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 #define RUN_TIME1 30
 #define RUN_TIME_JIH 170            
 #define RUN_TIME_HGF 380
 #define RUN_TIME_FE 180
 #define RUN_TIME_DB 1000
 #define turn_right OnFwd(OUT_A);OnRev(OUT_C);
 #define turn_left90 OnRev(OUT_A);OnFwd(OUT_C);Wait(100);
 #define turn_left OnRev(OUT_A);OnFwd(OUT_C);Wait(30);
 #define go_straight OnFwd(OUT_AC);
 #define turn180 OnRev(OUT_A);OnFwd(OUT_C);Wait(130);
 #define go_back OnRev(OUT_AC);
 #define THRESHOLD 42
 #define turn_left Off(OUT_A); OnFwd(OUT_C);
 #define turn_right OnFwd(OUT_A); Off(OUT_C);
 #define turn180 OnFwd(OUT_C);OnRev(OUT_A);Wait(190);Off(OUT_AC);//£±£¸£°ÅÙ²óž
 #define runtime 1450
 #define runtime1 50
 #define turn90 OnFwd(OUT_A);OnRev(OUT_C);Wait(100);Off(OUT_AC);//£¹£°ÅÙ²óž
 #define power(s) SetPower(OUT_B,s); //¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤ò£ó¤Ë¤¹¤ë
 #define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö

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 sub across_turn()
 {
   SetSensor(SENSOR_2, SENSOR_LIGHT);
 
   ClearTimer(0);
   while (FastTimer(0) <= runtime) {
     if (SENSOR_2 < THRESHOLD){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
     } else {                    // Àþ¾å¤Ç¤Ê¤±¤ì¤Ð
       turn_right;               // ±¦¤Ø
     }
     Wait(STEP);  // STEP¤ÎÃÍ
   }
 }

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 sub across_turn1()
 {
   SetSensor(SENSOR_2, SENSOR_LIGHT);
 
   ClearTimer(0);
   while (FastTimer(0) <= runtime1) {
     if (SENSOR_2 < THRESHOLD){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
     } else {                    // Àþ¾å¤Ç¤Ê¤±¤ì¤Ð
       turn_right;               // ±¦¤Ø
     }
     Wait(STEP);  // STEP¤ÎÃÍ
   }
 }
 

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 sub line_trace1()    //¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤Þ¤ÇÆ°¤­Â³¤±¤ë¥×¥í¥°¥é¥à
   { SetSensor(SENSOR_2,SENSOR_LIGHT);
 
   ClearTimer(0);
   while ( FastTimer(0) <= RUN_TIME1 ) {
       if ( 48 < SENSOR_2 ){
           OnFwd(OUT_A); Off(OUT_C);ClearTimer(0);    //Çò¤Ê¤é±¦¤Ø
       } else if (45 <SENSOR_2 < 49) {
           Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
       } else {
           OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
        }
    }
   Off(OUT_AC);Wait(100);
 }

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 sub line_trace_JIH()
   { SetSensor(SENSOR_2,SENSOR_LIGHT);
   ClearTimer(0);
       while ( FastTimer(0) <= RUN_TIME_JIH ) {
           if ( 48 < SENSOR_2 ){
               OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
           } else if (45 <SENSOR_2 < 49) {
               Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
           } else {
               OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
            }
       }
   turn_right;Wait(22);OnFwd(OUT_AC);Wait(15);
  }

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 sub line_trace_HGF()
   { SetSensor(SENSOR_2,SENSOR_LIGHT);
   ClearTimer(0);
   while ( FastTimer(0) <= RUN_TIME_HGF ) {
       if ( 48 < SENSOR_2 ){
           OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
       } else if (45 <SENSOR_2 < 49) {
           Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
       } else {
           OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
        }
    }
 }

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 sub line_trace_FE()
   { SetSensor(SENSOR_2,SENSOR_LIGHT);
   ClearTimer(0);
   while ( FastTimer(0) <= RUN_TIME_FE ) {
       if ( 48 < SENSOR_2 ){
           OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
       } else if (45 <SENSOR_2 < 49) {
           Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
       } else {
           OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
        }
    }
 }

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 sub line_trace_DB()
   { SetSensor(SENSOR_2,SENSOR_LIGHT);
   ClearTimer(0);
   while ( FastTimer(0) <= RUN_TIME_DB ) {
       if ( 48 < SENSOR_2 ){
           OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
       } else if (45 <SENSOR_2 < 49) {
           Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
       } else {
           OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
        }
    }
 }

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 task main(){
       across_turn();
   turn180;
   OnFwd(OUT_B);
   power(0);//¤æ¤Ã¤¯¤ê¥Ü¡¼¥ë¤òÄϤà
   Wait(25);
   Off(OUT_B);
   across_turn1();
   turn90;
   Off(OUT_AC);
   line_trace1();    //k¤«¤é½Ðȯ
   line_trace_JIH();    //J¤«¤éI
   line_trace_JIH();    //I¤«¤éH
   line_trace_HGF();    //H¤«¤éF
   turn_left90;    //F¤Çº¸90ÅÙÀû²ó
   line_trace_FE();    //F¤«¤éE
   turn_left;    //E¤Çº¸Àû²ó(90Åٰʲ¼)
   line_trace1();    //E¤«¤éD¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¸å¡¢°ì»þÄä»ß
   turn_right;Wait(25);    //D¤Çº¸¤Ø·¹¤¤¤¿Ê¬¡¢±¦¤Ë¶Ê¤¬¤Ã¤Æ°ÌÃÖÄ´À°
   line_trace_DB();    //D¤«¤éB
   turn180;    //180ÅÙÀû²ó
   OnRev(OUT_B);    //¥¢¡¼¥àŸ³«
   power(0);
   Wait(25);
   Off(OUT_B);   
   go_straight;    //¥Ü¡¼¥ë¤«¤éÎ¥¤ì¤ë
   Wait(100);
   OnFwd(OUT_B);    //¥¢¡¼¥à¤òÊĤ¸¤ë
   power(0);
   Wait(25);
   go_back;    //¸å¤í¤Ë²¼¤¬¤Ã¤Æ°ÌÃÖÄ´À°
   Wait(55);
   OnFwd(OUT_B);   
   Wait(10);    //¥Ü¡¼¥ë¤ò¥¢¡¼¥à¤ÇÃƤ¤¤ÆA¤Ë¥·¥å¡¼¥È

}

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Last-modified: 2019-08-14 (¿å) 23:48:09