[[2006a/A1]]

*プログラム1 [#q3184f68]
#contents
*プログラム1(光センサ無し) [#q3184f68]
**プログラム(1) [#qfb22c0a]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j); 
  
 task main()
 {
 ClearMessage(); 
 until (Message() != 0);
 back(500);tomaru(500);
 SendMessage(1);Wait(300);
 if ( Message() == 2 )
 {
 front(450);tomaru(200);
 front(200);tomaru(200);
 left(85);tomaru(200);
 front(250);left(85);tomaru(200);
 front(300);back(200);
 }
 }
*プログラム2 [#v15dec86]
**プログラム(2)[#v15dec86]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 task main()
 {
 front(500);tomaru(200);
 front(200);tomaru(200);
 left(90);tomaru(200);
 front(250);left(90);tomaru(200);
 front(300);back(200);tomaru(200);
 left(90);tomaru(50);front(250);right(90);tomaru(50);
 front(700);tomaru(200);back(760);tomaru(200);
 right(90);tomaru(200);front(250);left(90);tomaru(200);
 front(300);back(200);tomaru(200);
 left(90);tomaru(50);front(250);right(90);tomaru(50);
 front(700);tomaru(200);
 }
*プログラム3 [#ecf68cbe]
**プログラム(3) [#ecf68cbe]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+ OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 task main()
 {
 front(300);tomaru(150);right(80);tomaru(150);
 front(270);tomaru(150);right(80);tomaru(150);
 front(200);tomaru(100);back(200);tomaru(150);
 right(80);tomaru(150);front(270);tomaru(150);
 left(80);tomaru(150);front(450);tomaru(150);
 left(80);tomaru(150);
 front(300);tomaru(150);left(80);tomaru(150);
 front(300);tomaru(50);back(200);tomaru(150);
 left(80);tomaru(50);front(300);right(80);tomaru(50);
 front(400);tomaru(150);back(400);tomaru(150);
 right(80);tomaru(150);front(300);tomaru(150);left(80);tomaru(150);
 front(300);tomaru(50);back(200);tomaru(150);
 left(80);tomaru(50);front(300);tomaru(150);right(80);tomaru(50);
 front(400);tomaru(200);
 }
*プログラム4 [#b4aa91cd]
**プログラム(4) [#b4aa91cd]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 task main()
 {
 while(true)
 {
 front(230);tomaru(150);back(500);tomaru(150);
 right(90);tomaru(150);
 front(330);tomaru(150);left(90);tomaru(150);front(300);tomaru(150);
 back(210);tomaru(150);left(76);tomaru(150);front (310);tomaru(150);
 right(76);tomaru(150);front(250);tomaru(150);
 }
 }
*プログラム5(光センサ有り) [#r1120e17]
**プログラム(5) [#ee0f1650]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+ OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 #define THRESHOLD 40  
 task main()
 {
 while(true)
 {
 front(230);tomaru(150);back(520);tomaru(150);front(50);tomaru(150);
 right(94);tomaru(150);
 front(300);tomaru(150);left(93);tomaru(150);front(340);tomaru(150);
 back(190);tomaru(150);left(80);tomaru(150);front(290);tomaru(150);
 right(80);tomaru(150);front(150);tomaru(100);
 front(250);tomaru(150);
 }
 }
*プログラム2(光センサ有り) [#r1120e17]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 #define THRESHOLD 43 
 task main()
 {
 SetSensor(SENSOR_1, SENSOR_LIGHT);
 SetSensor(SENSOR_2, SENSOR_LIGHT);
 while(true)
 {
 front(230);tomaru(150);back(510);tomaru(150);
 right(88);tomaru(150);
 front(230);tomaru(150);back(530);tomaru(150);
 front(50);tomaru(50);right(88);tomaru(150);
 front(300);tomaru(150);left(88);tomaru(150);front(300);tomaru(150);
 back(190);tomaru(150);left(78);tomaru(150);front(310);tomaru(150);
 right(78);tomaru(150);
 back(190);tomaru(150);left(80);tomaru(150);front(310);tomaru(150);
 right(80);tomaru(150);
 if(SENSOR_1 <= THRESHOLD){tomaru(300);OnRev(OUT_C);OnFwd(OUT_A);}
             else{OnFwd(OUT_A+OUT_C);}
 if(SENSOR_2 <= THRESHOLD){tomaru(300);}
 front(250);tomaru(150);
 }
 }
**プログラム(1) [#l56527f3]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off (OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 #define THRESHOLD 43 
 task main()
 {
 SetSensor(SENSOR_1, SENSOR_LIGHT);
 SetSensor(SENSOR_2, SENSOR_LIGHT);
 while(true)
 {if(SENSOR_1 <= THRESHOLD){tomaru(300);OnRev(OUT_C);OnFwd (OUT_A);}
             else{OnFwd(OUT_A+OUT_C);}
 if(SENSOR_2 <= THRESHOLD){tomaru(300);}
 front(250);tomaru(150);
 }
 }
**プログラム(2) [#m8f02d09]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 #define THRESHOLD 40 
 task main()
 {
 SetSensor(SENSOR_1, SENSOR_LIGHT);
 SetSensor(SENSOR_2, SENSOR_LIGHT);
 while(true)
 {
 front(230);tomaru(150);back(520);tomaru(150);front(50);tomaru(50);
 right(100);tomaru(150);
 front(300);tomaru(150);left(93);tomaru(150);front(300);tomaru(150);
 back(190);tomaru(150);left(80);tomaru(150);front(310);tomaru(150);
 right(80);tomaru(150);
 while(true)
 {
 if((SENSOR_1 > THRESHOLD) && (SENSOR_2 > THRESHOLD)){OnFwd(OUT_A+OUT_C);}
 if(SENSOR_2 < THRESHOLD){OnRev(OUT_C);OnFwd(OUT_A);}
 if(SENSOR_1 < THRESHOLD){OnRev(OUT_A);OnFwd(OUT_C);}
 if((SENSOR_1 <= THRESHOLD) && (SENSOR_2 <= THRESHOLD))   {tomaru(200);front(50);}
 }   
 front(250);tomaru(150);
 }
 }
**プログラム(3) [#i88fa827]
 #define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C);   
 #define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C);   
 #define tomaru(j) Off(OUT_A+OUT_C);Wait(j);
 #define THRESHOLD 40 
 task main()
 {
 SetSensor(SENSOR_1, SENSOR_LIGHT);
 SetSensor(SENSOR_2, SENSOR_LIGHT);
 while(true)
 {
 front(230);tomaru(150);back(520);tomaru(150);front(50);tomaru(150);
 right(94);tomaru(150);
 front(300);tomaru(150);left(93);tomaru(150);front(340);tomaru(150);
 back(190);tomaru(150);left(80);tomaru(150);front(310);tomaru(150);
 right(80);tomaru(150);front(50);tomaru(100);
 while(true)
 {
 if((SENSOR_1 < THRESHOLD) && (SENSOR_2 < THRESHOLD)){OnFwd(OUT_A+OUT_C);}
 if(SENSOR_2 > THRESHOLD){OnRev(OUT_A);OnFwd(OUT_C);}
 if(SENSOR_1 > THRESHOLD){OnRev(OUT_C);OnFwd(OUT_A);}
 }
 if((SENSOR_1 >= THRESHOLD) && (SENSOR_2 >= THRESHOLD)){tomaru(200);front(50);}  
 front(250);tomaru(150);
 } 
 }


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