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task main()
{ OnFwd(OUT_A+OUT_C); //½é¹æµ¡¤ÎÁ°¿Ê
{ OnFwd(OUT_A+OUT_C); //½é¹æµ¡¤Îȯ¿Ê
Wait(400);
Off(OUT_A+OUT_C);
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OnRev(OUT_C);
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Off(OUT_A+OUT_C);
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Wait(895);
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Wait(400);
Float(OUT_B);
Wait(3500); //»²¹æµ¡¤¬¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤·¤Æ¤¯¤ë¤Þ¤ÇÂԤäƤ¤¤ë»þ´Ö
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Wait(615);
OnRev(OUT_B); //Æõ¹æµ¡¸åÂà
Wait(400);
Float(OUT_B);
Wait(3500); //»²¹æµ¡¤òÂÔ¤Ä
Wait(3500); //Îí¹æµ¡¤òÂÔ¤Ä
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Wait(615);
OnRev(OUT_B); //Æõ¹æµ¡¸åÂà
Wait(600);
Float(OUT_B); //½ªÎ»
}
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#define turna 50 //Àû²ó»þ´Ö£±
#define turnb 100 //Àû²ó»þ´Ö£²
#define fwd 60 //Á°¿Ê»þ´Ö
#define ballup 150 //¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ë¤Þ¤Ç¤Î¥¢¡¼¥àºîÆ°»þ´Ö
#define ballput 60 //¥Ü¡¼¥ë¤ò²¼¤²¤ë¤Þ¤Ç¤Î¥¢¡¼¥àºîÆ°»þ´Ö
#define back 280 //¸åÂà»þ´Ö
sub linetrace() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ£±¤È¥»¥ó¥µ£³¤Ï¸÷¥»¥ó¥µ
SetSensor(SENSOR_3,SENSOR_LIGHT);
if ((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD)) //¥»¥ó¥µ£±¤È¥»¥ó¥µ£³¤¬Çò»æ¾å
{
OnFwd(OUT_A+OUT_C); //ľ¿Ê
}
if ((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD)) //¸òº¹ÅÀ¤Ë¤µ¤·¤«¤«¤Ã¤¿¤é
{
OnFwd(OUT_A); //Àû²ó
OnRev(OUT_C);
Wait(turna);
Off(OUT_A+OUT_C);
OnFwd(OUT_B); //¥Ü¡¼¥ë¤ò²¼¤²¤ë
Wait(ballput);
Off(OUT_B);
OnFwd(OUT_A+OUT_C); //Á°¿Ê
Wait(fwd);
Off(OUT_A+OUT_C);
OnFwd(OUT_B); //¥Ü¡¼¥ë¤òÃÖ¤¯
Wait(ballup-ballput);
Off(OUT_B);
OnRev(OUT_A+OUT_C); //¸åÂà
Wait(fwd);
Off(OUT_A+OUT_C);
OnRev(OUT_B); //¥¢¡¼¥à¤ò¾å¤²¤ë
Wait(ballup);
Off(OUT_B);
OnFwd(OUT_A); //Àû²ó
OnRev(OUT_C);
Wait(turnb);
Off(OUT_A+OUT_C);
while(SENSOR_3>THRESHOLD) //¥»¥ó¥µ£³¤¬¹õÀþ¤ò¸«¤Ä¤±¤é¤ì¤ë¤Þ¤Ç
{
OnFwd(OUT_A);
OnRev(OUT_C);
}
Off(OUT_A+OUT_C);
OnFwd(OUT_B); //¥¢¡¼¥à¤ò²¼¤í¤¹
Wait(ballput);
Off(OUT_B);
}
if ((SENSOR_1<THRESHOLD)&&(SENSOR_3>THRESHOLD))
//¥»¥ó¥µ£±¤¬¹õÀþ¾å¡¤¥»¥ó¥µ£³¤¬Çò»æ¾å
{
Off(OUT_A); //º¸Àû²ó
OnFwd(OUT_C);
}
if ((SENSOR_1>THRESHOLD)&&(SENSOR_3<THRESHOLD))
//¥»¥ó¥µ¡¼£±¤¬Çò»æ¾å¡¤¥»¥ó¥µ¡¼£³¤¬¹õÀþ¾å
{
OnFwd(OUT_A); //±¦Àû²ó
Off(OUT_C);
}
}
sub rcv() //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë¥×¥í¥°¥é¥à
{
Off(OUT_A+OUT_C);
OnFwd(OUT_B); //¥¢¡¼¥à¤ò³«¤¯
Wait(ballup-ballput);
Off(OUT_B);
OnFwd(OUT_A+OUT_C); //Á°¿Ê
Wait(80);
Off(OUT_A+OUT_C);
OnFwd(OUT_A+OUT_C); //Á°¿Ê¤·¤Ê¤¬¤é¥¢¡¼¥à¤òÊĤ¸¤ë
OnRev(OUT_B);
Wait(80);
Off(OUT_A+OUT_C);
Wait(ballup-80);
Off(OUT_B);
OnRev(OUT_A+OUT_C); //¸åÂà
Wait(back);
OnFwd(OUT_A); //Àû²ó
OnRev(OUT_C);
Wait(turna+turnb);
Off(OUT_A+OUT_C);
while(SENSOR_3>THRESHOLD) //¥»¥ó¥µ£³¤¬¹õÀþ¤ò¸«¤Ä¤±¤é¤ì¤ë¤Þ¤Ç
{
OnFwd(OUT_A);
OnRev(OUT_C);
}
}
task main ()
{
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ËÀßÄê
Wait(500); //5ÉôÖÂԤäƤ«¤é¥¹¥¿¡¼¥È
while(true)
{
if (SENSOR_2 ==0) //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤Ê¤¤¤È¤
{
linetrace(); //¥é¥¤¥ó¥È¥ì¡¼¥¹
} else { //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤¿¤È¤
rcv(); //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë
linetrace(); //¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
}
}
}
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