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- AÃÏÅÀ¤«¤é½Ðȯ ¢ª B ¢ª C(ľ¿Ê) ¢ª D(°ì»þÄä»ß¤Î¸å¡¢Ä¾¿Ê) ¢ª E ¢ª F ¢ª G(°ì»þÄä»ß¤Î¸å¡¢±¦ÀÞ) ¢ª H ¢ª I ¢ª J(±¦ÀÞ) ¢ª K(º¸ÀÞ) ¢ª L(¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à) ¢ª K(ľ¿Ê) ¢ª M(°ì»þÄä»ß) ¢ª ¥·¥å¡¼¥È¢ª AÃÏÅÀ¤ËÆþ¤ë(¥´¡¼¥ë)
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- BLACK 21¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¡
- B_WHITE 31¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¢
- Gray 35¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó£
- W_BLACK 56¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¤
- WHITE 63¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥
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- MOVE_TIME1 400¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë»þ´Ö¡¡¡¡¡¡¡¡
- go_forward OnFwd(OUT_BC,30);
- turn_left OnFwd(OUT_B,30);Off(OUT_C);
- turn_right OnFwd(OUT_C,30);Off(OUT_B);
- short_break Off(OUT_BC);Wait(1000);
- rot_left OnFwd(OUT_B,30);OnRev(OUT_C,30);¡¡¡¡¡¡//º¸¤ËÀû²ó¡Ê½ÐÎÏ30¡Ë
- rot_right OnFwd(OUT_C,30);OnRev(OUT_B,30);¡¡¡¡//±¦¤ËÀû²ó
- rot_left2 OnFwd(OUT_B,40);OnRev(OUT_C,40);¡¡¡¡//º¸¤ËÀû²ó¡Ê½ÐÎÏ40¡¡¢«½ÐÎϤò¾å¤²¤ë¤³¤È¤Ç²ó¤ê¤ä¤¹¤¯¤·¤¿¡Ë
- A_down OnFwd(OUT_A,20);Wait(300);Off(OUT_A);¡¡//¥Ü¡¼¥ë¤ò±¿¤Ö¥¢¡¼¥à¤ò²¼¤²¤ë
- A_up OnRev(OUT_A,30);Wait(300);Off(OUT_A);¡¡¡¡//¥Ü¡¼¥ë¤ò±¿¤Ö¥¢¡¼¥à¤ò¾å¤²¤ë
- go_back OnRev(OUT_BC,30);Wait(300);Off(OUT_BC);
- follow_line()¡¡¡¡//Àþ¾å¤ò¿Ê¤à
{
SetSensorLight(S3);¡¡¡¡
long t0 = CurrentTick();
while(CurrentTick()-t0<=MOVE_TIME1) {
if (SENSOR_3>WHITE) {t0=CurrentTick();
rot_right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬63¤è¤êÂ礤¤¤È¤±¦¤ËÀû²ó
} else if (SENSOR_3>W_BLACK){t0=CurrentTick();
turn_right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬56¤è¤êÂ礤¤¤È¤±¦¤Ë¤Þ¤¬¤ë
} else if (SENSOR_3>Gray){t0=CurrentTick();
go_forward;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬35¤è¤êÂ礤¤¤È¤Ä¾¿Ê
} else if (SENSOR_3>W_BLACK) {t0=CurrentTick();
turn_left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬31¤è¤êÂ礤¤¤È¤º¸¤Ë¤Þ¤¬¤ë
} else¡¡¡Ð
rot_left; //ÌÀ¤ë¤µ¤¬21¤è¤êÂ礤¤¤È¤º¸¤ËÀû²ó
}
}
}
- cross_line()¡¡¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤é¤º¤ËĶ¤¨¤ë
{
while(SENSOR_3<Gray){
go_forward;¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬35¤è¤êÂ礤¤¤È¤Ä¾¿Ê
}
while(SENSOR_3>W_BLACK){
turn_right;¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬31¤è¤êÂ礤¤¤È¤±¦¤Ë¤Þ¤¬¤ë
}¡¡
Off(OUT_BC);
}
- fetch()¡¡¡¡//Àþ¤òÄɤ¦¤È¤¤Ë»þ´ÖÆâ¤ÇÆ°ºî¤ò½ª¤¨¤ë
{
long t1;
t1=CurrentTick();
while(CurrentTick()-t1<400){
if(SENSOR_3>WHITE) {
rot_left; //ÌÀ¤ë¤µ¤¬63¤è¤êÂ礤¤¤È¤º¸¤ËÀû²ó
} else if (SENSOR_3>W_BLACK){
turn_right; //ÌÀ¤ë¤µ¤¬56¤è¤êÂ礤¤¤È¤±¦¤Ë¤Þ¤¬¤ë
} else if (SENSOR_3>Gray){
go_forward; //ÌÀ¤ë¤µ¤¬35¤è¤êÂ礤¤¤È¤Ä¾¿Ê
} else if (SENSOR_3>W_BLACK) {
turn_left; //ÌÀ¤ë¤µ¤¬31¤è¤êÂ礤¤¤È¤º¸¤ËÀû²ó
} else {
rot_right; //ÌÀ¤ë¤µ¤¬21¤è¤êÂ礤¤¤È¤±¦¤ËÀû²ó
}
}
}
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- ¸òº¹ÅÀ¤ÏBLACK¤Î»þ´Ö¤Ë¤è¤Ã¤ÆȽÃǤ·¤Æ¤¤¤ë¡£
¤Þ¤º¸òº¹ÅÀ¤Ë¹Ô¤¯¤Þ¤Ç¤Ï¾åµ¤Î¤è¤¦¤Ë¿Ê¤à¡£¸òº¹ÅÀ¤Ë¹Ô¤¤Ä¤¯¤È¥»¥ó¥µ¡¼¤¬¹õ¤Èǧ¼±¤·¤Æ¤¤¤ë»þ´Ö¤¬Ä¹¤¯¤Ê¤ë¤¬¡¢¹õ¤Èǧ¼±¤·¤Æ¤¤¤ë»þ´Ö¤ËÀ©¸Â¤òÀߤ±¤ë¤³¤È¤Ç¡¢¤½¤Î»þ´Ö¤òĶ¤¨¤ë¤È¥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡Ê¸òº¹ÅÀ¤òȽÃǤ¹¤ë¡Ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£
- ¥×¥í¥°¥é¥à¤ÎÁ´ÂÎÁü
task main()
follow_line();¡¡¡¡¡¡¡¡¡¡
short_break;
cross_line();
go_forward;
Wait(300);¡¡¡¡//¥¢¡¼¥à¤ò²¼¤í¤¹Á°¤Ë°ìÅٻߤޤë
A_down;¡¡¡¡¡¡//¥¢¡¼¥à¤ò¤ª¤í¤·¤Æ¤«¤é
fetch();¡¡¡¡//¿Ê¤à
follow_line();
rot_left2;
Wait(1600);¡¡¡¡//200ÅÙ¤Û¤ÉÀû²ó¤·¤Æ
go_forward;
Wait(600);¡¡¡¡//¼¡¤Î¥é¥¤¥ó¤Þ¤Ç¤¹¤¹¤à¡¡¡¡¡¡
turn_left¡¨
¡¡¡¡Wait(1000);¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤¬¤¦¤Þ¤¯È¿±þ¤·¤Ê¤«¤Ã¤¿¤Î¤Çº¸¤Ë¶Ê¤¬¤Ã¤Æ
go_forward;
Wait(500);¡¡¡¡¡¡//¼¡¤Î¥é¥¤¥ó¤Þ¤Ç¿Ê¤à
follow_line();¡¡
cross_line();
follow_line();
A_up; ¡¡//¥¢¡¼¥à¤ò¾å¤²¤Æ
go_forward();¡¡¡¡//¥·¥å¡¼¥È
¡¡¡¡}
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