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#define signal_catch 1
#define signal_release 2
#define signal_end 3

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sub CATCH()
{
ClearMessage();
until(Message()==signal_catch);
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);
}

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sub release()
{
ClearMessage();
until(Message()==signal_release);  
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);
}

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task main()
{
ClearMessage();
CATCH();
release();
CATCH();
CATCH();
CATCH();
ClearMessage();
until(Message()==signal_release);  
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_BC);Wait(50);Off(OUT_BC);Wait(100);//  ¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë
SendMessage(signal_end);
}

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#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);

go_ahead¤ÏÁ°¤Ë¿Ê¤à¡¢turn_right¤Ï±¦Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æ±¦²óž¤¹¤ë¡¢turn_left¤Ïº¸Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æº¸²óž¤¹¤ë¡¢circling

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sub follow_line()
{
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);
}

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task main()
{
ClearMessage();
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  Çò¤Ê¤é¿Ê¤à
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);
t=90;follow_line();//­¡
Wait(100);
SendMessage(signal_catch);//  L'¤Î¥Ü¡¼¥ë¤òÄϤàÌ¿Îá¤òÁ÷¤ë
ClearMessage();
until(Message()==signal_end);//¡ù
circling_left;Wait(102);Off(OUT_AC);//  90¡ë¤½¤Î¾ì¤Çº¸²óž
SendMessage(signal_release);//  ¥Ü¡¼¥ë¤ò1¸ÄÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(30);Off(OUT_AC);//  ¸å¤í¤Ë²¼¤¬¤ë
circling_left;Wait(102);Off(OUT_AC);//  90¡ë¤½¤Î¾ì¤Çº¸²óž
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  Çò¤Ê¤é¿Ê¤à
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;Wait(100);//  ±¦Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æ±¦²óž
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  Çò¤Ê¤é¿Ê¤à
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  ¹õ¤Ê¤é¿Ê¤à
t=150;follow_line();//­¡
SendMessage(signal_catch);//  LÄϤà
ClearMessage();
until(Message()==signal_end);
circling_left;Wait(102);Off(OUT_AC);//  ¤½¤Î¾ì¤Çº¸²óž
OnRev(OUT_AC);Wait(23);Off(OUT_AC);//  ¸å¤í¤Ë²¼¤¬¤ë
SendMessage(signal_catch);//  È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¤ÄÌÜ)
ClearMessage();
until(Message()==signal_end);
Wait(100);
SendMessage(signal_catch);//  È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¤ÄÌÜ)
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(90);Off(OUT_AC);//  ¸å¤í¤Ë²¼¤¬¤ë
circling_left;Wait(102);Off(OUT_AC);//  ¤½¤Î¾ì¤Çº¸²óž
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é¿Ê¤à
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);
go_ahead;Wait(15);Off(OUT_AC);//  Á°¤Ë¿Ê¤à
SendMessage(signal_release);//  
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(100);Off(OUT_AC);//­¢
}

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Last-modified: 2019-08-14 (¿å) 16:44:10