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  1. ¥¢¡¼¥à¤Î¥×¥í¥°¥é¥à A:¥­¥ã¥Ã¥Á¥¢¡¼¥à¡¡B:¥·¡¼¥½¡¼¡¡C:¥³¥ó¥Ù¥¢¡¼ ¥Þ¥¯¥í
    #define signal_catch 1
    #define signal_release 2
    #define signal_end 3

¥Ü¡¼¥ë²ó¼ý¤Î¥µ¥Ö¥ë¡¼¥Á¥ó

sub CATCH()
{
    ClearMessage();
    until(Message()==signal_catch);//signal_catch¤¬Á÷¤é¤ì¤ë¤Þ¤ÇÂÔµ¡
    //  ¥¢¡¼¥à¤ò²¼¤²¤ë     
    OnFwd(OUT_B);
    Wait(30);
    Off(OUT_B);
    Wait(100);
    SetPower(OUT_A,2);
    // ¤Ä¤«¤à
    OnRev(OUT_A);
    Wait(90);
    Off(OUT_A);
    Wait(100);
    //  ¾å¤²¤ë
    OnRev(OUT_B);
    Wait(50);
    Off(OUT_B);
    Wait(100);
    //  ¼ê¤ò¸µ¤ËÌ᤹
    OnFwd(OUT_A);
    Wait(90);
    Off(OUT_A);
    Wait(100);
    // ¥³¥ó¥Ù¥¢¡¼¤Ç±ü¤ØÁ÷¤ë
    OnFwd(OUT_C);
    Wait(200);
    Off(OUT_C);
    Wait(100);
    SendMessage(signal_end);//Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
}

È¢¤ËÆþ¤ì¤ë¥µ¥Ö¥ë¡¼¥Á¥ó

sub release()
{
    ClearMessage();
    until(Message()==signal_release);  //signal_release¤¬Á÷¤é¤ì¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡
    //  ¥¢¡¼¥à²¼¤²¤ë
    OnFwd(OUT_B);
    Wait(30);
    Off(OUT_B);
    Wait(100);
    // ¥³¥ó¥Ù¥¢¡¼¤ÇÁ°¤ØÁ÷¤ë
    OnRev(OUT_C);
    Wait(200);
    Off(OUT_C);
    Wait(100);
    //  ¥¢¡¼¥à¾å¤²¤ë
    OnRev(OUT_B);
    Wait(50);
    Off(OUT_B);
    Wait(100);
    SendMessage(signal_end);//Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
} 

¥á¥¤¥ó¥×¥í¥°¥é¥à

task main()
{ 
    ClearMessage();
    CATCH();//L'¤Ç¤Ä¤«¤à­¡
    release();//J'¤Ç¥ê¥ê¡¼¥¹­£
    CATCH();//L¤Ç¤Ä¤«¤à­¥
    CATCH();//J¤Ç¥ê¥ê¥Ñ¥Ã¥¯¤«¤é¤Ä¤«¤à­¨
    CATCH();
    ClearMessage();
    until(Message()==signal_release);//­ª 
    //  ²¼¤¬¤ë
    OnFwd(OUT_B);
    Wait(30);
    Off(OUT_B);
    Wait(100);
    // Á°¤ØÁ÷¤ë
    OnRev(OUT_C);
    Wait(200);
    Off(OUT_C);
    Wait(100);
    //  ¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë
    OnRev(OUT_BC);
    Wait(50);
    Off(OUT_BC);
    Wait(100);
    SendMessage(signal_end);
} 
  1. ¼ÖÂÎ A:±¦¤Î¼ÖÎØ¡¡¡¡C:º¸¤Î¼ÖÎØ¡¡¡¡2:¸÷¥»¥ó¥µ¡¼ ¥Þ¥¯¥íŽ¥¥°¥í¡¼¥Ð¥ëÊÑ¿ô
    #define black 40
    #define gray_black 44
    #define gray 47
    #define gray_white 50
    #define white 60
    #define go_ahead OnFwd(OUT_AC);
    #define turn_left OnFwd(OUT_A);Off(OUT_C);
    #define turn_right OnFwd(OUT_C);Off(OUT_A);
    #define circling_left OnRev(OUT_C);OnFwd(OUT_A);
    #define circling_right OnRev(OUT_A);OnFwd(OUT_C);
    #define signal_catch 1
    #define signal_release 2
    #define signal_end 3
int t;

¥µ¥Ö¥ë¡¼¥Á¥ó

sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹
{
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while(FastTimer(0)<t)
        {
        if(SENSOR_2<black)
            {
            circling_right;
            }
        else if(SENSOR_2<gray_black)
            {
            turn_right;
            }
        else if(SENSOR_2<gray)
            {
            go_ahead;
            }
        else if(SENSOR_2<gray_white)
            {
            turn_left;
            }
        else if(SENSOR_2<white)
            {
            circling_left;
            }
        }
    Off(OUT_AC);
    Wait(100);
} 

¥á¥¤¥ó¥×¥í¥°¥é¥à 1¤ÄÌܤΥԥó¥Ý¥óµå

task main()
{
    ClearMessage();
    //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    //¹õ¤Ê¤éľ¿Ê
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);//K'ÉÕ¶á¤ËÅþã
    t=90;follow_line();//¢¨£²
    Wait(100);
    SendMessage(signal_catch);//  L'¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë­¡
    ClearMessage();
    until(Message()==signal_end);//¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡
    //90¡ëº¸Àû²ó­¢
    circling_left;
    Wait(102);
    Off(OUT_AC);
    // ¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë­£
    SendMessage(signal_release);
    ClearMessage();
    until(Message()==signal_end);

2¤ÄÌܤΥԥó¥Ý¥óµå

//¸å¤í¤Ë²¼¤¬¤ë
    OnRev(OUT_AC);
    Wait(30);
    Off(OUT_AC);
    //90¡ëº¸Àû²ó­¤
    circling_left;
    Wait(102);
    Off(OUT_AC);
    //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    //¹õ¤Ê¤éľ¿Ê
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    turn_right;//±¦¤Ë²óž
    Wait(100);
    //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    //¹õ¤Ê¤éľ¿Ê
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    t=150;follow_line();//¢¨£²
    SendMessage(signal_catch);// L¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë­¥
    ClearMessage() ;
    until(Message()==signal_end);

3¡¤4¤ÄÌܤΥԥó¥Ý¥óµå

//90¡ëº¸Àû²ó­¦
    circling_left;
    Wait(102);
    Off(OUT_AC);
    //¸å¤í¤Ë²¼¤¬¤ë­§
    OnRev(OUT_AC);
    Wait(23);
    Off(OUT_AC);
    SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣱ­¨
    ClearMessage();
    until(Message()==signal_end);
    Wait(100);
    SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣲ
    ClearMessage(); 
    until(Message()==signal_end);

È¢¤ËÆþ¤ì¤ë¤Þ¤Ç

//90¡ëº¸Àû²ó­¦
    circling_left;
    Wait(102);
    Off(OUT_AC);
    //¸å¤í¤Ë²¼¤¬¤ë­§
    OnRev(OUT_AC);
    Wait(23);
    Off(OUT_AC);
    SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣱ­¨
    ClearMessage();
    until(Message()==signal_end);
    Wait(100);
    SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣲ
    ClearMessage(); 
    until(Message()==signal_end);

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Last-modified: 2019-08-15 (ÌÚ) 00:17:53