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*¥×¥í¥°¥é¥à [#te3dbada]
*¥×¥í¥°¥é¥à [#te3dbada]
define LI 43 ¡¿¡¿¸÷¤Î¶¯¤µ¤Î¶³¦Àþ¤òÄêµÁ
int s_p;¡¡¡¿¡¿ÊÑ¿ô¤òÍÑ°Õ
sub search_pro(){ ¡¿¡¿¥é¥¤¥ó¤ò¸«¼º¤Ã¤¿¤È¤ÍѤΥµ¥Ö¥ë¡¼¥Á¥ó
while ((SENSOR_1 > LI) && (SENSOR_3 > LI)){¡¡¡¿¡¿¥é¥¤¥ó¤¬¸«¤Ä¤«¤ë¤Þ¤Ç·«¤êÊÖ¤¹
SetPower(OUT_A+OUT_C,7);
OnRev(OUT_A);OnFwd(OUT_C);¡¡º¸¤òõ¤¹
Wait(30);
OnRev(OUT_C);OnFwd(OUT_A);¡¡±¦¤òõ¤¹
Wait(60);
OnRev(OUT_A);OnFwd(OUT_C);¡¡¥í¥Ü¥Ã¥È¤Î¸þ¤¤ò¸µ¤Ë¤â¤É¤¹
Wait(30);
OnFwd(OUT_A+OUT_C);¡¡Ä¾¿Ê¤¹¤ë
repeat(7){¡¡¡¿¡¿£·²ó·«¤êÊÖ¤¹
Wait(10);
if (SENSOR_2 == 1)¡¡¡¿¡¿¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë¤¢¤¿¤Ã¤Æ¤¤¤¿¤é£±£°ÉäȤޤë
{
Off(OUT_A+OUT_C);¡¡
Wait(100);
}
}
}
}
sub s_touch()¡¡¡¿¡¿¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë¤¢¤¿¤Ã¤¿¤È¤ÍѤÎÌ¿Îáʸ¡Ê¥µ¥Ö¥ë¡¼¥Á¥ó¡Ë
{
SetPower(OUT_A+OUT_C,7);
Off(OUT_A+OUT_C);¡¡¥â¡¼¥¿¡¼¤Î½ÐÎϤò¤È¤á¤ë
Wait(100);¡¡£±£°ÉÃÂÔ¤Ä
}
task main () {
SetSensor(SENSOR_1, SENSOR_LIGHT); ¡¿¡¿¥»¥ó¥µ¡¼£±¤ò¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
SetSensor(SENSOR_2, SENSOR_TOUCH);¡¡¡¿¡¿¥»¥ó¥µ¡¼£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÈÄêµÁ
SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡¡¿¡¿¥»¥ó¥µ¡Ý£³¤ò¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
s_p = 2 ;¡¡ÊÑ¿ô¤Ë£²¤òÂåÆþ
while (true){
while (SENSOR_2 == 0){¡¡¡¿¡¿¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤¹¤ë¤Þ¤Ç·«¤êÊÖ¤¹
while ((SENSOR_1 < LI) && (SENSOR_3 < LI))¡¡¡¿¡¿¥»¥ó¥µ¡¼£±¡¢£³¶¦¤Ë¥é¥¤¥ó¾å¤Î¤È¤
{
SetPower(OUT_A+OUT_C,7);
OnFwd(OUT_A+OUT_C);¡¡Ä¾¿Ê¤¹¤ë¡¡
s_p = 1;
if (SENSOR_2 == 1)¡¡¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é¡¢¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë
{
s_touch();
}
}
while ((SENSOR_1 < LI) && (SENSOR_3 > LI))¡¡¡¿¡¿¥»¥ó¥µ¡¼£±¤¬¥é¥¤¥ó¾å¡¢¥»¥ó¥µ¡¼£³¤¬¥é¥¤¥ó³°¤Î¤È¤
{
OnFwd(OUT_C);¡¡º¸¤Ø¶Ê¤¬¤ë
Off(OUT_A);
s_p = 1;
if (SENSOR_2 == 1)¡¡¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é¡¢¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë
{
s_touch();
}
}
while ((SENSOR_1 > LI) && (SENSOR_3 < LI))¡¡¡¿¡¿¥»¥ó¥µ¡¼£±¤¬¥é¥¤¥ó³°¡¢¥»¥ó¥µ¡¼£³¤¬¥é¥¤¥ó¾å¤Î¤È¤
{
OnFwd(OUT_A);¡¡±¦¤Ø¶Ê¤¬¤ë¡¡
Off(OUT_C);
s_p = 1;
if (SENSOR_2 == 1)¡¡¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é¡¢¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë
{
s_touch();
}
}
if ((SENSOR_1 > LI) && (SENSOR_3 > LI))¡¡¥»¥ó¥µ¡¼£±¡¢£³¶¦¤Ë¥é¥¤¥ó³°¤Î¤È¤
{
if (s_p == 1){¡¡¡¡¡¿¡¿¤³¤Î¥Ñ¥¿¡¼¥ó¤¬¸òº¹ÅÀ¤Ç¤¹
SetPower(OUT_A+OUT_C,7);
Off(OUT_A+OUT_C);¡¡¡¡¤¤¤Ã¤¿¤ó»ß¤Þ¤ë
OnRev(OUT_A+OUT_C);¡¡
Wait(10);¡¡¡¡¡¡¡¡¡¡¡¡¤¹¤³¤·²¼¤¬¤ë
Off(OUT_A+OUT_C);¡¡¡¡°ì»þÄä»ß¤¹¤ë
Wait(10);
OnFwd(OUT_A+OUT_C);¡¡¸òº¹ÅÀ¤ò²£ÀÚ¤ë
repeat(9){
Wait(10);
s_p = 2;
if (SENSOR_2 == 1)¡¡¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é¡¢¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë
{
s_touch();
} }
}else{ ¡¡¡¿¡¿¥³¡¼¥¹¤ò¸«¼º¤Ã¤¿¤È¤
SetPower(OUT_A+OUT_C,7);
search_pro();¡¡¥µ¥Ö¥ë¡¼¥Á¥ó¤Î¥µ¡¼¥Á¥×¥í¥°¥é¥à¤òºîÆ°¤µ¤»¤ë
}
}
}
}
}
*¹©Éפ·¤¿¤È¤³¤í [#x3d600ce]
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*´¶ÁÛ¡ÊÀ©ºî¤ò½ª¤¨¤Æ¡Ë [#k715fb0d]
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#comment