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**¼ÂºÝ¤ËÁȤó¤À¥×¥í¥°¥é¥à [#sc93f4f9]
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#define THRESHOLD 50¡¡¡¡¡¡//¤·¤¤¤ÃÍ¡ÊÌÀ¤ë¤µÈ½Äê¤Ç¤Ä¤«¤¦ÃÍ¡Ë//
#define SPEED 75¡¡¡¡¡¡¡¡ //¥·¥å¡¼¥ÈÆ°ºî¤Ê¤É¤Ç¤Î¥â¡¼¥¿¡¼¤Î½ÐÎÏ¡Ê¡ó¡Ë//
#define SPEED_T 40 //¥¿¡¼¥ó»þ¤Î¥â¡¼¥¿¡¼¤Î½ÐÎÏ(¡ó¡Ë//
#define SPEED_S 30 //ľ¿Ê»þ¤Î¥â¡¼¥¿¡¼¤Î½ÐÎÏ(¡ó¡Ë//
#define STEP 1 //ÌÀ¤ë¤µÈ½Äê¤ÎÉÑÅÙ ¡Êx²ó/£±£°£°£°£ó¡Ë//
#define CROSS_TIME 200 //¸òº¹ÅÀ¤òľ¿Ê¤¹¤ëºÝ¤Ë¤«¤±¤ë»þ´Ö//
#define SHOOT_TIME 1000 //¥·¥å¡¼¥ÈÆ°ºî¤Ë¤«¤±¤ë»þ´Ö//
#define nMAX 300 //¸òº¹ÅÀȽÄê¤Ç¤Î°Û¾ï¤Ê¿ô¤ÎÌÜ°Â//
#define START_DASH 1000 //¥¹¥¿¡¼¥Èľ¸å¤Îľ¿Ê¤¹¤ëÆ°ºî¤Ë¤«¤±¤ë»þ´Ö//
#define TRACE_TIME 8000 //¥¹¥¿¡¼¥Èľ¸å¤Îľ¿Ê¤Î¸å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡ÊºÇ½é¤Î¸òº¹ÅÀ¤Î¼êÁ°¤Þ¤Ç¡Ë¤Ë¤«¤±¤ë»þ´Ö//
#define short_break Off(OUT_BC); Wait(1000); //ȽÄê¤Î¸å¡¢¸òº¹ÅÀ¤ò¤ï¤¿¤ë¤Þ¤Ç¤ÎÈù̯¤Ê»þ´ÖÄ´À°//
#define CATCH_TIMING 30000 //Æ°ºî³«»Ï¤«¤é¥Ü¡¼¥ë¤ò¤Ä¤«¤à¤Þ¤Ç¤Ë¤«¤±¤ë»þ´Ö//
-»È¤¦´Ø¿ô¤ÎÄêµÁ
sub start_go()¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥Èľ¸å¤Îľ¿Ê¤¹¤ëÆ°ºî¤Î´Ø¿ô¤ÎÄêµÁ//
{
OnFwd(OUT_BC,SPEED_S);
Wait(START_DASH);
Off(OUT_BC);
}
sub go_forward() //Á°¤Ë¿Ê¤àÆ°ºî¤ÎÄêµÁ//
{
OnFwd(OUT_BC,SPEED_S);
}
sub turn_left0() //º¸¤Ë¶Ê¤¬¤ëÆ°ºî¤ÎÄêµÁ//
{
OnFwd(OUT_C,-SPEED_T);
}
sub turn_left1() //¤½¤Î¾ì¤Çº¸¤ËÀû²ó¤¹¤ëÆ°ºî¤ÎÄêµÁ//
{
OnFwd(OUT_B,SPEED_T);
OnRev(OUT_C,SPEED_T);
}
sub turn_right0() //±¦¤Ë¶Ê¤¬¤ëÆ°ºî¤ÎÄêµÁ//
{
OnFwd(OUT_B,-SPEED_T);
}
sub turn_right1() //¤½¤Î¾ì¤Ç±¦¤ËÀû²ó¤¹¤ëÆ°ºî¤ÎÄêµÁ//
{
OnFwd(OUT_C,SPEED_T);
OnRev(OUT_B,SPEED_T);
}
sub cross_line() //¸òº¹ÅÀ¤òÆͤÃÀÚ¤ëÆ°ºî¤ÎÄêµÁ//
{
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_BC,SPEED_S);
Wait(CROSS_TIME);
short_break;
}
sub pre_shoot() //¥Ü¡¼¥ë¤òÊá³Í¤¹¤ëÁ°¤Ë¤ò¿¶¤ê¾å¤²¤ëÆ°ºî¡Ê¥Ü¡¼¥ëÊá³ÍÁ°¤ÎͽÈ÷Æ°ºî¡Ë¤ÎÄêµÁ//
{
RotateMotor(OUT_A,SPEED,-200);
}
sub Messi_Shoot() //¤Þ¤ë¤Ç¥á¥Ã¥·¤Î¤è¤¦¤Ê¥·¥å¡¼¥È¤òÂǤÄÆ°ºî¤ÎÄêµÁ//
{
RotateMotor(OUT_B,SPEED,45);
RotateMotor(OUT_C,SPEED,45);
RotateMotor(OUT_A,SPEED,200);
Wait(SHOOT_TIME);
Off(OUT_A);
}
sub shoot_performance() //¥·¥å¡¼¥È¸å¤Ë¤¹¤ë¥Ñ¥Õ¥©¡¼¥Þ¥ó¥¹¤ò¤¹¤ëÆ°ºî¤ÎÄêµÁ//
{
PlaySound(SOUND_DOUBLE_BEEP);
RotateMotor(OUT_B,SPEED,90);
RotateMotor(OUT_C,SPEED,90);
RotateMotor(OUT_B,SPEED,90);
RotateMotor(OUT_C,SPEED,90);
}
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--ÍÍ¡¹¤ÊÄêµÁ
task main()
¡¡ {
SetSensorLight(S1);¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÀܳÀè»ØÄê//
int nOnline=0; //¸å¡¹»È¤¦¸òº¹ÅÀȽÄê¤Î¤È¤¤Î¿ô¤òÄêµÁ¡Ü¸½ºß¤½¤ÎÃͤϣ°¤È»ØÄê//
int cross_line_times=0; //Ä̲ᤷ¤¿¸òº¹ÅÀ¤Î¿ô¥«¥¦¥ó¥¿¡¼¤ÎÄêµÁ¡Ü¸½ºß¤½¤ÎÃͤϣ°¤È»ØÄê//
long t0 = CurrentTick(); //³«»Ïľ¸å¤Î»þ´Ö¤òµÏ¿//
--ľ¿Ê
pre_shoot();¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ëÊá³Í¤Î¤¿¤á¤ÎͽÈ÷Æ°ºî·ó°Ò³Å//
start_go(); //ľ¿Ê¡Ê¹õ¤¤¥¹¥¿¡¼¥È¤ÎÏȤ«¤é³°¤Ë½Ð¤ë¤¿¤á¡Ë//
--ºÇ½é¤Î¸òº¹ÅÀ¼êÁ°¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ä¤³¤³¤«¤é¤Ï¥×¥í¥°¥é¥à¤Î¾Ü¤·¤¤ÀâÌÀ¤â¸ò¤¨¤Æ¤¤¤¯¡£
while (CurrentTick()-t0 <= TRACE_TIME){ //³«»Ï¤«¤é²á¤®¤¿»þ´Ö¤¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð¤º¤Ã¤È°Ê²¼¡Ê¡É¢ª¡Ñ¡É¤Î°õ¤Þ¤Ç¡Ë¤Î´Ø¿ô¤ò¼Â¹Ô//
if (SENSOR_1 < THRESHOLD-35){ //¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ðº¸¤ØÀû²ó¤·¤í//¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
turn_left1();
} else { //¤Ç¤Ê¤¤¾õ¶·¤Ç//
if (SENSOR_1 < THRESHOLD-15){ //¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ðº¸¤Ø¶Ê¤¬¤ì//¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
turn_left0();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
} else if (SENSOR_1 < THRESHOLD+15){¡¡//¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð¤Þ¤Ã¤¹¤°¿Ê¤á//
go_forward();
} else if (SENSOR_1 < THRESHOLD+35){ //¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð±¦¤Ø¶Ê¤¬¤ì//
turn_right0();
} else { //¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð±¦¤ØÀû²ó¤·¤í//
turn_right1();
}
Wait(STEP); //ȽÃÇ»þ´Ö¤È¹õ¤¤Àþ¤Ë±è¤¦¤¿¤á¤ÎÆ°ºî»þ´Ö¤Î¹ç·×¤Î»ØÄê//
¡É¢ª}¡É
PlaySound(SOUND_UP); //¶èÀÚ¤ê¤Ç¤Î·ÙÅ«//
--¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀȽÄꤢ¤ê¡¢»þ¸Â¼°¥Ü¡¼¥ëÊá³Í¤¢¤ê¡Ë¡Ü¸òº¹ÅÀ¥«¥¦¥ó¥¿¡¼¼°¥á¥Ã¥·¤Î¤è¤¦¤Ê¥·¥å¡¼¥È
while (true) {
long t1 = CurrentTick(); //³«»Ï¤«¤é¬¤Ã¤¿¸½ºß¤Î»þ´Ö¤òµÏ¿//
while (nOnline < nMAX){ //²£¤Ë¶Ê¤¬¤ëȽÄê¤Î¿ô¤¬°Û¾ï¤Ç¤Ï¤Ê¤¤¾ì¹ç¡¢°Ê²¼¤Î´Ø¿ô¤ò¼Â¹Ô¤·¤í//
if (SENSOR_1 < THRESHOLD-35){ //¤³¤³¤«¤é//
turn_left1();
nOnline++;
} else {
if (SENSOR_1 < THRESHOLD+15){
turn_left0();
} else if (SENSOR_1 < THRESHOLD+15){
go_forward();
} else if (SENSOR_1 < THRESHOLD+35){
turn_right0();
} else {
turn_right1();
}
nOnline=0;
}
Wait(STEP);
} //¤³¤³¤Þ¤Ç $ºÇ½é¤Î¸òº¹ÅÀ¼êÁ°¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹$¤ÈƱ¤¸//
if(t1-t0 == CATCH_TIMING){ RotateMotor(OUT_A,SPEED,200);}//¤â¤·³«»Ï¤«¤éº£¤Þ¤Ç¤Î·Ð²á»þ´Ö¤¬¤¢¤ëÃͤÈƱ¤¸¤Ê¤é¤Ð¡¢Â¤ò¿¶¤ê²¼¤í¤»¡Ê¡á¥Ü¡¼¥ë¤òÊá¤Þ¤¨¤í¡Ë//
}
} (°Ê²¼¡¢¸òº¹ÅÀ¤òÅϤë¡Ü¥·¥å¡¼¥È¤òÂǤÄÆ°ºî)
short_break; //»þ´ÖÄ´À°¤Î¤¿¤á¤Î¾®µÙ»ß//
turn_right1(); //¸òº¹ÅÀ¤òľ¿Ê¤¹¤ëºÝ¤ÎÆþ¼Í³ÑÅÙ¤ÎÄ´À°//
Wait(nMAX*STEP);
cross_line_times++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Ä̲ᤷ¤¿¸òº¹ÅÀ¤Î¿ô¥«¥¦¥ó¥¿¡¼¤ÎÃͤˡܣ±//
if (cross_line_times==3){Messi_Shoot();shoot_performance();}//¤â¤·¡¢¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤ë¥«¥¦¥ó¥¿¡¼¤¬¤¢¤ëÃͤÈÅù¤·¤±¤ì¤Ð¡¢Â¤ò¿¶¤ê¾å¤²¤í¡Ê¡á¥·¥å¡¼¥È¤òÂǤơˤ½¤·¤Æ¡¢¥Ñ¥Õ¥©¡¼¥Þ¥ó¥¹¤ò¤·¤í//
else{cross_line();} //¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¸òº¹ÅÀ¤òľ¿Ê¤·¤í//
nOnline=0; //²£¤Ë¶Ê¤¬¤ëȽÄê¤Î²ó¿ô¤Î¥«¥¦¥ó¥¿¡¼¤ò¥ê¥»¥Ã¥È//
}
}
¤³¤Î¤è¤¦¤Ë¥×¥í¥°¥é¥à¤ò¹½ÃÛ¤·¤¿¡£&br;´Ø¿ôwhile,if,else¤Ê¤É¤Î»È¤¤Êý¤¬¥¡¼¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£&br;¤«¤Ã¤³¤Î͸úÈÏ°Ï¡¢´Ø¿ô¤Î½ç½ø¤Ê¤É¤â´Ø¤ï¤Ã¤Æ¤ª¤ê¥×¥í¥°¥é¥ß¥ó¥°¤ÎÁǿͤλä¤Ë¤Ï¡¢&br;¤½¤ì¤Ï¤½¤ì¤ÏÆñ¤·¤«¤Ã¤¿¡£¡Ê¤¢¤Þ¤ê¤Ë¤âÆñ¤·¤«¤Ã¤¿¤¿¤á¥Î¡¼¥È¤Ë½ñ¤²¼¤·¡¢¥Þ¡¼¥«¡¼¤òÆþ¤ì¤ë¤Ê¤É¤¹¤ë¤Ï¤á¤Ë¤Ê¤Ã¤¿¡£¡Ë
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task main ()
{
OnFwd(OUT_A,-70); Wait(500);Off(OUT_A);//¹õ¤¤ÏȤ«¤é¤Ç¤ë¤¿¤á¤ÎºÇ½é¤ÎÁ°¿Ê//
PlaySound(SOUND_FAST_UP); //¶èÀÚ¤ê¤Î·ÙÅ«¡Êº£²ó¤Ï³Æ¥«¡¼¥Ö¤ÇÌĤë¤è¤¦¤ËÀßÄꤵ¤ì¤Æ¤¤¤ë¡£ËèÅÙËèÅÙÀâÌÀ¤¹¤ë¤Èݵƫ¤·¤¤¤Î¤Ç¼¡²ó¤«¤é¾Êά¤¹¤ë¤³¤È¤Ë¤¹¤ë¡£¡Ë//
OnFwd(OUT_BC,50); Wait(500);Off(OUT_BC);//¥³¡¼¥¹¤Î»Ï¤á¤ÎÁ°¿Ê//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_B,50); Wait(900);Off(OUT_BC);//ºÇ½é¤Îº¸Àû²ó¤½¤Î£±//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_BC,50); Wait(300);Off(OUT_BC);//°ÌÃÖÄ´À°¤Îľ¿Ê¤½¤Î£±//
OnFwd(OUT_C,50);OnFwd(OUT_B,15); Wait(1500);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£±//
PlaySound(SOUND_LOW_BEEP);
//¤³¤³¤ÇÂè°ì¸òº¹ÅÀÄ̲á//
OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(1000);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£²//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_A,80); Wait(500);Off(OUT_A);
PlaySound(SOUND_FAST_UP);//¤ò²¼¤í¤»¡Ê¡á¥Ü¡¼¥ë¤òÊá¤Þ¤¨¤í¡Ë//
OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(1000);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£³//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(1000);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£´//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(500);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£µ//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_A,60); Wait(500);Off(OUT_A);
OnFwd(OUT_A,60); Wait(500);Off(OUT_A);
//¤³¤³¤ÇÃæ±û¸òº¹ÅÀ¤òÄ̲á//
PlaySound(SOUND_DOUBLE_BEEP);
OnFwd(OUT_BC,50); Wait(500);Off(OUT_BC);//°ÌÃÖÄ´À°¤Îľ¿Ê¤½¤Î£²//
OnFwd(OUT_C,10);OnFwd(OUT_B,25);Wait(2400);Off(OUT_BC);//±¦¤Ø¤Î²óž¤½¤Î£±//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_BC,50); Wait(300);Off(OUT_BC);//¥³¡¼¥¹¾å¤Îľ¿Ê//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_B,50);Wait(1000);Off(OUT_B);//º¸¤Ø¤Îľ³Ñ²óž//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_C,50);OnFwd(OUT_B,45); Wait(1000);Off(OUT_BC);//¥³¡¼¥¹¾å¤Îľ¿Ê¤½¤Î£²//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_B,50); Wait(1600);Off(OUT_BC);//ºÇ¸å¤Îº¸¤Ø¤Î²óž¤½¤Î£±//
PlaySound(SOUND_LOW_BEEP);
OnFwd(OUT_C,50); Wait(1900);Off(OUT_BC);//ºÇ¸å¤Îº¸¤Ø¤Î²óž¤½¤Î£²//
PlaySound(SOUND_LOW_BEEP);
OnRev(OUT_C,30);OnRev(OUT_B,25);Wait(500);Off(OUT_BC);//¥·¥å¡¼¥È¤òÂǤÄÁ°¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ì¡Ê¡á¥·¥å¡¼¥È¤ÎͽÈ÷Æ°ºî¡Ë//
OnFwd(OUT_A,-90); Wait(400);Off(OUT_A);//¤ò¿¶¤ê¾å¤²¤í¡Ê¥·¥å¡¼¥È¤òÂǤơË//
PlaySound(SOUND_FAST_UP);
}
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