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#define SIGNALON_C 39 #define SIGNALON_T 2
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sub black_R()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ { while(FastTimer(0)<10) { if(SENSOR_3<37){Off(OUT_AC);¡¡¡¡//¹õÀþ¤ÇÄä»ß Wait(100);} else{OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤Á°¿Ê ClearTimer(0);} } }
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sub black_L() { while(FastTimer(0)<10) { if(SENSOR_1<37){Off(OUT_AC);¡¡¡¡//¹õÀþ¤ÇÄä»ß Wait(100);} else{OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤Á°¿Ê ClearTimer(0);} } }
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sub back() { while(FastTimer(0)<10) { if(SENSOR_3<37){Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡//¹õÀþ¤ÇÄä»ß Wait(100);} else{OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤¸åÂà ClearTimer(0);} } }
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task main() { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT);
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ClearTimer(0); black_R();¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤Þ¤ÇÁ°¿Ê OnRev(OUT_AC);¡¡¡¡¡¡¡¡//¼ÖÂΤÎÈùÄ´À° Wait(100); Off(OUT_AC); ClearTimer(0); black_R();
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OnFwd(OUT_C);¡¡¡¡¡¡¡¡//90ÅÙ±¦²óž OnRev(OUT_A); Wait(55); Off(OUT_AC); Wait(100);
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SendMessage(SIGNALON_C);¡¡¡¡¡¡//¤â¤¦°ì¤Ä¤ÎRIS¤ËÄÌ¿®¤¹¤ë Off(OUT_AC); Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ß½ª¤ï¤ë¤Þ¤ÇÂÔ¤Ä
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OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//90ÅÙº¸²óž¤¹¤ë OnRev(OUT_C); Wait(60); Off(OUT_AC); Wait(100);
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ClearTimer(0); back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂà OnFwd(OUT_AC); //CÃÏÅÀ¤Î¹õÀþ¤òÅϤë Wait(100); Off(OUT_AC); ClearTimer(0); back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤«¤éBÃÏÅÀ¤Þ¤Ç¸åÂà Wait(100);
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OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Ç±¦²óž OnRev(OUT_C); Wait(60); Off(OUT_AC); Wait(100);
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ClearTimer(0);¡¡¡¡¡¡¡¡ black_L();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C'ÃÏÅÀ¤Î¹õÀþ¤Þ¤ÇÁ°¿Ê OnRev(OUT_AC); Wait(100); Off(OUT_AC);
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SendMessage(SIGNALON_T);¡¡¡¡¡¡¡¡¡¡//¤â¤¦°ì¤Ä¤ÎRIS¤ËÄÌ¿® Off(OUT_AC); Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÍî¤È¤·½ª¤ï¤ë¤Þ¤ÇÂÔ¤Ä
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ClearTimer(0); back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C'ÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂà OnFwd(OUT_AC); Wait(100); Off(OUT_AC);
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ClearTimer(0); back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂह¤ë OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Ç90ÅÙº¸²óž¤¹¤ë OnRev(OUT_A); Wait(55); Off(OUT_AC); Wait(100);
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ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¡¤ÎÆ°¤ black_R(); OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¢¤ÎÆ°¤ OnRev(OUT_A); Wait(55); Off(OUT_AC); Wait(100); SendMessage(SIGNALON_C);¡¡¡¡¡¡¡¡¡¡//¿Þ£¤ÎÆ°¤ Off(OUT_AC); Wait(1000); OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¤¤ÎÆ°¤ OnRev(OUT_C); Wait(60); Off(OUT_AC); Wait(100); ClearTimer(0); back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¥¤ÎÆ°¤ OnFwd(OUT_AC); Wait(100); Off(OUT_AC); ClearTimer(0); back(); Wait(100); OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¦¤ÎÆ°¤ OnRev(OUT_C); Wait(60); Off(OUT_AC); Wait(100); ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ§¤ÎÆ°¤ black_L(); OnRev(OUT_AC); Wait(100); Off(OUT_AC); ClearTimer(0); back(); OnFwd(OUT_AC); Wait(100); Off(OUT_AC); SendMessage(SIGNALON_T);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¨¤ÎÆ°¤ Off(OUT_AC); Wait(1000); ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ©ª¤ÎÆ°¤ back(); OnFwd(OUT_C); OnRev(OUT_A); Wait(55); Off(OUT_AC); Wait(100); }
#define SIGNALON_C 39 #define SIGNALON_T 2
task main() { ClearMessage(); while(true) { if(Message()==SIGNALON_C){ //¿Þ£¤Ç¼õ¿®¤¹¤ë OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¤ª¤í¤¹ Wait(50); Off(OUT_A); OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à Wait(10); Off(OUT_B); OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¾å¤²¤ë Wait(300); Off(OUT_A);} else if(Message()==SIGNALON_T){¡¡¡¡¡¡¡¡¡¡//¿Þ¨¤Ç¼õ¿®¤¹¤ë OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¤ª¤í¤¹ Wait(50); Off(OUT_A); OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÍî¤È¤¹ Wait(10); Off(OUT_B); OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¾å¤²¤ë Wait(300); Off(OUT_A);} } }
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