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#define black 20 #define white 50 #define lightgray 40 #define darkgray 28 #define center 35
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#define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15);//±¦ÀÞ #define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15);//º¸ÀÞ #define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,20);//±¦Àû²ó #define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,20);//º¸Àû²ó #define go_straight OnFwd(OUT_BC,20);//½ÐÎÏ20¤Îľ¿Ê #define go_straight2 OnFwd(OUT_BC,15);//½ÐÎÏ15¤Îľ¿Ê
sub followline_L(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){ //¸½ºß¤Î»þ¹ï¤¬°ìÄê¤ÎÃͤòĶ¤¨¤ë¤Þ¤Ç if(SENSOR_1<black){ //¥»¥ó¥µ¡¼¤¬¹õ¤Î»þ rotate_left; //º¸Àû²ó }else if(SENSOR_1<darkgray){ //¥»¥ó¥µ¡¼¤¬¹õ³¥¤Ê¤é turn_left; //º¸ÀÞ }else if(SENSOR_1>lightgray){ //¥»¥ó¥µ¡¼¤¬Çò³¥¤Ê¤é turn_right; //±¦ÀÞ t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È }else if(SENSOR_1<35){ //ÌÀ¤ë¤µ35°Ê²¼¤Ç go_straight; //ľ¿Ê t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È }else{ //¤½¤ì°Ê³°¤Ï rotate_right; //±¦Àû²ó t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È } } Off(OUT_BC); //»þ¹ï¤¬°ìÄê¤ÎÃͤòĶ¤¨¤ë¤ÈÄä»ß Wait(1000); //1ÉôÖÄä»ß }
sub followline_R(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){ //¸½ºß¤Î»þ¹ï¤¬°ìÄê¤ÎÃͤòĶ¤¨¤ë¤Þ¤Ç if(SENSOR_1<black){ //¥»¥ó¥µ¡¼¤¬¹õ¤Î»þ rotate_right; //±¦Àû²ó }else if(SENSOR_1<darkgray){ //¥»¥ó¥µ¡¼¤¬¹õ³¥¤Ê¤é turn_right; //±¦ÀÞ }else if(SENSOR_1>lightgray){ //¥»¥ó¥µ¡¼¤¬Çò³¥¤Ê¤é turn_left; //º¸ÀÞ t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È }else if(SENSOR_1<35){ //¥»¥ó¥µ¡¼¤¬35°Ê²¼¤Ê¤é go_straight; //ľ¿Ê t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È }else{ //¤½¤ì°Ê³°¤Ï rotate_left; //º¸Àû²ó t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È } } Off(OUT_BC); //°ìÄê¤Î»þ´Ö¤òĶ¤¨¤ë¤ÈÄä»ß Wait(1000); //°ìÉôÖÄä»ß }
sub followline_R2(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){ //»þ¹ï¤¬¤¢¤ë°ìÄê¤ÎÃͤè¤ê¾®¤µ¤¤¤È¤ if(SENSOR_1<black){ //¹õ¤Ê¤é rotate_right; //±¦Àû²ó t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È }else if(SENSOR_1<darkgray){ //³¥¹õ¿§¤Ê¤é turn_right; //±¦ÀÞ t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È }else if(SENSOR_1>lightgray){ //³¥Çò¿§¤Ê¤é turn_left; //º¸ÀÞ }else if(SENSOR_1<35){ //ÌÀ¤ë¤µ35°Ê²¼¤Ç go_straight2; //¤æ¤Ã¤¯¤êľ¿Ê t0=CurrentTick(); //»þ´Ö¤ò¥ê¥»¥Ã¥È }else{ //¤½¤ì°Ê³°¤Ê¤é rotate_left; //º¸Àû²ó } } Off(OUT_BC); //Ää»ß Wait(2000); //2ÉôÖÄä»ß }
sub Blackto_White() { while(SENSOR_1<darkgray){ OnFwd(OUT_BC,15); } Off(OUT_BC); }
sub Blackto_White_R() { while(SENSOR_1<lightgray){ OnFwd(OUT_C,20); OnRev(OUT_B,20); } Off(OUT_BC); }
sub Blackto_White_L() { while(SENSOR_1<lightgray){ OnFwd(OUT_B,20); OnRev(OUT_C,20); } Off(OUT_BC); }
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sub followline_L(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø if(SENSOR_1<black){ //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó rotate_left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë }else if(SENSOR_1<darkgray){¡¡¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø turn_left; ¡¡¡¡¡¡ //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë }else if(SENSOR_1>lightdark){¡¡¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø¶Ê¤¬¤ë turn_right; ¡¡¡¡¡¡ //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); }else if(SENSOR_1<center){¡¡¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë go_straight; ¡¡¡¡¡¡ //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó rotate_right; ¡¡¡¡¡¡ //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); } } Off(OUT_BC); Wait(1000); }
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sub followline_R(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø if(SENSOR_1<black){ //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó rotate_right; //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë }else if(SENSOR_1<darkgray){¡¡¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø turn_right; //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë }else if(SENSOR_1>lightdark){¡¡¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø¶Ê¤¬¤ë turn_left; //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); }else if(SENSOR_1<center){¡¡¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë go_straight; //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó rotate_left; //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); } } Off(OUT_BC); Wait(1000); }
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sub followline_R2(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø if(SENSOR_1<black){ //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó rotate_right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); }else if(SENSOR_1<darkgray){¡¡ ¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø turn_right; //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); }else if(SENSOR_1>lightdark){¡¡ ¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø¶Ê¤¬¤ë turn_left; //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë }else if(SENSOR_1<center){¡¡ ¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë go_straight2; //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë t0=CurrentTick(); }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó rotate_left; //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë } } Off(OUT_BC); Wait(2000); }
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#define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A);
#define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A);
#define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);
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task main() { SetSensorLight(S1); followline_R(150); //1 Blackto_White_L(); //2 followline_L(200); //3 Blackto_White_R(); //4 followline_R2(200); //5 catch; //¥Ü¡¼¥ë¤òÄϤà turn; //º¸¤ËÀû²ó followline_R(150); //6 Blackto_White(); //7 followline_L(150); //8 Blackto_White_L(); //9 followline_L(200); //10 Blackto_White(); //11 followline_L(200); //12 Blackto_White(); //13 followline_L(200); //14 Blackto_White(); //15 followline_R(150); //16 Blackto_White(); //17 followline_R(150); //18 release; //¥Ü¡¼¥ë¤òÊü¤¹ osidasi; //¥´¡¼¥ë¤¹¤ë }
#define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15); #define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15); #define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,25); #define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,25); #define go_straight OnFwd(OUT_BC,20); #define go_straight2 OnFwd(OUT_BC,15); #define turn OnRev(OUT_C,25);OnFwd(OUT_B,25);Wait(1500);Off(OUT_BC); #define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A); #define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A); #define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC); #define black 20 #define white 50 #define lightgray 40 #define darkgray 28 sub followline_L(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){ if(SENSOR_1<black){ rotate_left; }else if(SENSOR_1<darkgray){ turn_left; }else if(SENSOR_1>lightgray){ turn_right; t0=CurrentTick(); }else if(SENSOR_1<35){ go_straight; t0=CurrentTick(); }else{ rotate_right; t0=CurrentTick(); } } Off(OUT_BC); Wait(1000); } sub followline_R(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){ if(SENSOR_1<black){ rotate_right; }else if(SENSOR_1<darkgray){ turn_right; }else if(SENSOR_1>lightgray){ turn_left; t0=CurrentTick(); }else if(SENSOR_1<35){ go_straight; t0=CurrentTick(); }else{ rotate_left; t0=CurrentTick(); } } Off(OUT_BC); Wait(1000); } sub followline_R2(int stop_time) { long t0=CurrentTick(); while(CurrentTick()-t0<stop_time){ if(SENSOR_1<black){ rotate_right; t0=CurrentTick(); }else if(SENSOR_1<darkgray){ turn_right; t0=CurrentTick(); }else if(SENSOR_1>lightgray){ turn_left; }else if(SENSOR_1<35){ go_straight2; t0=CurrentTick(); }else{ rotate_left; } } Off(OUT_BC); Wait(2000); } sub Blackto_White() { while(SENSOR_1<darkgray){ OnFwd(OUT_BC,15); } Off(OUT_BC); } sub Blackto_White_R() { while(SENSOR_1<darkgray){ OnFwd(OUT_C,20); OnRev(OUT_B,20); } Off(OUT_BC); } sub Blackto_White_L() { while(SENSOR_1<lightgray){ OnFwd(OUT_B,20); OnRev(OUT_C,20); } Off(OUT_BC); } task main() { SetSensorLight(S1); followline_R(150); Blackto_White_L(); followline_L(200); Blackto_White_R(); followline_R2(200); catch; turn; followline_R(150); Blackto_White(); followline_L(150); Blackto_White_L(); followline_L(200); Blackto_White(); followline_L(200); Blackto_White(); followline_L(200); Blackto_White(); followline_R(150); Blackto_White(); followline_R(150); release; osidasi; }
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