Ìܼ¡
º£²ó¤Î²ÝÂê¤Ï¥Ü¡¼¥ë±¿ÈÂ¥í¥Ü¥Ã¥È¤Ç¤¹¡¥
¥Ô¥ó¥Ý¥ó¶Ì¤Þ¤¿¤ÏÀĤÈÀ֤Υܡ¼¥ë¤ò±¿È¤·¤Æ¡¢½êÄê¤ÎÍÆ´ï¤ÎÃæ¤ËÆþ¤ì¤ë¡£
²ÝÂê3¤Ë¤Ä¤¤¤Æ¾Ü¤·¤¯¤Ï¤³¤Á¤é¤ò¤´Í÷¤¯¤À¤µ¤¤¡¥
¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎÁü¤Ï°Ê²¼¤Î¼Ì¿¿¤Î¤è¤¦¤Ç¤¹¡¥º£²ó¤Ï¡¤º£¤Þ¤Ç¤è¤ê¤âÂç·¿²½¤·¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡¥¥Ô¥ó¥Ý¥ó¶Ì¤ò4¤Ä½¦¤¤½¸¤á¤ëµ¡¹½¤ÈRIS¤ò2¤Ä¾è¤»¤¿¤³¤È¤¬Í×°ø¤Ç¤¹¡¥
¤Þ¤¿¡¤2Âæ¤ÎRIS¤ÏÄÌ¿®¤ò¹Ô¤¨¤ë¤è¤¦¤ËÀÖ³°Àþ¤òÁ÷¼õ¿®¤¹¤ë¤È¤³¤í¤ò¸þ¤«¤¤¹ç¤ï¤»¤Ë¤·¤Æ¤¤¤Þ¤¹¡¥
¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ó¤Ç¡¤°ÜÆ°¤¹¤ë´Ö¤Ë¤¿¤á¤Æ¤ª¤¡¤¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë¤¿¤á¤Îµ¡¹½¤Ç¤¹¡¥
¥·¡¼¥½¡¼¤Î¤è¤¦¤Ë¥¢¡¼¥àÁ´ÂΤ¬¾å²¼°ÜÆ°¤¹¤ë¤¿¤á¤Îµ¡¹½¤Ç¤¹¡¥
¤³¤Î¥¢¡¼¥àÉôʬ¤Ï½Å¤¤¤Î¤Ç¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼¤ò½Ð¤¹¤¿¤á¤Ë¥®¥¢¤ò6Ëç»È¤¤¥Ñ¥ï¡¼¥¢¥Ã¥×¤ËÀ®¸ù¤·¤Þ¤·¤¿¡¥
¼è¤êÉÕ¤±¤¿¥®¥¢¤Ï²¼¤Î¿Þ¤Î¤è¤¦¤Ë¤Ä¤¤¤Æ¤¤¤Þ¤¹¡¥
¥Ô¥ó¥Ý¥ó¶Ì¤ò¥¥ã¥Ã¥Á¤¹¤ë¤¿¤á¤Î¥¢¡¼¥àÉôʬ¤Ç¤¹¡¥Æ°Îϸ»¤Î¥â¡¼¥¿¡¼¤¬¸å¤í¤Ë¤Ä¤¤¤Æ¤¤¤ë¤Î¤Ï¥¢¡¼¥àÁ´ÂΤΥХé¥ó¥¹¤ò¤È¤ë¤¿¤á¤Ç¤¹¡¥
¥¢¡¼¥à³ÈÂç¿Þ
Æ°ÎϤÎÅÁã¤ÏºÇ½é¤ÏÎØ¥´¥à¤È¥×¡¼¥ê¡¼¤ÎÁȤ߹ç¤ï¤»¤Ç¤ä¤Ã¤Æ¤¤¤Þ¤·¤¿¡¥¤³¤ì¤Ï¡¤¥â¡¼¥¿¡¼¤Î²óžÊý¸þ¤È¥¢¡¼¥à¤Î²óžÊýË¡¤¬°ìÃפ·¤Æ¤ª¤ê´Êñ¤Ëºî¤ë¤³¤È¤¬¤Ç¤¤Þ¤·¤¿¡¥¤·¤«¤·¡¤ÎØ¥´¥à¤¬³ê¤Ã¤Æ»×¤¦¤è¤¦¤ËÆ°¤¤Þ¤»¤ó¤Ç¤·¤¿¡¥
¤½¤Î¤¿¤á¡¤ËÀ¤òľÀܤĤʤ°ÊýË¡¤ËÊѹ¹¤·¤Þ¤·¤¿¡¥2¤«½ê¤Ç²óž¼´¤òľ³Ñ¤Ë²óž¤µ¤»¤Æ¤¤¤Þ¤¹¡¥
¤Þ¤¿¡¤¥¢¡¼¥à¤ò¾å¤²¤ë¤Ë¤Ï¥Ñ¥ï¡¼¤¬É¬ÍפÀ¤Ã¤¿¤Î¤Ç¥®¥¢¤ÎËç¿ô¤òÁý¤ä¤·¤Þ¤·¤¿¡¥
¥¥ã¥Ã¥Á¤¹¤ëÉôʬ¤Ï¡¤¥Ô¥ó¥Ý¥ó¶Ì¤¬Æ¨¤²¤Ê¤¤¤è¤¦¤ËÆ͵¯¤¬¤Ä¤¤¤Æ¤¤¤Þ¤¹¡¥
½¦¤Ã¤¿¥Ô¥ó¥Ý¥ó¶Ì¤ò¾åÉô¤Ë¾å¤²¤ëÌò³ä¤òô¤Ã¤Æ¤¤¤Þ¤¹¡¥
¥Ù¥ë¥È¥³¥ó¥Ù¥¢¡¼¤ÏÊÒÊý¤Î¤ß¤¬²óž¤¹¤ì¤Ð¥Ô¥ó¥Ý¥ó¶Ì¤ò±¿¤Ö¤³¤È¤¬¤Ç¤¤ë¤Î¤Ç²óž¤¹¤ë¤Î¤ÏÊÒÊý¤Î¤ß¤Ç¤¹¡¥¤Þ¤¿¡¤²¼¤Î²èÁü¤Î¢ªÉôʬ¤¬¤¢¤ë¤³¤È¤Ë¤è¤Ã¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤ò¥³¥ó¥Ù¥¢¤Ë²¡¤·ÉÕ¤±¤ë¤³¤È¤Ç¤¤Þ¤¹¡¥¤³¤ì¤Ç¡¤¥Ô¥ó¥Ý¥ó¶Ì¤¬¾å¤²¤ëÅÓÃæ¤Ç»ß¤Þ¤Ã¤Æ¤·¤Þ¤¦¤Î¤òËɤ®¤Þ¤·¤¿¡¥
¤³¤³¤â»×¤Ã¤¿¤è¤ê¥Ñ¥ï¡¼¤¬É¬ÍפÀ¤Ã¤¿¤Î¤Ç¥®¥¢¤ÎÁȤ߹ç¤ï¤»¤òÄ´À°¤·¤Þ¤·¤¿¡¥¥â¡¼¥¿¡¼¤Î¸ÇÄê¤Ë¤Ï¥Ó¡¼¥à¤Î·ê¤È¥×¥ì¡¼¥È¤Î·ê¤ò»È¤Ã¤Æ¸ÇÄꤷ¤Þ¤·¤¿¡¥
¥¢¡¼¥à¤ÎÆ°¤¥¤¥á¡¼¥¸¤Ç¤¹¡¥
¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ó¤Ç¥¢¡¼¥à¤¬¾å¤¬¤Ã¤¿¸å¥¥ã¥Ã¥Á¥¢¡¼¥à¤¬¾å¤¬¤ë¤Î¤Ï¡¤¥¥ã¥Ã¥Á¥¢¡¼¥à¤ÎÆ͵¯¤¬¥³¥ó¥Ù¥¢¡¼¤Ë°ú¤Ã¤«¤Ã¤«¤ÆÆ°¤«¤Ê¤¯¤Ê¤ë¤³¤È¤òËɤ°¤¿¤á¤Ç¤¹¡¥
²ÝÂê2¤ÈƱÍͤˡ¤¥¿¥¤¥ä¤Ï3ÎؤÇÁ°¤ÎÆóÎؤ¬¶îÆ°ÎØ¡¤¸å¤í¤Î1Îؤϻ٤¨¤ë¤¿¤á¤Ë¤Ä¤¤¤Æ¤¤¤Þ¤¹¡¥Ë໤¤ò¾¯¤Ê¤¯¤¹¤ë¤¿¤á¤Ë¥Û¥¤¡¼¥ë¤À¤±¤ò¤Ä¤±¤Æ¤¤¤Þ¤¹¡¥
΢¦
¸÷¥»¥ó¥µ¡¼¤ÏÃÏÌ̤«¤é¶á¤¹¤®¤º¡¤±ó¤¹¤®¤º¤Î°ÌÃ֤ˤĤ±¤Þ¤·¤¿¡¥
¼ÖÂΤ¬½Å¤¿¤¯¡¤¥¬¥¿¥¬¥¿Íɤì¤ë¤È²õ¤ì¤Æ¤·¤Þ¤¦²ÄǽÀ¤¬¤¢¤Ã¤¿¤Î¤Ç¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤Ç¤¤ë¤À¤±¤·¤Ê¤¤¤è¤¦¤Ê¥ë¡¼¥È¤ò¤¯¤ß¤Þ¤·¤¿¡¥
¥¹¥¿¡¼¥È¸å2ËܤιõÀþ¤ò²£Àڤäơ¤3ËÜÌܤιõÀþ¤Î¼êÁ°¤ÇÄä»ß¤·¤Þ¤¹¡¥¤½¤³¤«¤é¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤È¤Îµ÷Î¥¤òÄ´À°¤·¡¤¥Ô¥ó¥Ý¥ó¶Ì¤ò¥¥ã¥Ã¥Á¡¥¤½¤Î¾ì¤Ç90¡ë²óž¤·¥ê¥ê¥Ñ¥Ã¥¯¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤Þ¤¹¡¥
¥ê¥ê¥Ñ¥Ã¥¯¤ËÅö¤¿¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤Ã¤Æ¤«¤é90¡ë²óž¤·¡¤3ËܤιõÀþ¤ò²£Àڤꡤ±¦¤ØÊý¸þž´¹¤·¤Þ¤¹¡¥4ËÜÌܤιõÀþ¤ò²£Àڤ俸塤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤Ë¶á¤Å¤¥¥ã¥Ã¥Á¤·¤Þ¤¹¡¥
¤Þ¤º90¡ë²óž¤·¤Æ¸þ¤¤ò¹ç¤ï¤»¤Þ¤¹¡¥¤·¤«¤·¡¤¤½¤Î¤Þ¤Þ¤Ç¤Ï¥¥ã¥Ã¥Á¥¢¡¼¥à¤¬¥ê¥ê¥Ñ¥Ã¥¯¤Ë°ú¤Ã³Ý¤«¤ê¤¦¤Þ¤¯¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ì¤Ê¤¤¤Î¤Ç¾¯¤·¸å¤í¤Ë²¼¤¬¤Ã¤Æ¤«¤é¡¤¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ß¤Þ¤¹¡¥
¤µ¤é¤Ë²¼¤¬¤Ã¤Æ90¡ë²óž¤·¤Þ¤¹¡¥2ËÜÌܤιõ¤¤Àþ¤Î¼êÁ°¤ÇÄä»ß¤·¤Æ¡¤¾¯¤·Á°¿Ê¤·¤Æ¥ê¥ê¥Ñ¥Ã¥¯¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤Þ¤¹¡¥
¥¢¡¼¥à¤È¤ò2Âæ¤ÎRIS¤ò»È¤Ã¤ÆÄÌ¿®¤·¤Ê¤¬¤é¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤¿¤Î¤Ç¡¤2¤Ä¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤¬¤¢¤ê¤Þ¤¹¡¥
A¡§¥¥ã¥Ã¥Á¥¢¡¼¥à
B¡§¥·¡¼¥½¡¼
C¡§¥³¥ó¥Ù¥¢¡¼
ÄÌ¿®¤Ë»È¤¦ÃͤǤ¹¡¥
#define signal_catch 1 #define signal_release 2 #define signal_end 3
¥Ü¡¼¥ë¤ò°ìÅÙ¤ËÊ£¿ô¸Ä±¿¤Ù¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤ò½ñ¤¤Þ¤·¤¿¡¥
¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥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÷¿® }
SendMesssge(signal_end)¤Ï¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤éÂ¤Î¥×¥í¥°¥é¥à¤òºÆ³«¤µ¤»¤ë¤¿¤á¤Î¥á¥Ã¥»¡¼¥¸¤Ç¤¹¡¥Â¤Î¥×¥í¥°¥é¥à¤Ë¤Ïuntil(Message()==signal_end)¤¬Æþ¤Ã¤Æ¤¤¤Æ¡¤¥¢¡¼¥à¤¬Æ°¤½ª¤ï¤Ã¤Æ¤«¤é¤¬Æ°¤»Ï¤á¤Þ¤¹¡¥
¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤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÷¿® }
¥¢¡¼¥à¤ÎÆ°¤¤Ï¾å¤Î¥¢¥Ë¥á¡¼¥·¥ç¥ó¤ò¸«¤Æ¤¯¤À¤µ¤¤¡¥
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); }
ºÇ¸å¤Î¡Ö²¼¤¬¤ë¡×¡ÖÁ°¤ØÁ÷¤ë¡×¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ÈƱ¤¸¤Ç¤¹¡¥¤Ç¤¹¤¬¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ò»È¤¦¤È¡¤¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ëÁ°¤ËÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡¥¤½¤ì¤òËɤ°¤¿¤á¤Ë¡¤¡Ö¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë¡×¤òÆþ¤ì¡¤¥¢¡¼¥à¤ò¾å¤²¤ë¤Î¤ÈƱ»þ¤Ë¥³¥ó¥Ù¥¢¡¼¤âÆ°¤«¤·¤Æ¤¤¤Þ¤¹¡¥
Â¤Î¥×¥í¥°¥é¥à¤ÏÆ°¤¯½ç½ø¤Ë±è¤Ã¤Æºî¤é¤ì¤Æ¤¤¤Þ¤¹¡¥»þ´ÖÀ©¸æ¤Ç¤Ï¥Ð¥Ã¥Æ¥ê¡¼¥ì¥Ù¥ë¤Ë¤è¤Ã¤ÆÆ°¤¤¬ÊѤï¤ë¤Î¤Ç¡¤ÂçÉôʬ¤ò¸÷¥»¥ó¥µ¡¼¤ÇÀ©¸æ¤·¤Æ¤¤¤Þ¤¹¡¥
A¡§±¦¼ÖÎØ
C¡§º¸¼ÖÎØ
2¡§¸÷¥»¥ó¥µ¡¼
¸÷¥»¥ó¥µ¡¼¤ÎÃÍ¡¤´ðËÜŪ¤ÊÆ°ºî¡¤¥á¥Ã¥»¡¼¥¸¤ÎÃͤòÄêµÁ¤·¤Þ¤¹¡¥
#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
¥°¥í¡¼¥Ð¥ëÊÑ¿ô¤òÄêµÁ¤·¤Þ¤¹¡¥
int t;
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤¹¡¥´ðËÜŪ¤Ê»ÅÁȤߤϲÝÂê2¤ÈƱ¤¸¤Ç¤¹¡¥¾Ü¤·¤¯¤Ï²ÝÂê2¤Î¥ì¥Ý¡¼¥È¤ò¸«¤Æ¤¯¤À¤µ¤¤¡¥º£²ó¤Ï¸òº¹ÅÀ¤òǧ¼±¤¹¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç¡¤¥°¥í¡¼¥Ð¥ëÊÑ¿ôt¤Ç»ØÄꤷ¤¿»þ´Ö¤Î´ÖÆ°¤Â³¤±¤Þ¤¹¡¥
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¤Ï¾å¤ÎºîÀï¤Ë½ñ¤«¤ì¤Æ¤¤¤ë½ç½ø¤Ç¿Ê¤à¤è¤¦¤ËÁȤó¤Ç¤¢¤ê¤Þ¤¹¡¥
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);¡¡¡¡
//¸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);
//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);
//¸å¤í¤Ë²¼¤¬¤ë OnRev(OUT_AC); Wait(90); 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); SendMessage(signal_release);//¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ëª ClearMessage(); until(Message()==signal_end); //¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¸å¤í¤Ë²¼¤¬¤ë OnRev(OUT_AC); Wait(100); Off(OUT_AC); }
¥×¥í¥°¥é¥àÃæ¤Î¡»¿ô»ú¤ÏºîÀï¤Î¿Þ¤ËÂбþ¤·¤Æ¤¤¤Þ¤¹¡¥
¢¨1¡¡¤³¤Î°ìÏ¢¤ÎÆ°ºî¤Ï¡¤¥é¥¤¥ó¤Þ¤Ç¿Ê¤ß¡¤¥é¥¤¥ó¤ò±Û¤¨¡¤¤Þ¤¿¥é¥¤¥ó¤Þ¤Ç¿Ê¤à¤È¤¤¤¦Æ°ºî¤ò¤·¤Æ¤¤¤Þ¤¹¡¥¿ô¤òÄ´À°¤¹¤ë¤³¤È¤ÇǤ°Õ¤Î¹õÀþ¤Î¼êÁ°¤Þ¤¿¤Ï±ü¤Ç»ß¤Þ¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡¥
¢¨£²¡¡follow_line¤Î¸å¤Ë¤Ï¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¡¤90¡ë²óž¤¹¤ë¥×¥í¥°¥é¥à¤¬¤¢¤ê¤Þ¤¹¡¥¤½¤Î2¤Ä¤Ï°ÌÃÖ¤¬Àµ³Î¤Ç¤Ê¤¤¤È¤¦¤Þ¤¯µ¡Ç½¤·¤Þ¤»¤ó¡¥¤½¤Î¤¿¤á¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡¤¥í¥Ü¥Ã¥È¤ò¤Ç¤¤ë¤À¤±¹õÀþ¤ÈÊ¿¹Ô¤Ë¤·¤Æ¤¤¤Þ¤¹¡¥
º£²ó¤âÍÍ¡¹¤ÊÌäÂ꤬ȯÀ¸¤·¤Þ¤·¤¿¡¥ËÜÈ֤Ǥϴ°¤Ú¤¤È¤Ï¤¤¤«¤Ê¤¤¤â¤Î¤Î¡¤¤«¤Ê¤ê¾å¼ê¤¯Æ°¤¤¤¿¤½¤¦¤Ê¤Î¤ÇËÜÅö¤Ë¤è¤«¤Ã¤¿¤Ç¤¹¡¥