#contents *¥í¥Ü¥Ã¥È [#t854e2b1] &ref(2006a/A1/¥í¥Ü¥³¥ó/dscn2693_Medium.jpg,100%,´°À®¥í¥Ü¥Ã¥È); *¥×¥í¥°¥é¥à [#ib783cec] **°ì¹æµ¡¡Ê²¾¾Î¡Ë [#i88e3e43] #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C); //Á°¿Ê¥Þ¥¯¥í #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C); //¸åÂà¥Þ¥¯¥í #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C); //±¦²óž¥Þ¥¯¥í #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C); //º¸²óž¥Þ¥¯¥í #define tomaru(j) Off(OUT_A+OUT_C);Wait(j); //Ää»ß¥Þ¥¯¥í task main() { tomaru(2400); //Æó¹æµ¡¤¬´Ì¤ò»ý¤Ã¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡ front(140);tomaru(150); //´Ì¤ò¼õ¤±¼è¤ë back(395);tomaru(150); //¸åÂà front(50);tomaru(150); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢Á°¿Ê right(80);tomaru(150); //±¦²óž front(280);tomaru(150); //Á°¿Ê back(50);tomaru(50); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢¸åÂà left(83);tomaru(150); //º¸²óž front(250); //Á°¿Ê right(30);left(60);right(30); //¼ó¤ò¿¶¤Ã¤Æ¡¢ÌÚ¤ËÂФ·¤ÆËÜÂΤò¿âľ¤Ë front(100);tomaru(150); //´Ì¤ò²¡¤·Æþ¤ì¤ë back(160);tomaru(150); //½é´ü°ÌÃ֤ص¢´Ô left(71);tomaru(150); front(240);tomaru(150); right(71);tomaru(150); front(220);tomaru(100); front(165);tomaru(150); //´Ì¤ò¼õ¤±¼è¤ë back(395);tomaru(150); //¸åÂà front(50);tomaru(150); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢¸åÂà right(80);tomaru(150); //±¦²óž front(280);tomaru(150); //Á°¿Ê back(50);tomaru(50); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢¸åÂà left(83);tomaru(150); //º¸²óž front(250); //Á°¿Ê right(30);left(60);right(30); //¼ó¤ò¿¶¤Ã¤Æ¡¢ÌÚ¤ËÂФ·¤ÆËÜÂΤò¿âľ¤Ë front(100);tomaru(150); //´Ì¤ò²¡¤·Æþ¤ì¤ë back(160);tomaru(150); //½é´ü°ÌÃ֤ص¢´Ô left(71);tomaru(150); front(240);tomaru(150); right(71);tomaru(150); front(220);tomaru(100); } ¥³¥á¥ó¥ÈÉÕ¤±¤Þ¤·¤¿:)~ À½ºî¼Ô¤ÎÊý¤Ï¥Á¥§¥Ã¥¯¤È¡¢À½ºî¼Ô̾¤ò¤ª´ê¤¤¤·¤Þ¤¹¡£ by.t5 **Æó¹æµ¡¡Ê²¾¾Î¡Ë [#u99a284e] 2006/8/2 À½ºî¼Ô//ËÍ #define front(t) OnFwd(OUT_A+OUT_C);Wait(t); //Á°¿Ê #define right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t); //±¦ÀÞ #define left(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t); //º¸ÀÞ #define back(t) OnRev(OUT_A+OUT_C);Wait(t); //¸åÂà #define up(t) OnFwd(OUT_B);Wait(t); //¥¢¡¼¥à¾å¤²¤ë #define down(t) OnRev(OUT_B);Wait(t); //¥¢¡¼¥à²¼¤²¤ë #define ACoff Off(OUT_A+OUT_C); //¼ÖÎØÄä»ß #define Boff Off(OUT_B); //¥¢¡¼¥àÄä»ß #define ABCoff Off(OUT_A+OUT_B+OUT_C); //¥â¡¼¥¿¡¼Á´Ää»ß task main() { SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÈÄêµÁ¡ÊÁ°¡Ë SetSensor(SENSOR_3,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÈÄêµÁ¡Ê¸å¡Ë SetPower(OUT_A,7); //¼ÖÎؤΠSetPower(OUT_C,7); ¥Ñ¥ï¡¼ºÇÂç SetPower(OUT_B,3); //¥¢¡¼¥à¤Î¥Ñ¥ï¡¼¤ò£³¤ËÄêµÁ OnFwd(OUT_A+OUT_C); //Á°¿Ê while (true) { if(SENSOR_2==1) //¤â¤·(Á°)¥»¥ó¥µ¡¼¿¨¤ì¤¿¤é { ACoff;down(100);right(45);ABCoff; //Ää»ß¡¦´Ì¤ò¤Ä¤«¤ó¤Ç±¦¤Ø¤º¤é¤¹¡¦Á´Ää»ß front(50)ABCoff; //Á°¤Ø²¡¤¹ Wait(100);up(150);Boff;Wait(100); //¥¢¡¼¥à¤ò¾å¤²¤ë back(120);left(14); //¸åÂष¤Æ¿ÊÏ©Ä´Àá OnFwd(OUT_A+OUT_C); //Á°¿Ê while (true) //£±ËÜÌÜ°ú¤½Ð¤· { if(SENSOR_2==1) //¤â¤·¡ÊÁ°¡Ë¤¬¥¿¥Ã¥Á¤·¤¿¤é { ACoff; //Ää»ß down(200);Boff; //¥¢¡¼¥à²¼¤² back(210); //(¸å)¤¬¥¿¥Ã¥Á¤¹¤ë¤Þ¤Ç¸åÂà until (SENSOR_3==1); ACoff;Wait(100); down(25);Boff; //ÊäÀµ right(10);ACoff;Wait(200); front(15);ACoff;Wait(10); //ÊɤòÈò¤±¤ë¤¿¤á¤ËÁ°¿Ê up(250);Boff;right(70); //¥¢¡¼¥à¾å¤²¤Æ ABCoff; ´Ì¤òž¤¬¤¹ Wait(100);up(20);left(70); //¾ã³²ÊªB¤Ø ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡ACoff;Wait(200); front(300);Boff; //²¡¤·¤Î¤±¤ë back(120);right(20);ACoff; //£²ËÜÌÜ¤Ø OnFwd(OUT_A+OUT_C); while (true) //£²ËÜÌÜ°ú¤¤À¤· { if(SENSOR_2==1) { ACoff; //£±ËÜÌܤÈƱ¤¸ down(450);Boff; back(210); until (SENSOR_3==1); ACoff;Wait(100); back(100);ACoff; front(15);ACoff;right(10); ACoff;Wait(200); up(200);Boff;right(50); ABCoff;Wait(100); back(24);ACoff; left(14);ACoff;Wait(200); //¾ã³²ÊªA¤Ø OnFwd(OUT_A+OUT_C); while(true) //¾ã³²ÊªA¤òÌ᤹ { if(SENSOR_2==1) { down(50);back(100); //¤Ä¤«¤ó¤Ç°ú¤ÃÄ¥¤ë ABCoff;Wait(200); up(100);Boff; } } } } } } } } } **¥×¥í¥°¥é¥à¤Î¥Ý¥¤¥ó¥È [#o9b64f88] -¤³¤ì¤Ï¥»¥Ã¥È¤·¤Æ¤¢¤ë´Ì¤ò¾ã³²Êª¤ò°ÜÆ°¤µ¤»¡¢²£¤«¤é°ú¤½Ð¤·´Ì¤ò²£¤Ëž¤¬¤·¤ÆÁ÷¤ê½Ð¤¹¥Þ¥·¡¼¥ó¤Ç¤¹¡£¼ç¤Êή¤ì¤Ï¡¢ +¾ã³²ÊªA¤ò°ÜÆ° +£±ËÜÌÜ°ú¤½Ð¤·¡¦Á÷¤ê½Ð¤¹ +¾ã³²ÊªB¤ò°ÜÆ° +£²ËÜÌÜ°ú¤½Ð¤·¡¦Á÷¤ê½Ð¤¹ +¾ã³²ÊªA¤ò¸µ¤ËÌ᤹ ¤³¤Îή¤ì¤ò¤á¤¶¤·¤Æ¤·¤Æºî¤ê¤Þ¤·¤¿¡£ **ÌäÂêÅÀ¤È²ò·è [#uf512f83] ¤Ï¤¸¤á¤Î¹½ÁÛ¤¬ÉáÄ̤Τä¤êÊý¤Ç¤Ï¤Ê¤¯¡¢¥ª¥ê¥¸¥Ê¥ë¤ÊÊýË¡¤Ç¤ä¤ê¤¿¤¤¤È¤¤¤¦¤³¤È¤«¤é¡¢¡Ö¾ã³²Êª¤ò¤É¤«¤·¤Æ²£¤«¤é°ú¤½Ð¤»¤Ð¤«¤Ê¤ê¥·¥ç¡¼¥È¥«¥Ã¥È¤Ç¤¤ë¡×¤È¤¤¤¦¤³¤È¤Ç¼ÙËâ¤Ê´Ì¤ò¤É¤«¤·¤Æ²£¤«¤é°ú¤½Ð¤·¡¢´Ì¤ò¼õ¤±ÅϤ¹ÊýË¡¤Ç¤ä¤ê¤Þ¤·¤¿¡£ ¤·¤«¤·£±¹æµ¡¤è¤êÌäÂêÅÀ¤¬Â¿¤¯¡¢Ä¾Á°¤Þ¤Ç»î¹Ôºø¸í¤¬É¬ÍפȤʤê¤Þ¤·¤¿¡£ÌäÂêÅÀ¤´¤È¤Ë +´Ì¤ò¤É¤¦°ú¤½Ð¤¹¤«¡©¡¡¢Í¡¡¥¢¡¼¥à¤Ç¤Ä¤«¤ó¤Ç°ú¤½Ð¤¹ +°ú¤½Ð¤·¤¿¸å¤Ï¤É¤¦¤¹¤ë¤«¡©¡¡¢Í¡¡¤Ï¤µ¤ó¤À¾õÂÖ¤«¤é²óž¤¹¤ë¤³¤È¤Ç¤¦¤Þ¤¯Å¾¤¬¤ë¤³¤È¤¬¤ï¤«¤ê¡¢£±¹æµ¡¤Øž¤¬¤·¤Æ¥·¥å¡¼¥È¤¹¤ë¤è¤¦¤Ê´¶¤¸¤Ë¤·¤¿¡£ +´Ì¤ò¸ÇÄꤹ¤ë¤¿¤á¥¢¡¼¥à¤ò½Ä¤È²££²¤Ä¤Ä¤±¤¿¤¬¡¢¥â¡¼¥¿¡¼¤ÎÀáÌó¤ò¤É¤¦¤¹¤ë¤«¡©¡¡¢Í¡¡¼ÖÎؤˣ²¤Ä¡¢¥¢¡¼¥à¤Ë£²¤Ä»È¤ï¤Ê¤¤¤ÈÆ°¤«¤Ê¤¤¤Î¤Ç¡¢¥¢¡¼¥à¤Î£²¤Ä¤ò¤Ò¤È¤Ä¤Îü»Ò¤Ç¤Ä¤Ê¤¤¤ÇϢư¤¹¤ë¤è¤¦¤Ë¤·¤¿¡£ +´Ì¤òÁ÷¤ê½Ð¤¹¤È¤¤ËÊɤȤδֳ֤¬¶¹¤¤¤¿¤á¡¢´Ì¤¬¾ã³²Êª¤ËÅö¤¿¤Ã¤Æž¤¬¤é¤Ê¤¤¡¡¢Í¡¡¶Ë¸Â¤Þ¤Ç¼Ö´Ö¤òû¤¯¤·¤¿¡ª +£²ËÜÌܤò¤È¤ê¤Ë¤¤¤¯¤È³Ñºà¤¬¼ÙË⤷¤Æ¥¿¥¤¥ä¤¬¾è¤ê¾å¤²¤Æ¤·¤Þ¤¦¡¡¢Í¡¡²£¤«¤éÆþ¤Ã¤Æ³Ñºà¤òÈò¤±¤è¤¦¤È¤·¤¿¡£ ·ë¶É¥¤Ï²ò·è¤Ç¤¤º¼ºÇԤ˽ª¤ï¤Ã¤Æ¤·¤Þ¤Ã¤¿¤¬¡¢¤Û¤«¤Ï²¿¤È¤«²ò¾Ã¤·¤¿¡£ *¹©Éפ·¤¿ÅÀ¡¦¶ìÏ«¤·¤¿ÅÀ [#ka8b9356] **¥í¥Ü¥Ã¥ÈËÜÂÎ [#da50f98e] **¥×¥í¥°¥é¥ß¥ó¥° [#g11718bc] Áö¤é¤»¤¿¤ê¡¢»ß¤á¤¿¤ê¤¹¤ë»þ´Ö¤ò·è¤á¤ë¤Î¤¬ÂçÊѤǤ·¤¿¡£~ ¤Þ¤¿¡¢²¿²ó¤â¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤Æ¡¢¥×¥í¥°¥é¥à¤ò³Îǧ¤·¤Æ¤¤¤ëÅÓÃæ¤Ç¡¢¥í¥Ü¥Ã¥È¤¬¤Þ¤Ã¤¹¤°¤ËÁö¤é¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢¤½¤ì¤ò½¤Àµ¤¹¤ë¤Î¤Ë¶ìÏ«¤·¤Þ¤·¤¿¡£ *´¶ÁÛ [#ucab513b] ¡¦¤³¤Î¼ø¶È¤òÄ̤·¤Æ¡¢ÉáÃʲ¿µ¤¤Ê¤¯»È¤Ã¤Æ¤¤¤ëÅŻҵ¡´ï¤Ç¤â¤½¤ì¤¬½ÐÍè¤ë¤Þ¤Ç¤Ë¤Ï¤¹¤´¤¤ÅØÎϤ¬¤¢¤Ã¤¿¤ó¤À¤È¤¤¤¦¤³¤È¤Ë¤¤¬¤Ä¤¤Þ¤·¤¿¡£~ ¼ºÇÔ¤ÏÀ®¸ù¤Î¸µ¤È¤¤¤¦°ÕÌ£¤¬¼Â´¶¤È¤·¤Æʬ¤«¤Ã¤¿¤è¤¦¤Êµ¤¤¬¤·¤Þ¤¹¡£~ ºÇ¸å¤Ë¶õ¤´Ì¤¬¥´¡¼¥ë½ÐÍ褿¤È¤¤¹¤´¤¤´¶Æ°¤·¤Þ¤·¤¿¡£¤â¤¦½ª¤ï¤ê¤«¤¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡by¤æ¤º ¡¦£´·î¤«¤éÌó£´¥ö·î´Ö¡¢¤³¤Î¥¼¥ß¤ò¼õ¹Ö¤·¤Æ¤ß¤Æ¡¢ÉáÃʤϷи³¤¹¤ë¤³¤È¤Î¤Ç¤¤Ê¤¤¤³¤È¤ò·Ð¸³¤Ç¤¡¢¤È¤Æ¤âÎɤ«¤Ã¤¿¤È»×¤Ã¤Æ¤¤¤Þ¤¹¡£~ »ä¤Ïº£¤Þ¤Ç¥í¥Ü¥Ã¥È¤Ê¤É¤Îµ¡³£¤ËÁ´¤¯¤È¸À¤Ã¤Æ¤¤¤¤¤Û¤É¿¨¤ì¤¿¤³¤È¤¬¤¢¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£¤·¤«¤·¡¢º£²ó¤Î¥¼¥ß¤Ç¾¤ÎÈÉ°÷¤ËÍê¤Ã¤Æ¤·¤Þ¤Ã¤¿Éôʬ¤â¿¤¯¤¢¤ê¤Þ¤·¤¿¤¬¡¢¤ß¤ó¤Ê¤Ç°ì½ï¤Ë¥í¥Ü¥Ã¥È¤ä¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¤³¤È¤Ç¡¢¼«Ê¬¤Ê¤ê¤Ë¾¯¤·¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤ÆÃΤ뤳¤È¤¬¤Ç¤¤¿¤È»×¤¤¤Þ¤¹¡£¤Þ¤¿¡¢¥í¥Ü¥³¥ó¤Î½àÈ÷¤Ï¤ß¤ó¤Ê¤ÎÅԹ礬¹ç¤ï¤ºÂçÊѤǤ·¤¿¤¬¡¢¥í¥Ü¥Ã¥È¤ò¤Á¤ã¤ó¤È´°À®¤µ¤»¤ë¤³¤È¤¬¤Ç¤¡¢¥Û¥ó¥È¤Ë¢Îɤ«¤Ã¤¿¤Ç¤¹¡ù~ £Á£±¤Î¤ß¤Ê¤µ¤ó¡¢¤ªÈè¤ì¥µ¥Þ¤Ç¤·¤¿¤¡¡¼¥Ã¡ª¡ª¡ª¡¡¡¡ by tomo