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#contents
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**¡¸÷¤òÄɤ¤¤«¤±¤ë¥í¥Ü¥Ã¥È¤ÎºîÀ® [#md78030f]
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***¸÷¤òÄɤ¤¤«¤±¤ë¥í¥Ü¥Ã¥È¤Î¥×¥í¥°¥é¥à [#se513eb0]
ºîÀ®¼Ô:¥¤¥±¥¹¡¦¥«¥Ä¥ä¡¦¥¦¥á¡¦¥«¥È¥¥
Æü»þ:7·î6Æü(ÌÚ)
#define GO_STRAIGHT OnFwd(OUT_A+OUT_C); //ľ¿Ê
#define TURN_RIGHT OnFwd(OUT_A);OnRev(OUT_C); //±¦Àû²ó
#define TURN_LEFT OnFwd(OUT_C);OnRev(OUT_A); //º¸Àû²ó
#define MINUS 15 //¥Þ¥¤¥Ê¥¹
int max; //max¤òÄêµÁ
int time; //time¤òÄêµÁ
task main()
{
SetSensor(SENSOR_2,SENSOR_LIGHT); //¥»¥ó¥µ¡¼£²:¸÷¥»¥ó¥µ¡¼
max=SENSOR_2; //¥»¥ó¥µ¡¼£²¤òmax¤Ë»ØÄê
time=Timer(0); //time¤ò¥¿¥¤¥Þ¡¼£°¤Ë»ØÄê
ClearTimer(0); //¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È
while(Timer(0)<=14) //¥¿¥¤¥Þ¡¼£°¤¬£±£´°Ê²¼¤Î»þ
{
turn_right //±¦Àû²ó
if(SENSOR_2>max) //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃͰʾå¤Ê¤é
{
ClearTimer(1); //¥¿¥¤¥Þ¡¼£±¤ò¥ê¥»¥Ã¥È
max=SENSOR_2 ; //¥»¥ó¥µ¡¼£²¤òºÇÂçÃͤ˻ØÄê
}
else //¤½¤¦¤Ç¤Ê¤±¤ì¤Ð
{
max=max; //max¤ò¤½¤Î¤Þ¤Þ
time=Timer(1); //time¤ò¥¿¥¤¥Þ¡¼£±¤Ë»ØÄê
}
}
ClearTimer(1); //¥¿¥¤¥Þ¡¼£±¤ò¥ê¥»¥Ã¥È
while(Timer(1)<=time) //time¤¬¥¿¥¤¥Þ¡¼°Ê²¼¤Î»þ
{turn_left} //º¸Àû²ó
while(true)
{
if(SENSOR_2>=max-minus) //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹°Ê¾å¤Î»þ
{go_straight} //ľ¿Ê
if(SENSOR_2<max-minus) //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹Ì¤Ëþ¤Î»þ
{
turn_right //±¦Àû²ó
ClearTimer(2); //¥¿¥¤¥Þ¡¼£²¤ò¥ê¥»¥Ã¥È
until((SENSOR_2>=max-minus)||(Timer(2)==5)); //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹°Ê¾å¡¢¤Þ¤¿¤Ï¥¿¥¤¥Þ¡¼£²¤¬£µ¤Þ¤Ç
}
if(SENSOR_2<max-minus) //¤Þ¤À¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹Ì¤Ëþ¤Î»þ
{
turn_left //º¸Àû²ó
until(SENSOR_2>=max-minus); //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹°Ê¾å¤Þ¤Ç
}
}
}
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ºîÀ®¼Ô:¥¤¥±¥¹¡¦¥«¥È¥¥
#define Mi 330
#define Fa 349
#define So 392
#define Ra 440
#define Si 494
#define Do 523
#define Re 587
#define mi 659
task play_music()
{
while (true)
{
PlayTone(Ra,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Do,60); Wait(65);
PlayTone(Do,15); Wait(20);
PlayTone(Re,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Si,60); Wait(65);
PlayTone(Si,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Ra,60); Wait(65);
PlayTone(Ra,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Ra,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Do,45); Wait(50);
PlayTone(Ra,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Do,60); Wait(65);
PlayTone(Do,15); Wait(20);
PlayTone(Re,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Si,60); Wait(65);
PlayTone(Si,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Si,15); Wait(20);
PlayTone(Ra,60); Wait(65);
PlayTone(Mi,15); Wait(20);
PlayTone(Fa,15); Wait(20);
PlayTone(Mi,15); Wait(20);
PlayTone(Mi,15); Wait(20);
PlayTone(Ra,45); Wait(50);
PlayTone(Ra,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(mi,30); Wait(35);
PlayTone(Do,15); Wait(20);
PlayTone(Ra,15); Wait(20);
PlayTone(Fa,30); Wait(35);
PlayTone(Ra,30); Wait(35);
PlayTone(Si,30); Wait(35);
PlayTone(Do,15); Wait(20);
PlayTone(Ra,45); Wait(50);
PlayTone(Si,30); Wait(35);
PlayTone(Do,15); Wait(20);
PlayTone(Ra,45); Wait(50);
PlayTone(Si,30); Wait(35);
PlayTone(Do,15); Wait(20);
PlayTone(Ra,30); Wait(35);
PlayTone(Fa,15); Wait(20);
PlayTone(Ra,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(mi,30); Wait(35);
PlayTone(Do,15); Wait(20);
PlayTone(Do,15); Wait(20);
PlayTone(Ra,15); Wait(20);
PlayTone(Fa,30); Wait(35);
PlayTone(Ra,30); Wait(35);
PlayTone(Si,30); Wait(35);
PlayTone(Do,15); Wait(20);
PlayTone(Ra,45); Wait(50);
PlayTone(Ra,45); Wait(50);
PlayTone(Ra,45); Wait(50);
PlayTone(So,30); Wait(35);
PlayTone(Ra,60); Wait(65);
Wait();
}
}
task main()
{
SetSensor(SENSOR_1, SENSOR_LIGHT);
start play_music ;
OnFwd(OUT_A+OUT_B);
until (SENSOR_1==1);
stop play_music ;
Off(OUT_A+OUT_B);
}
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#comment