[[2006a/A1]]
#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]
 #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]
 #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]
 #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) [#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 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(520);tomaru(150);front(50);tomaru(150);
 right(92);tomaru(150);
 front(300);tomaru(150);left(93);tomaru(150);front(340);tomaru(150);
 back(190);tomaru(150);left(81);tomaru(150);front(290);tomaru(150);
 right(81);tomaru(150);front(150);tomaru(100);
 front(250);tomaru(150);
 }
 }
**プログラム(6) [#v791ee78]
 #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()
 {
 SetPower(OUT_A,6);SetPower(OUT_C,6);
 while(true)
 {
 tomaru(2000);
 front(150);tomaru(150);back(490);tomaru(150);front (50);tomaru(150);
 right(88);tomaru(150);
 front(300);tomaru(150);left(88);tomaru(150);front(340);tomaru(150);
 back(190);tomaru(150);left(77);tomaru(150);front(310);tomaru(150);
 right(77);tomaru(150);front(150);tomaru(100);
 front(250);tomaru(150);
 }
 }
**プログラム(7) [#d2d07082]
 #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(150);tomaru(150);back(420);tomaru(150);front(50);tomaru(150);
 right(80);tomaru(150);
 front(300);tomaru(150);back(50);tomaru(50);
 left(83);tomaru(150);front(340);tomaru(150);
 back(190);tomaru(150);left(72);tomaru(150);front(280);tomaru(150);
 right(72);tomaru(150);front(230);tomaru(100);
 }
 }
**プログラム(8) [#z9ae6497]
 
 #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)
 repeat(2)
 {
 tomaru(2000);
 front(150);tomaru(150);back(420);tomaru(150);front(50);tomaru(150);
 right(80);tomaru(150);
 front(300);tomaru(150);back(50);tomaru(50);
 left(83);tomaru(150);front(250);
 right(30);left(60);right(30);
 left(83);tomaru(150);front(250);right(30);left(60);right(30);
 front(100);tomaru(150);
 back(190);tomaru(150);left(72);tomaru(150);front(280);tomaru(150);
 right(72);tomaru(150);front(230);tomaru(100);
 back(160);tomaru(150);left(72);tomaru(150);front(260);tomaru(150);
 right(71);tomaru(150);front(230);tomaru(100);
 }
 }

*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(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(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);
 } 
 }

*試作1 [#zf4be09c]
 #define front(t) OnFwd(OUT_A+OUT_C);Wait(t);
 #define right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);
 #define left(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);
 #define back(t) OnRev(OUT_A+OUT_C);Wait(t);
 #define up(t) OnFwd(OUT_B);Wait(t);
 #define down(t) OnRev(OUT_B);Wait(t);
 #define ACoff Off(OUT_A+OUT_C);
 #define Boff Off(OUT_B);
 #define ABCoff Off(OUT_A+OUT_B+OUT_C);
 
 task main()
 {
         SetSensor(SENSOR_2,SENSOR_TOUCH);
         SetSensor(SENSOR_3,SENSOR_TOUCH);
         SetPower(OUT_A,7);
         SetPower(OUT_C,7);
         SetPower(OUT_B,3);
         
         OnFwd(OUT_A+OUT_C);
         
         while (true)
         {
                if(SENSOR_2==1)
                {
                     ACoff;down(100);
                          right(50);ABCoff;
                     front(50)ABCoff;
                     Wait(100);up(150);Boff;Wait(100);
                     
                     back(140);left(15);
                     OnFwd(OUT_A+OUT_C);
                           while (true)
                           {
                           
                                    if(SENSOR_2==1)
                                    {
                                        ACoff;
                                        down(200);Boff;
                                        back(210);
                                        until (SENSOR_3==1);
                                        ACoff;Wait(100);
                                        front(15);ACoff;right(10);ACoff;Wait(200);
                                        up(200);Boff;right(50);ABCoff;
                                        Wait(100);
                                        back(20);ACoff;
                                        left(40);ACoff;Wait(200); 
                                       front(100);up(10);Boff;
                                       OnFwd(OUT_A+OUT_C);
                                       
                                        while (true)
                           {
                           
                                    if(SENSOR_2==1)
                                    {
                                        ACoff;
                                        down(200);Boff;
                                        back(210);
                                        until (SENSOR_3==1);
                                        ACoff;Wait(100);
                                        front(15);ACoff;right(10);ACoff;Wait(200);
                                        up(200);Boff;right(50);ABCoff;
                                        Wait(100);
                                        back(20);ACoff;
                                        left(15);ACoff;Wait(200); 
                                       
                                        OnFwd(OUT_A+OUT_C);
                                                           while(true)
                                                               {
                                                                    if(SENSOR_2==1)
                                                                       {
                                                down(20);back(100);ABCoff;Wait(200);
                                                   up(100);Boff;
                                                                                 }
                                                             }
                                   }
                             }
                       }
                  }
                             
         
                                                            
                }
         }
      }

*2 [#cef3d51e]
#define front(t) OnFwd(OUT_A+OUT_C);Wait(t);
#define right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);
#define left(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);
#define back(t) OnRev(OUT_A+OUT_C);Wait(t);
#define up(t) OnFwd(OUT_B);Wait(t);
#define down(t) OnRev(OUT_B);Wait(t);
#define ACoff Off(OUT_A+OUT_C);
#define Boff Off(OUT_B);
#define ABCoff Off(OUT_A+OUT_B+OUT_C);

task main()
{
        SetSensor(SENSOR_2,SENSOR_TOUCH);
        SetSensor(SENSOR_3,SENSOR_TOUCH);
        SetPower(OUT_A,7);
        SetPower(OUT_C,7);
        SetPower(OUT_B,3);
        
        OnFwd(OUT_A+OUT_C);
        
        while (true)
        {
               if(SENSOR_2==1)
               {
                    ACoff;down(100);
                         right(50);ABCoff;
                    front(50)ABCoff;
                    Wait(100);up(150);Boff;Wait(100);
                    
                    back(140);left(15);
                    OnFwd(OUT_A+OUT_C);
                          while (true)
                          {
                          
                                   if(SENSOR_2==1)
                                   {
                                       ACoff;
                                       down(200);Boff;
                                       back(210);
                                       until (SENSOR_3==1);
                                       ACoff;Wait(100);down(25);Boff;
                                       right(10);ACoff;Wait(200);
                                       up(200);Boff;right(50);ABCoff;
                                       Wait(100);
                                       back(20);ACoff;
                                       left(45);ACoff;Wait(200); 
                                      up(20);front(300);Boff;
                                      back(180);right(18);ACoff;
                                      OnFwd(OUT_A+OUT_C);
                                      
                                       while (true)
                          {
                          
                                   if(SENSOR_2==1)
                                   {
                                       ACoff;
                                       down(350);Boff;
                                       back(210);
                                       until (SENSOR_3==1);
                                       ACoff;Wait(100);
                                       front(15);ACoff;right(10);ACoff;Wait(200);
                                       up(200);Boff;right(50);ABCoff;
                                       Wait(100);
                                       back(20);ACoff;
                                       left(15);ACoff;Wait(200); 
                                      
                                       OnFwd(OUT_A+OUT_C);
                                                          while(true)
                                                              {
                                                                   if(SENSOR_2==1)
                                                                      {
                                               down(40);back(100);ABCoff;Wait(200);
                                                  up(100);Boff;
                                                                                }
                                                            }
                                  }
                            }
                      }
                 }
                            
        
                                                           
               }
        }
     }

*3 [#v0dcc7e8]
 #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()
 {
 tomaru(2300);
 front(150);tomaru(150);back(420);tomaru(150);front(50);tomaru(150);
 right(80);tomaru(150);
 front(300);tomaru(150);back(50);tomaru(50);
 left(83);tomaru(150);front(250);right(30);left(60);right(30);
 front(100);tomaru(150);
 back(160);tomaru(150);left(71);tomaru(150);front(247);tomaru(150);
 right(71);tomaru(150);front(220);tomaru(100);
 front(150);tomaru(150);back(420);tomaru(150);front(50);tomaru(150);
 right(80);tomaru(150);
 front(300);tomaru(150);back(50);tomaru(50);
 left(83);tomaru(150);front(250);right(30);left(60);right(30);
 front(100);tomaru(150);
 back(160);tomaru(150);left(71);tomaru(150);front(247);tomaru(150);
  right(71);tomaru(150);front(220);tomaru(100);
 }



トップ   新規 一覧 検索 最終更新   ヘルプ   最終更新のRSS