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¥é¥¤¥ó¥È¥ì¡¼¥¹Ãæ¤Îľ¿Ê±¿Æ° #define ST SetPower(OUT_A,5);SetPower(OUT_C,5);Off(OUT_AC);OnFwd(OUT_AC);Wait(1); AÃÏÅÀ¤«¤éPÃÏÅÀ±¦ÀޤޤǤκ¸±¦±¿Æ° #define TR SetPower(OUT_A,1);SetPower(OUT_C,1);Off(OUT_AC);OnFwd(OUT_A);Wait(1);OnRev(OUT_C);Wait(1); #define TL SetPower(OUT_A,2);SetPower(OUT_C,2);Off(OUT_AC);OnFwd(OUT_C);Wait(1);OnRev(OUT_A);Wait(1); #define TRL SetPower(OUT_A,1);Off(OUT_AC);OnFwd(OUT_A);Wait(1); #define TLL SetPower(OUT_C,2);Off(OUT_AC);OnFwd(OUT_C);Wait(1); PÃÏÅÀ±¦ÀÞ¤«¤éBÃÏÅÀ¤Þ¤Ç¤Îº¸±¦±¿Æ° #define TR2 SetPower(OUT_A,2);SetPower(OUT_C,2);Off(OUT_AC);OnFwd(OUT_A);Wait(1);OnRev(OUT_C);Wait(1); #define TL2 SetPower(OUT_A,1);SetPower(OUT_C,1);Off(OUT_AC);OnFwd(OUT_C);Wait(1);OnRev(OUT_A);Wait(1); define TRL2 SetPower(OUT_A,1);Off(OUT_AC);OnFwd(OUT_A);Wait(1); #define TLL2 SetPower(OUT_A,1);Off(OUT_AC);OnFwd(OUT_C);Wait(1); ¸òº¹ÅÀ¤òľ¿Ê #define PQ_ST SetPower(OUT_A,2);SetPower(OUT_C,2);Off(OUT_AC);OnFwd(OUT_AC);Wait(30); º¸²ó¤ê¤Ë¼ÖÂΤòÆ°¤«¤¹ #define CCW SetPower(OUT_A,4);SetPower(OUT_C,4);Off(OUT_AC);OnFwd(OUT_C);Wait(11);OnRev(OUT_A);Wait(11); BÃÏÅÀ¤Ë¥´¡¼¥ë¤¹¤ëÆ°ºî #define GOAL SetPower(OUT_AC,4);Off(OUT_AC);OnFwd(OUT_A);Wait(5);OnRev(OUT_C);Wait(5);OnFwd(OUT_AC);Wait(100); ¥´¡¼¥ë¤·¤¿ºÝ¤Ëή¤ì¤ë²»¤ÎÄêµÁ #define Do 1047 #define LaF 831 #define SiF 932 #define Si 988 ¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È¤¹¤ë¤¿¤á¤ÎÊÑ¿ô int c_point; **¥µ¥Ö¥ë¡¼¥Á¥ó [#h824e03e] ¸òº¹ÅÀ¤ÇÄä»ß¤·¡¢¥«¥¦¥ó¥È¤ò1Áý¤ä¤¹ sub crossing() { Off(OUT_AC); Wait(100); c_point+=1; } ²»¤òή¤¹ sub music() { PlayTone(Do,20); Wait(30); PlayTone(Do,20); Wait(30); PlayTone(Do,20); Wait(30); PlayTone(Do,60); Wait(62); PlayTone(LaF,60); Wait(62); PlayTone(SiF,60); Wait(62); PlayTone(Do,20); Wait(42); PlayTone(Si,20); Wait(22); PlayTone(Do,90); Wait(92); } **¥á¥¤¥ó¥ë¡¼¥Á¥ó [#la66f077] ¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤³¤È¤Ç¡¢¥«¥¦¥ó¥¿¡¼(½é´üÃÍ0)¤¬£±Â¤µ¤ì¤Æ¤¤¤¤Þ¤¹¡£¥«¥¦¥ó¥¿¡¼¤Î¿ô¤Çº£¤¤¤ë¸òº¹ÅÀ¤¬¤É¤³¤Ç¤¢¤ë¤«ÇÄ°®¤Ç¤¤ë¤Î¤Ç¡¢¤½¤Î¸òº¹ÅÀ¤Ç¤¹¤Ù¤¹ÔÆ°¤òifʸ¤ò»È¤Ã¤Æ¤¢¤é¤«¤¸¤á¥×¥í¥°¥é¥à¤·¤Æ¤¤¤Þ¤¹¡£ Timer(0)¡Ä¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤¿¤á¤Î¤â¤Î Timer(1)¡ÄÁö¹Ô»þ´Ö¤ò·×¤ë¤¿¤á¤Î¤â¤Î task main () { SetSensor(SENSOR_2,SENSOR_LIGHT); START; ClearTimer(0); ClearTimer(1); c_point=0; while (true) { while((FastTimer(0)<10)&&(c_point<=3)) { if(SENSOR_2>THRESHOLD+8) { TL; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+7) { TLL; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { ST; ClearTimer(0); } else if(SENSOR_2>THRESHOLD-2) { TRL; ClearTimer(0); } else { TR; } } while((FastTimer(0)<10)&&(c_point>=4)) { if(SENSOR_2>THRESHOLD+8) { TR2; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+7) { TRL2; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { ST; ClearTimer(0); } else if(SENSOR_2>THRESHOLD-2) { TLL2; ClearTimer(0); } else { TL2; } } if((FastTimer(1)>1400)&&(c_point==0)) { crossing(); PQ_ST; ClearTimer(0); } else { ClearTimer(0); } if((FastTimer(1)>2100)&&(c_point==1)) { crossing(); CCW; PQ_ST; ClearTimer(0); } if((FastTimer(1)>2800)&&(c_point==2)) { crossing(); ClearTimer(0); ClearTimer(1); } if((FastTimer(1)>500)&&(c_point==3)) { crossing(); PQ_ST; ClearTimer(0); ClearTimer(1); } if((FastTimer(1)>2060)&&(c_point==4)) { crossing(); ClearTimer(0); ClearTimer(1); } if((FastTimer(1)>500)&&(c_point==5)) { crossing(); ClearTimer(0); } if((FastTimer(1)>1300)&&(c_point==6)) { crossing(); GOAL; Off(OUT_AC); Wait(50); music(); Off(OUT_AC); Wait(10000); } } } *È¿¾Ê¡¦´¶ÁÛ [#c72d73f0]