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#contents
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*¥×¥í¥°¥é¥à [#h30b0a79]
#define BLACK1 38
#define BLACK2 42
#define WHITE1 45
#define WHITE2 49
#define BLACK1 38¡¡//ºÇ¤â¹õ¤¤Éôʬ¤Î¤·¤¤¤ÃÍ
#define BLACK2 42¡¡//¤½¤³¤½¤³¹õ¤¤Éôʬ¤Î¤·¤¤¤ÃÍ¡¡
#define WHITE1 45¡¡//¤½¤³¤½¤³Çò¤¤Éôʬ¤Î¤·¤¤¤ÃÍ
#define WHITE2 49¡¡//ºÇ¤âÇò¤¤Éôʬ¤Î¤·¤¤¤ÃÍ
#define HIPOWER 7
#define LOWPOWER 1
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define go_fwd set_power_H; OnFwd(OUT_AC);
#define turn_left1 set_power_L; Off(OUT_A); OnFwd(OUT_C);
#define turn_right1 set_power_L; OnFwd(OUT_A); Off(OUT_C);
#define turn_left2 set_power_H; OnRev(OUT_A); OnFwd(OUT_C);
#define turn_right2 set_power_H; OnFwd(OUT_A); OnRev(OUT_C);
#define turn_left1 set_power_L; Off(OUT_A); OnFwd(OUT_C);¡¡//º¸¤Ë¶Ê¤¬¤ë
#define turn_right1 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦¤Ë¶Ê¤¬¤ë
#define turn_left2 set_power_H; OnRev(OUT_A); OnFwd(OUT_C);¡¡//º¸¤ËÀû²ó
#define turn_right2 set_power_H; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦¤ËÀû²ó
#define STEP 1
#define nMAX 2
#define nMAX 4
#define short_break Off(OUT_AC); Wait(100);
#define CROSS_TIME 30
#define cross_line set_power_L; OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;
#define time1 1600
#define time2 3400
#define time3 4600
#define time4 5400
#define time5
¢¬ÌÀ¤ë¤µ¤Ê¤É¤ÎÄê¿ô¤ä±¦¤Ë¶Ê¤¬¤ë¤Ê¤É¤Î°ìÏ¢¤ÎÆ°¤¤òÄêµÁ¤¹¤ë
#define CROSS_TIME 30¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëºÝ¤Ë¿Ê¤à»þ´Ö
#define cross_line set_power_L; OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëÆ°ºî
#define time1 1000
#define time2 500
#define time3 2000
task main() {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
int nOnline=0;
ClearTimer(0);
if(SENSOR_2 == 0) {
OnRev(OUT_B);
}
while(FastTimer(0) <= time1){
if(SENSOR_2 == 1){
OnFwd(OUT_B);
} if(SENSOR_1 < BLACK1) {
turn_left2;
} else if (SENSOR_1 < BLACK2) {
turn_left1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_right1;
} else {
turn_right2;
}
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
int nOnline=0;
int nCloss=0; //¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¿ô
ClearTimer(0);
if(SENSOR_2 == 0) {
OnRev(OUT_B);
}
while(FastTimer(0) <= time1){
if(SENSOR_2 == 1){
OnFwd(OUT_B);
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_left2;
}
Wait(STEP);
}
¢¬¸òº¹ÅÀ¤ÎÁ°¤Þ¤Ç¤Ï¤¿¤À¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ PlaySound(SOUND_LOW_BEEP);
while(FastTimer(0) > time1) {
while(FastTimer(0) <= time2) {
PlaySound(SOUND_LOW_BEEP);
while(nCloss <= 0) {
while(nOnline < nMAX){
if(SENSOR_1 < BLACK1) {
turn_left2;
turn_right2;
nOnline++;
} else {
if (SENSOR_1 < BLACK2) {
turn_left1;
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_right1;
turn_left1;
} else {
turn_right2;
turn_left2;
}
nOnline=0;
}
Wait(STEP);
}
PlaySound(SOUND_UP);
short_break;
turn_right1; Wait(nMAX*STEP);
turn_left1; Wait(nMAX*STEP);
cross_line;
nCloss++;
nOnline=0;
}
}
¢¬¸òº¹ÅÀ¤ò»°¤Ä¤³¤¨¤ë PlaySound(SOUND_LOW_BEEP);
while(FastTimer(0) > time2) {
while(FastTimer(0) <= time3) {
while(nOnline < nMAX) {
if(SENSOR_1 < BLACK1) {
turn_left2;
}¡¡//°ìÅÙ¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¤éÎؤÎÆ⦤Ǥθòº¹ÅÀ¸íǧ¼±¤òËɤ°¤¿¤á¤·¤Ð¤é¤¯¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¤ß
ClearTimer(0);¡¡//¤³¤³¤Ç¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Æ»þ´Ö¤Î¥º¥ì¤ò¸º¤é¤·¤¿¤¤
PlaySound(SOUND_LOW_BEEP);
while(FastTimer(0) <= time2){
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_left2;
}
Wait(STEP);
}
PlaySound(SOUND_LOW_BEEP);
while((nCloss > 0)&&(nCloss <= 4)) {
while(nOnline < nMAX){
if(SENSOR_1 < BLACK1) {
turn_right2;
nOnline++;
} else {
if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_left2;
}
nOnline=0;
}
Wait(STEP);
}
PlaySound(SOUND_UP);
short_break;
turn_left1; Wait(nMAX*STEP);
cross_line;
nCloss++;
nOnline=0;
}
}¡¡//¤³¤³¤«¤é¤Ï¸òº¹ÅÀ¤ò¶Ê¤¬¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌ᤹
ClearTimer(0);////¤³¤³¤Ç¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Æ»þ´Ö¤Î¥º¥ì¤ò¸º¤é¤·¤¿¤¤
PlaySound(SOUND_LOW_BEEP);
while(FastTimer(0) <= time3){
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_left2;
}
Wait(STEP);
}// ´Ì¤ò¤ª¤¯¤È¤³¤í¤Þ¤Ç»þ´Ö¤Ç»ØÄê
PlaySound(SOUND_LOW_BEEP);
Off(OUT_AC); //´Ì¤òÃÖ¤¯Æ°ºî
Wait(100);
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(150);
Off(OUT_AC);
OnRev(OUT_B);
OnRev(OUT_AC);
Wait(200);
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(150);
PlaySound(SOUND_LOW_BEEP);
while(true){¡¡¡¡¡¡//¤³¤³¤«¤é¥´¡¼¥ë¤Þ¤Ç¤Ï¸òº¹ÅÀ¤Ê¤·¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_right2;
turn_left2;
}
Wait(STEP);
}
}
**ÄêµÁ [#k3fcb1ef]
***ÌÀ¤ë¤µ¤Î¤·¤¤¤ÃÍ [#accc44ab]
#define BLACK1 38¡¡//ºÇ¤â¹õ¤¤Éôʬ¤Î¤·¤¤¤ÃÍ
#define BLACK2 42¡¡//¤½¤³¤½¤³¹õ¤¤Éôʬ¤Î¤·¤¤¤ÃÍ¡¡
#define WHITE1 45¡¡//¤½¤³¤½¤³Çò¤¤Éôʬ¤Î¤·¤¤¤ÃÍ
#define WHITE2 49¡¡//ºÇ¤âÇò¤¤Éôʬ¤Î¤·¤¤¤ÃÍ
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Æ°¤«¤¹¾ì½ê¤Ë¤è¤Ã¤ÆÌÀ¤ë¤µ¤ÏÊѤï¤Ã¤Æ¤·¤Þ¤¦¤¿¤á¾ì½ê¤´¤È¤ËÀßÄꤷ¤Ê¤ª¤µ¤Ê¤±¤ì¤Ð¤¤¤±¤Þ¤»¤ó¡£~
¢¬¤³¤³¤ÏÎؤÎÆ⦤ʤΤǴְ㤨¤Æ¸òº¹ÅÀ¤Èǧ¼±¤·¤Æ°ì²óž¤·¤Ê¤¤¤è¤¦¤Ë¤¿¤À¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ëľ¤¹¡¡¡¡ PlaySound(SOUND_LOW_BEEP);
***¥Ñ¥ï¡¼¤ÎÄêµÁ [#da21838a]
#define HIPOWER 7
#define LOWPOWER 1
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
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while(FastTimer(0) > time3) {
while(FastTimer(0) <= time4) {
***¤è¤¯»È¤¦Æ°¤¤òÄêµÁ [#xa5293f0]
#define go_fwd set_power_H; OnFwd(OUT_AC);
#define turn_left1 set_power_L; Off(OUT_A); OnFwd(OUT_C);¡¡//º¸¤Ë¶Ê¤¬¤ë
#define turn_right1 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦¤Ë¶Ê¤¬¤ë
#define turn_left2 set_power_H; OnRev(OUT_A); OnFwd(OUT_C);¡¡//º¸¤ËÀû²ó
#define turn_right2 set_power_H; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦¤ËÀû²ó
¼¡¤Ë¤Ï¤è¤¯»È¤¦Æ°ºî¤ò¤¹¤°¤Ë»È¤¨¤ë¤è¤¦¤Ë¤Þ¤È¤á¤Æ°ì¤Ä¤Î¥³¥Þ¥ó¥É¤ÈÄêµÁ¤·¤Þ¤¹¡£~
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤Ï²óž¤ÎÆ°¤¤ò¤è¤¯»È¤¦¤Î¤Ç¤³¤Î²óž¤ÎÆ°ºî¤òÄêµÁ¤·¤Þ¤·¤¿¡£~
***¸òº¹ÅÀ¤ÎÄêµÁ [#g4bf7ce0]
#define STEP 1
#define nMAX 4
#define short_break Off(OUT_AC); Wait(100);
#define CROSS_TIME 30¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëºÝ¤Ë¿Ê¤à»þ´Ö
#define cross_line set_power_L; OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëÆ°ºî
¼¡¤Ë¸òº¹ÅÀ¤òÅϤëºÝ¤Î°ÜÆ°»þ´Ö¡¢²óž»þ´Ö¤Ê¤É¤òÄêµÁ¤·¤Þ¤¹¡£~
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***»þ´Ö¤ÎÄêµÁ [#y8e65cc3]
#define time1 1000
#define time2 500
#define time3 2000
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**¥¹¥¿¡¼¥È¤«¤éÂè°ì¤Î¸òº¹ÅÀ¤Þ¤Ç [#h99452d9]
task main() {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
int nOnline=0;
int nCloss=0; //¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¿ô
ClearTimer(0);
if(SENSOR_2 == 0) {
OnRev(OUT_B);
}
while(FastTimer(0) <= time1){
if(SENSOR_2 == 1){
OnFwd(OUT_B);
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_left2;
}
Wait(STEP);
}
PlaySound(SOUND_LOW_BEEP);
while(nCloss <= 0) {
while(nOnline < nMAX){
if(SENSOR_1 < BLACK1) {
turn_left2;
turn_right2;
nOnline++;
} else {
if (SENSOR_1 < BLACK2) {
turn_left1;
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_right1;
turn_left1;
} else {
turn_right2;
turn_left2;
}
nOnline=0;
}
Wait(STEP);
}
PlaySound(SOUND_UP);
short_break;
turn_right1; Wait(nMAX*STEP);
turn_left1; Wait(nMAX*STEP);
cross_line;
nCloss++;
nOnline=0;
}
}
¢¬ºÆ¤Ó¸òº¹ÅÀ¤¢¤ê¤Ëľ¤¹ PlaySound(SOUND_LOW_BEEP);
while(FastTimer(0) > time4) {
while(FastTimer(0) <= time5) {
while(nOnline < nMAX) {
if(SENSOR_1 < BLACK1) {
turn_left2;
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**Âè°ì¤Î¸òº¹ÅÀ¤«¤éÂèÆó¤Î¸òº¹ÅÀ¤Ø [#z07978de]
ClearTimer(0);
PlaySound(SOUND_LOW_BEEP);
while(FastTimer(0) <= time2){
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_left2;
}
Wait(STEP);
}
PlaySound(SOUND_LOW_BEEP);
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#ref(2013a/Member/shu/Mission1/mission1-2.jpg,75%,)
#ref(2013a/Member/shu/Mission1/mission1-3.jpg,75%,)
**ÂèÆó¤Î¸òº¹ÅÀ¤«¤éºÇ¸å¤Î¸òº¹ÅÀ¤Þ¤Ç [#y63f0ff3]
while((nCloss > 0)&&(nCloss <= 4)) {
while(nOnline < nMAX){
if(SENSOR_1 < BLACK1) {
turn_right2;
nOnline++;
} else {
if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_left1;
} else {
turn_left2;
}
nOnline=0;
}
Wait(STEP);
}
PlaySound(SOUND_UP);
short_break;
turn_left1; Wait(nMAX*STEP);
cross_line;
nCloss++;
nOnline=0;
}
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#ref(2013a/Member/shu/Mission1/mission1-4.jpg,75%,)
**ºÇ¸å¤Î¸òº¹ÅÀ¤«¤é´Ì¤ò´Ì¤òÃÖ¤¯¾ì½ê¤Þ¤Ç [#z601a5b8]
ClearTimer(0);
PlaySound(SOUND_LOW_BEEP);
while(FastTimer(0) <= time3){
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_right1;
turn_left1;
} else {
turn_right2;
turn_left2;
}
Wait(STEP);
}
¢¬¤¿¤À¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ PlaySound(SOUND_LOW_BEEP);
Off(OUT_AC);
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#ref(2013a/Member/shu/Mission1/mission1-5.jpg,75%,)
**´Ì¤òÃÖ¤¯Æ°ºî¤«¤é¥´¡¼¥ë¤Þ¤Ç [#bcd45f08]
Off(OUT_AC);
Wait(100);
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(150);
Off(OUT_AC);
OnRev(OUT_B);
OnRev(OUT_AC);
Wait(200);
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(150);
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while(true){
if(SENSOR_1 < BLACK1) {
turn_left2;
PlaySound(SOUND_LOW_BEEP);
while(true){¡¡¡¡¡¡//¤³¤³¤«¤é¥´¡¼¥ë¤Þ¤Ç¤Ï¸òº¹ÅÀ¤Ê¤·¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
} if(SENSOR_1 < BLACK1) {
turn_right2;
} else if (SENSOR_1 < BLACK2) {
turn_left1;
turn_right1;
} else if (SENSOR_1 < WHITE1) {
go_fwd;
} else if (SENSOR_1 < WHITE2) {
turn_right1;
turn_left1;
} else {
turn_right2;
turn_left2;
}
Wait(STEP);
}
}
}
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#ref(2013a/Member/shu/Mission1/mission1-6.jpg,75%,)
*¶ìÏ«¤·¤¿ÅÀ [#z6491a08]
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