
}

¾å¤Î¥×¥í¥°¥é¥à¤Ï¡¢¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡¢¥í¥Ü¥Ã¥È¤Î¼þ¤ê¤Ë¤¢¤ëʪÂΤȤε÷Î¥¤ò¬Äꤷ¡¢¤½¤ì¤òd_min¤È¤¹¤ë¡£d_min¤Ï¬Äꤵ¤ì¤¿¤é¹¹¿·¤µ¤ì¤Æ¤ë¤³¤È¤Ç¡¢Ê̤ÎʪÂΤ¬¥í¥Ü¥Ã¥È¤Î¼þ¤ê¤Ë¤¢¤Ã¤¿¤é¤½¤ÎʪÂΤȤε÷Î¥¤âd_min¤È¤·¤Æµ­Ï¿¤¹¤ë¡£

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¤¢¤é¤«¤¸¤áĶ²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ´Ì¤Ë¥Ü¡¼¥ë¤òÃÖ¤¯¤Î¤ËŬ¤·¤Æ¤¤¤ëµ÷Î¥¤ò¬Äꤷ¤Æ¡¢´Ì¤È¥í¥Ü¥Ã¥È¤¬13.5cmÎ¥¤ì¤Æ¤¤¤ë¤È¥Ü¡¼¥ë¤ò¾è¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¤È¤¤¤¦¤³¤È¤¬¤ï¤«¤Ã¤¿¡£¤½¤Î·ë²Ì¤òÍѤ¤¤Æ°Ê²¼¤Î¥×¥í¥°¥é¥à¤òºî¤Ã¤¿¡£

SetSensorLowspeed(S4);¡¡//4È֤˷Ҥ¤¤ÀĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤¦
int d=searchDirection(360);¡¡//int·¿¤Çd¤òÄêµÁ¤·¡¢¥í¥Ü¥Ã¥È¤ò360¡ë²óž¤µ¤»¤Æµ÷Î¥¤ò¬Äꤷ¤Æ¤½¤ÎºÇ¾®Ãͤòõ¤¹
if (d>13.5){                    //¤â¤·¸«¤Ä¤±¤¿ºÇ¾®Ãͤε÷Î¥¤¬13.5cm¤è¤êÂ礭¤«¤Ã¤¿¤é
    fwdDist(d-13.5);¡¡//´Ì¤È¥í¥Ü¥Ã¥È¤Îµ÷Î¥¤¬13.5cm¤Ë¤Ê¤ë¤Þ¤Ç¶á¤Å¤¯
}

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#define CONN 1¡¡//»Òµ¡¤ÎÀܳÈÖ¹æ

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RemoteStartProgram(CONN,"lost.rxe");   //¥Ü¡¼¥ëÃÖ¤¯...­¡
Wait(2000);  ¡¡//¿Æµ¡¤ÎÂÔ¤Á»þ´Ö...­¢

¥Ü¡¼¥ë¤òÄϤà¥×¥í¥°¥é¥à¤ÈƱÍͤǤ¢¤ë¡£­¡¤Ï»Òµ¡¤Ë¡Ölost.nxc¡×¤È¤¤¤¦¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤·¤í¤ÈÌ¿Îᤷ¤Æ¤¤¤ë¡£»Òµ¡¤Ç¼Â¹Ô¤¹¤ë¥×¥í¥°¥é¥à¤Ï¡ÖCATCH.nxc¡×¤Ê¤Î¤Ë¿Æµ¡¤Ë½ñ¤¤¤¿¥×¥í¥°¥é¥à¤Ï¡ÖCTACH.rxe¡×¤Ê¤Î¤Ï¡¢NXT¾å¤Ë¤¢¤ë¥×¥í¥°¥é¥à¤Î̾Á°¤Ï¥³¥ó¥Ñ¥¤¥ë¸å¤Î test2.rxe ¤È¤Ê¤ë¤«¤é¤Ç¤¢¤ë¡£

­¢¤Ï¤¢¤é¤«¤¸¤á»Òµ¡¤¬¡Ölost.nxc¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë»þ´Ö¤ò¬¤Ã¤Æ¤ª¤¤¤Æ¡¢¿Æµ¡¤Ï¤½¤Î»þ´ÖÂԤäƤ¤¤ë¤È¤¤¤¦¤³¤È¤Ç¤¢¤ë¡£

¼¡¤Ë»Òµ¡¤Î¥×¥í¥°¥é¥à¤Ï

#define LOST OnFwd(OUT_C,15);Wait(685);Off(OUT_C);¡¡¡¡//¼êÎ¥¤¹

¤òÄêµÁ¤·¤Æ¡¢

task main(){      //¥Ü¡¼¥ë¤ò»ý¤Ã¤ÆÏӤϾ夬¤Ã¤Æ¤¤¤ë¾õÂÖ¤«¤é
LOST   //¥¢¡¼¥à¤ò¹­¤²¤Æ¥Ü¡¼¥ë¤òÃÖ¤¯
}

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¾åµ­¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤Æ´Ì¤òõ¤·¤Æ¥Ü¡¼¥ë¤òÃÖ¤¤¤Æ¸µ¤¤¤¿D¤ËÌá¤ë¥×¥í¥°¥é¥à¤òºî¤Ã¤¿¡£

void sagasu()
{
    SetSensorLowspeed(S4);¡¡//4È֤˷Ҥ¤¤ÀĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤¦
    int d=searchDirection(360);¡¡//int·¿¤Çd¤òÄêµÁ¤·¡¢¥í¥Ü¥Ã¥È¤ò360¡ë²óž¤µ¤»¤Æµ÷Î¥¤ò¬Äꤷ¤Æ¤½¤ÎºÇ¾®Ãͤòõ¤¹
    if (d>13.5){                    //¤â¤·¸«¤Ä¤±¤¿ºÇ¾®Ãͤε÷Î¥¤¬13.5cm¤è¤êÂ礭¤«¤Ã¤¿¤é
        long t3,t4;  //long·¿¤Ît3,t4¤òÄêµÁ¤¹¤ë
        t3=CurrentTick();¡¡//¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¯Á°¤Î»þ´Ö¤òt3¤Ëµ­Ï¿
        fwdDist(d-13.5);¡¡//´Ì¤È¥í¥Ü¥Ã¥È¤Îµ÷Î¥¤¬13.5cm¤Ë¤Ê¤ë¤Þ¤Ç¶á¤Å¤¯
        t4=CurrentTick();¡¡//¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¤¤¿¸å¤Î»þ´Ö¤òt4¤Ëµ­Ï¿
        stoop;¡¡//¿Æµ¡¤Ï¥Ü¡¼¥ë¤òÃÖ¤¯ºÝ¤ËÆ°¤«¤Ê¤¤¤Î¤Ç¥â¡¼¥¿¤ÎÆ°¤­¤ò°ìö»ß¤á¤ë
        RemoteStartProgram(CONN,"lost.rxe");   //¿Æµ¡¤¬»Òµ¡¤ËÌ¿Îᤷ¤Æ¥Ü¡¼¥ëÃÖ¤¯
        Wait(2000);¡¡//»Òµ¡¤¬¥Ü¡¼¥ë¤òÃÖ¤¤¤Æ¤¤¤ë»þ´Ö¡¢¿Æµ¡¤ÏÂÔ¤Ä
        OnRev(OUT_BC,30);¡¡//¸µ¤Î°ÌÃÖ¡Êľ³ÑD¡Ë¤ËÌá¤ë¤¿¤á¤Ë¥í¥Ü¥Ã¥È¤ò¸åÂव¤»¤ë
        Wait(t4-t3);  //t4-t3¤Î»þ´Ö¸åÂव¤»¤ë...­¡                                      
    }
}

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void sagasu2()
{
    SetSensorLowspeed(S4);¡¡//4È֤˷Ҥ¤¤ÀĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤¦
    int e=searchDirection(100);¡¡//int·¿¤Çe¤òÄêµÁ¤·¡¢¥í¥Ü¥Ã¥È¤ò100¡ë²óž¤µ¤»¤Æµ÷Î¥¤ò¬Äꤷ¤Æ¤½¤ÎºÇ¾®Ãͤòõ¤¹...­¡
    if (e>13.5){                    //¤â¤·¸«¤Ä¤±¤¿ºÇ¾®Ãͤε÷Î¥¤¬13.5cm¤è¤êÂ礭¤«¤Ã¤¿¤é
        t3=CurrentTick();¡¡//¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¯Á°¤Î»þ´Ö¤òt3¤Ëµ­Ï¿
        fwdDist(e-13.5);¡¡//´Ì¤È¥í¥Ü¥Ã¥È¤Îµ÷Î¥¤¬13.5cm¤Ë¤Ê¤ë¤Þ¤Ç¶á¤Å¤¯
        stoop;¡¡//¿Æµ¡¤Ï¥Ü¡¼¥ë¤òÃÖ¤¯ºÝ¤ËÆ°¤«¤Ê¤¤¤Î¤Ç¥â¡¼¥¿¤ÎÆ°¤­¤ò°ìö»ß¤á¤ë
        RemoteStartProgram(CONN,"lost.rxe");   //¿Æµ¡¤¬»Òµ¡¤ËÌ¿Îᤷ¤Æ¥Ü¡¼¥ëÃÖ¤¯
        Wait(2000);¡¡//»Òµ¡¤¬¥Ü¡¼¥ë¤òÃÖ¤¤¤Æ¤¤¤ë»þ´Ö¡¢¿Æµ¡¤ÏÂÔ¤Ä        
    stoop;¡¡//¤³¤ì¤Ç¥ß¥Ã¥·¥ç¥ó¤¬½ª¤ï¤ê¤Ê¤Î¤Ç¥â¡¼¥¿¤ò»ß¤á¤ë                        
    }
}

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int d=searchDirection(360);

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task main()
{
    go_s;       //X¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ÎÊý¸þ¤Ëľ¿Ê                                                     
    Wait(1000);¡¡//1ÉôÖľ¿Ê
    stoop;¡¡//¥Ü¡¼¥ë¤òÄϤि¤á¥í¥Ü¥Ã¥È¤ÎÆ°¤­¤ò°ìö»ß¤á¤ë
    tukamu();¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë
    go_s;¡¡//¸òº¹ÅÀD¤òľ¿Ê
    Wait(2000);¡¡//2ÉôÖľ¿Ê
    special();¡¡//D-F´Ö¤ÎµÞ¥«¡¼¥Ö¤ÈF¤Îľ³Ñ¤¬¤¢¤Ã¤Æ¤â»ß¤Þ¤é¤Ê¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
    tuuzyou();¡¡//F-E´Ö¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤ÆE¤Î¸òº¹ÅÀ¤òǧ¼±¤¹¤ë
    massugu();    //E¤Î¸òº¹ÅÀ¤Ïľ¿Ê                                          
    sirotuuzyou();¡¡//D¤Îľ³Ñ¤Ç½ª¤ï¤ë¥×¥í¥°¥é¥à
    sagasu();¡¡//´Ì¤òõ¤·¤Æ¡¢´Ì¤Ë¶á¤Å¤¤¤Æ¡¢ÀÖ¤¤¥Ü¡¼¥ë¤ò´Ì¤ËÃÖ¤¤¤Æ¸µ¤Î°ÌÃÖ¡Êľ³ÑD¡Ë¤ËÌá¤ë
    gyakuspe();¡¡//D-E´Ö¤ÎÁö¹Ô¤ÇE¤Îľ³Ñ¤¬¤¢¤Ã¤Æ¤â½ª¤ï¤é¤Ê¤¤¥×¥í¥°¥é¥à
    gyakutuuzyou();¡¡//E-I´Ö¤ÎÁö¹Ô¤Ç¡¢I¤Î¸òº¹ÅÀ¤Ç½ª¤ï¤ë¥×¥í¥°¥é¥à
    go_s;¡¡//ľ¿Ê¤·¤ÆÀĤ¤¥Ü¡¼¥ë¤ò»£¤ì¤ëµ÷Î¥¤Þ¤Ç°ÜÆ°¤¹¤ë
    Wait(700);¡¡//0.7ÉôÖľ¿Ê
    stoop;¡¡//¥Ü¡¼¥ë¤òÄϤि¤á¥í¥Ü¥Ã¥È¤ÎÆ°¤­¤ò°ìö»ß¤á¤ë
    tukamu();   ¡¡//¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë                         
    sagasu2();¡¡//´Ì¤òõ¤·¤Æ¡¢´Ì¤Ë¶á¤Å¤¤¤Æ¡¢ÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ½ªÎ»
}

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Last-modified: 2019-02-20 (¿å) 00:44:52