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(a)
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(a)¸÷¥»¥ó¥µ¤¬1¸Ä¤Î¾ì¹ç(¥»¥ó¥µ3¤Ï¾þ¤ê)
#define throw_time 10
#define run_time 60
int max ;
#define run_time 150 //¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë»þ´Ö¡£¤³¤Î¥×¥í¥°¥é¥à¤Ç¤Ï1¼þ°Ê¾å¤¹¤ì¤Ð²¿¼þ¤Ç¤âÎɤ¤
int max ; //¸÷¤ÎºÇÂçÃͤΤ¿¤á¤ÎÊÑ¿ô
task main()
{SetPower(OUT_B,0)
SetSensor(SENSOR_1,SENSOR_TOUCH);
SetSensor(SENSOR_2,SENSOR_LIGHT);
{SetPower(OUT_B,0)¡¡//¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¤ÎºÇÂçÃͤνê¤Ç¤È¤Þ¤ì¤Ê¤¤
SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡//¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤Ë»ØÄê
ClearTimer(0);
while(Timer(0)<run_time)
{max=0;
OnFwd(OUT_B);
if(SENSOR_2>max){max=SENSOR_2;}
ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while(Timer(0)<run_time)¡¡
{max=0;¡¡//¤È¤ê¤¢¤¨¤º¡¢¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤò0¤ËÀßÄê
OnFwd(OUT_B);¡¡//»þ·×¼þ¤ê¤Ë²óž
if(SENSOR_2>max){max=SENSOR_2;}¡¡//¤½¤ì¤Þ¤Ç¤ÇºÇÂç¤Î¶¯¤µ¤Î¸÷¤è¤ê¤â¶¯¤¤¸÷¤ò´¶ÃΤ·¤¿¤é¡¢¤½¤Î¶¯¤µ¤òºÇÂçÃͤȤ¹¤ë¡£
}
OnFwd(OUT_B);
until(SENSOR_2<=max+7 || SENSOR_2>=max-7)
OnFwd(OUT_B);¡¡//ºÆ¤Ó¡¢»þ·×²ó¤ê
until(SENSOR_2<=max+7 || SENSOR_2>=max-7)¡¡//ºÇÂçÃͤ˶ᤤ¸÷¤ò´¶¤¸¤¿¤é¡¢¤½¤ÎÊý¸þ¤ò¸÷¸»¤ÈȽÃÇ
Float(OUT_B);
OnFwd(OUT_A);
Wait(throw_time);
OnRev(OUT_A);
until(SENSOR_1==1);
OnFwd(OUT_C);
Wait(throw_time);¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
OnRev(OUT_C);
until(SENSOR_1==1);¡¡//¸µ¤Î°ÌÃÖ¤ËËÀ¤òÌᤷ¡¢¼¡¤âÅꤲ¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
Float(OUT_A+OUT_B);
}
(b)
#define throw_time 80
#define run_time 30
int max ;
int a ;
#define throw_time 10 //Åê¤Æ¤Éô¤¬Æ°¤¯»þ´Ö
#define run_time 180 //1¼þ¤Î»þ´Ö
int max ;¡¡//¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤΤ¿¤á¤ÎÊÑ¿ô
int a ;¡¡//¸÷¸»¤Þ¤Ç¤Î»þ´Ö¤Î¤¿¤á¤ÎÊÑ¿ô
task main()
{SetPower(OUT_B)
SetSensor(SENSOR_1,SENSOR_TOUCH);
SetSensor(SENSOR_2,SENSOR_LIGHT);
{SetPower(OUT_B,0) //¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¤ÎºÇÂçÃͤνê¤Ç¤È¤Þ¤ì¤Ê¤¤
SetSensor(SENSOR_1,SENSOR_LIGHT);¥»¥ó¥µ
SetSensor(SENSOR_2,SENSOR_TOUCH);
ClearTimer(0);
while(Timer(0)<=run_time)
{max=0;
OnFwd(OUT_B);
if(SENSOR_2>max){max=SENSOR_2;ClearTimer(1);}
}
a=Timer(1);
ClearTimer(2);
OnRev(OUT_B);
until(Timer(0)<a)
OnFwd(OUT_A);
OnFwd(OUT_C);
Wait(throw_time);
OnRev(OUT_A);
OnRev(OUT_C);
until(SENSOR_1==1);
Float(OUT_A+OUT_B);
Float(OUT_C;
}
(c)
#define throw_time 10
#define run_time 1
#define TH 5
int a ;
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_LIGHT);
a=SENSOR_1-SENSOR_3
if(a+TH>0){OnRev(OUT_B);Wait(run_time);}
if(a-TH>0){OnFwd(OUT_B);Wait(run_time);}
if(0<=a-TH || a+TH>0)
{OnFwd(OUT_A);Wait(throw_time);OnRev(OUT_A);until(SENSOR_2==1);;Float(OUT_A+OUT_C);}
{OnFwd(OUT_C);Wait(throw_time);OnRev(OUT_C);until(SENSOR_2==1);Float(OUT_C);}
}
②²ÝÂê3-2µÚ¤Ó3-3
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