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#define signal_catch 1 #define signal_release 2 #define signal_end 3
sub CATCH() { ClearMessage(); until(Message()==signal_catch); //signal_catch¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡ OnFwd(OUT_B); Wait(30); Off(OUT_B); Wait(100); // ²¼¤¬¤ë SetPower(OUT_A,2); OnRev(OUT_A); Wait(90); Off(OUT_A); Wait(100); // ÄϤà OnRev(OUT_B); Wait(50); Off(OUT_B); Wait(100); // ¾å¤¬¤ë OnFwd(OUT_A); Wait(90); Off(OUT_A); Wait(100); // ¼ê¤ò¸µ¤ËÌ᤹ OnFwd(OUT_C); Wait(200); Off(OUT_C); Wait(100); // ±ü¤ØÁ÷¤ë SendMessage(signal_end); //Æ°ºî½ªÎ»¤ò¤ÎRIS¤ËÁ÷¿® }
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sub release() { ClearMessage(); until(Message()==signal_release); ¡¡//signal_release¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡ OnFwd(OUT_B); Wait(30); Off(OUT_B); Wait(100); // ²¼¤¬¤ë OnRev(OUT_C); Wait(200); Off(OUT_C); Wait(100); // Á°¤ØÁ÷¤ë OnRev(OUT_B); Wait(50); Off(OUT_B); Wait(100); // ¾å¤¬¤ë SendMessage(signal_end); ¡¡¡¡//Æ°ºî½ªÎ»¤ò¤ÎRIS¤ËÁ÷¿® }
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task main() { ClearMessage(); CATCH();¡¡¡¡¡¡//L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë release();¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë CATCH();¡¡¡¡¡¡//L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(1¸ÄÌÜ) CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(2¸ÄÌÜ) ClearMessage();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//(¢¨) until(Message()==signal_release); OnFwd(OUT_B); Wait(30); Off(OUT_B); Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë OnRev(OUT_C); Wait(200); Off(OUT_C); Wait(100);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÁ°¤ØÁ÷¤ë OnRev(OUT_BC); Wait(50); Off(OUT_BC); Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥Ô¥ó¥Ý¥ó¶Ì¤òÁ÷¤ë SendMessage(signal_end); }
(¢¨)°Ê²¼¤Î¥×¥í¥°¥é¥à¤Ï´ðËÜŪ¤Ë¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤Î release() ¤ÈƱ¤¸¤À¤¬¡¢¥¢¡¼¥à¤ò¾å¤²¤ëºÝ¤Ë¤â¥³¥ó¥Ù¥¢¤òÆ°¤«¤·¤Æ¤¤¤ë¡£°ìÈֺǸå¤ÏÊ£¿ô¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯Æâ¤ËÆþ¤ì¤ëɬÍפ¬¤¢¤ë¤¬¡¢release() ¤À¤È¥Ô¥ó¥Ý¥ó¶Ì¤¬Á´ÉôÈ¢¤ËÆþ¤ëÁ°¤Ë¡¢Æ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¦¡£¤Þ¤¿¡¢Àè¤ËÆþ¤Ã¤¿¥Ô¥ó¥Ý¥ó¶Ì¤Ë¼ÙËâ¤ò¤µ¤ì¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤¬Á´Éô½Ð¤Ê¤¤¤È¤¤¤¦ÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥³¥ó¥Ù¥¢¤òÆ°¤«¤¹¤è¤¦¤Ë¤·¤¿¡£
#define black 40¡¡¡¡¡¡¡¡//¿¿¤Ã¹õ #define gray_black 44 ¡¡//¹õ #define gray 47¡¡¡¡ ¡¡//³¥ #define gray_white 50 ¡¡//Çò #define white 60¡¡¡¡¡¡ //¿¿¤ÃÇò
#define go_ahead OnFwd(OUT_AC); //Á°¤Ë¿Ê¤à #define turn_left OnFwd(OUT_A);Off(OUT_C);¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë #define turn_right OnFwd(OUT_C);Off(OUT_A);¡¡ //±¦¤Ë¶Ê¤¬¤ë #define circling_left OnRev(OUT_C);OnFwd(OUT_A);¡¡ ¡¡//º¸Àû²ó¤¹¤ë #define circling_right OnRev(OUT_A);OnFwd(OUT_C);¡¡¡¡//±¦Àû²ó¤¹¤ë
int t;
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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; } //¿¿¤Ã¹õ¤Ê¤é±¦Àû²ó¤»¤è else if(SENSOR_2<gray_black) { turn_right; } //¹õ¤Ê¤é±¦¤Ë¶Ê¤¬¤ì else if(SENSOR_2<gray) { go_ahead; } //³¥¤Ê¤éľ¿Ê¤»¤è else if(SENSOR_2<gray_white) { turn_left; } //Çò¤Ê¤éº¸¤Ë¶Ê¤¬¤ì else if(SENSOR_2<white) { circling_left; } //¿¿¤ÃÇò¤Ê¤é±¦Àû²ó¤»¤è } Off(OUT_AC); Wait(100);¡¡¡¡¡¡//1Éûߤޤì }
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task main() { ClearMessage(); // A'¥¹¥¿¡¼¥È while(SENSOR_2>gray)¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¢¨1 {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); while(SENSOR_2<gray) ¡¡//¹õ¤Ê¤é¿Ê¤à {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); t=90;follow_line();¡¡¡¡// ¢¨2 Wait(100); SendMessage(signal_catch);¡¡¡¡// L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë¡ ClearMessage(); until(Message()==signal_end); //¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡ circling_left;¡¡ ¡¡//º¸¤Ë90¡ëÀû²ó¢ Wait(102); Off(OUT_AC); SendMessage(signal_release);¡¡¡¡// 1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë£ ClearMessage(); until(Message()==signal_end);¡¡¡¡ ¡¡¡¡// ¢¨3
OnRev(OUT_AC);¡¡¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë Wait(30); Off(OUT_AC); circling_left; Wait(102); Off(OUT_AC);¡¡ ¡¡¡¡//º¸¤Ë90¡ëÀû²ó¤ while(SENSOR_2>gray) {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100);¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1 while(SENSOR_2<gray) {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); ¡¡//¹õ¤Ê¤é¿Ê¤à 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;¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë Wait(100); while(SENSOR_2>gray)¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1 {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); while(SENSOR_2<gray)¡¡ //¹õ¤Ê¤é¿Ê¤à {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); t=150;follow_line();¡¡¡¡// ¢¨2 SendMessage(signal_catch);// L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë¥ ClearMessage(); until(Message()==signal_end);¡¡¡¡// ¢¨3
circling_left;¡¡¡¡//º¸¤Ë90¡ëÀû²ó¦ Wait(102); Off(OUT_AC); OnRev(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë§ Wait(23); Off(OUT_AC); SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¸ÄÌÜ)¨ ClearMessage(); until(Message()==signal_end); ¡¡¡¡// ¢¨3 Wait(100); SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¸ÄÌÜ) ClearMessage(); until(Message()==signal_end); ¡¡¡¡// ¢¨3
OnRev(OUT_AC);¡¡ ¡¡//¸å¤í¤Ë²¼¤¬¤ë Wait(90); Off(OUT_AC); circling_left; ¡¡¡¡//º¸¤Ë90¡ëÀû²ó© Wait(102); Off(OUT_AC); while(SENSOR_2>gray) //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1 {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); while(SENSOR_2<gray); //¹õ¤Ê¤é¿Ê¤à {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100) while(SENSOR_2>gray) {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); go_ahead;¡¡ ¡¡//Á°¤Ë¿Ê¤à Wait(15); Off(OUT_AC); SendMessage(signal_release);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ëª ClearMessage(); until(Message()==signal_end); ¡¡¡¡// ¢¨3 OnRev(OUT_AC);//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ë Wait(100); Off(OUT_AC);¡¡¡¡ }
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