*¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¥Ã¥È [#oc0f9745] Ìܼ¡ #contents *²ÝÂê [#c1ecc07c] ¡¡¹õ¤¤Àþ¤Ë±è¤Ã¤ÆÁö¤ë¥í¥Ü¥Ã¥È¤ÎÀ½ºî¡¢¤¿¤À¤·°Ê²¼¤Î»ö¤ËÃí°Õ¤¹¤ë ~ 1 ®¤µ¤ÈÀµ³Î¤µ¤ÎÄɵá ~ 2 ¸òº¹ÅÀ¤ÇÍ¥Àèƻϩ¤òÁö¤Ã¤Æ¤Ê¤¤¾ì¹ç¤Ë¤Ï¡¢°ì»þÄä»ß¤ò¤¹¤ë ~&ref(2007b/A5/²ÝÂꣲ±¦/¤¤.jpg); ~ 3 Á°Êý¤Ë¤¢¤ë¥í¥Ü¥Ã¥È¤È¾×Æͤ·¤¿¾ì¹ç¡¢Áê¼ê¤Î¥í¥Ü¥Ã¥È¤¬Î¥¤ì¤ë¤Î¤òÂԤĤ³¤È *¥í¥Ü¥Ã¥È¾Ò²ð [#f3914037] ¤Þ¤º¥¥ã¥¹¥¿¡¼¤ò¤Ä¤±£³ÎضîÆ°¤Ë¤¹¤ë»ö¤Ë¤·¤¿¡£¤³¤ÎÊý¤¬¶Ê¤¬¤ê¤ä¤¹¤¯²óž¤âÍưפˤǤ¤ë¤È»×¤Ã¤¿¤«¤é¤À¡£ ~¥Ð¥ó¥Ñ¡¼¤Ï¥·¥ó¥°¥ë¥Ð¥ó¥Ñ¡¼¤Ë¤·¤Æ¥Þ¥·¥ó¤Î¤è¤±¤¤¤ÊÉôʬ¤òÇí¤®Íî¤È¤·¤¿¡£ ~&ref(2007b/A5/²ÝÂꣲ±¦/¼ÖÎØ.jpg);¡¡ &ref(2007b/A5/²ÝÂꣲ±¦/071204_165731.jpg); &ref(2007b/A5/²ÝÂꣲ±¦/Á´ÂÎ.jpg); ~Á°ÎضîÆ°¤Ë¤¹¤ë¤³¤È¤Ç¥»¥ó¥µ¤ÎÈ¿±þ¤¬¸åÎضîÆ°¤Ë¤¹¤ë¤è¤êÁᤤ¡£¤è¤Ã¤Æ¾®²ó¤ê¤òÍø¤«¤»¤¿Áö¹Ô¤¬²Äǽ¤È¤Ê¤Ã¤¿¡£ ~ &ref(2007b/A5/²ÝÂꣲ±¦/¤Ï¤Í.jpg); ~¥Þ¥·¥ó¤Î·Á¾õ¤È¤·¤Æ¤Ï£³ÎؤÇÁö¤ë°Õ³°¤Ï¥Î¡¼¥Þ¥ë¤Ê¥¿¥¤¥×¤È¤Ê¤Ã¤¿¡£ **¸÷¥»¥ó¥µ¡¼¤Î¼è¤êÉÕ¤± [#x4328df2] ~&ref(2007b/A5/²ÝÂꣲ±¦/¤»¤ó¤µ.jpg); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ &ref(2007b/A5/²ÝÂꣲ±¦/¸÷£².jpg); ~£²¤Ä¤Î¸÷¥»¥ó¥µ¡¼¤Ç¹õ¤¤Àþ¤ò¶´¤à¤è¤¦¤Ê¡Ø¶´¤ß·¿¡Ù¤òºÎÍÑ¡£ ±¦¤Î¸÷¥»¥ó¥µ¤¬È¿±þ¤¹¤ë¤³¤È¤Ç±¦¤Ë¶Ê¤¬¤ê¡¢º¸¥»¥ó¥µ¤¬È¿±þ¤¹¤ë¤³¤È¤Çº¸¤Ë¿Ê¤ß¤Þ¤¹¡£Î¾ÊýÇò¤ò´¶ÃΤ¹¤ë¤È¤¤Ï¤Þ¤Ã¤¹¤°¿Ê¤à¤Î¤Ç¤¹¡£ ~¥á¥ê¥Ã¥È¤È¤·¤Æ¹õÀþ¤«¤é¤Ï¤ß½Ð¤¿¤È¤¤ËÈ¿±þ¤¬Áᤤ¡£Èæ³ÓŪ³Ú¤Ë¶Ê¤¬¤ë»ö¤¬¤Ç¤¤Þ¤¹ ~¥Ç¥á¥ê¥Ã¥È¤È¤·¤Æ¤Ï¸òº¹ÅÀ¤Ë»ß¤Þ¤ì¤ÎÀþ¤¬¤Ê¤¤¤È ¸÷¥»¥ó¥µ¤¬Ç§¼±¤·¤Ê¤¤¤È¤¤¤¦·çÅÀ¤¬¤¢¤ê¤Þ¤¹¡£¤Ä¤Þ¤êÁ´¤Æ¤Î¥³¡¼¥¹¤ËÂбþ¤¹¤ë¤È¤¤¤¦Ìõ¤Ç¤Ê¤¤¤È¤¤¤¦¤³¤È¤Ç¤¹¡£ **ÌäÂê [#re7e363d] º£²ó¤Î²ÝÂê¤Ç°Ê²¼¤ÎÌäÂ꤬ȯÀ¸¤·¤¿ 1 µÞ¤Ê¥«¡¼¥Ö¤ËÂбþ¤Ç¤¤ë¤«¡© 2 ¸òº¹ÅÀ¤òÄ̤뤿¤á¤Î¥×¥í¥°¥é¥à¤Ï¤É¤¦¤¹¤ë¤«¡© 3 ¤Þ¤Ã¤¹¤°¤Ë¿Ê¤Þ¤Ê¤¤¥Þ¥·¥ó ~£±¤ÎÌäÂê¤Ï²æ¡¹¤Î̵·×²è¤Ê¥³¡¼¥¹ºî¤ê¤ËÌäÂ꤬¤¢¤Ã¤¿¡£¥Þ¥·¥ó¤ÎÀǽ¤òÃΤ餺¤Ë¥³¡¼¥¹¤òºî¤Ã¤¿¤Î¤ÇµÞ¤Ê¥«¡¼¥Ö¿¤¯¡¢¸òº¹ÅÀÁ°¤Ç¤â¥«¡¼¥Ö¤¬¤¢¤ë¡£µÞ¥«¡¼¥Ö¤Ç¥Þ¥·¥ó¤¬Ã¦Àþ¤·¤Æ¤·¤Þ¤Ã¤¿¡£ ~£²¸òº¹ÅÀ¤òÄ̤ë¥×¥í¥°¥é¥à¤ÏξÊý¤Î¥»¥ó¥µ¡¼¤¬Æ±»þ¤ËÇò¤ò´¶ÃΤ·¤¿²ó¿ô¤ò¿ô¤¨¡¢£³¿ô¤¨¤ë¤È¸µ¤Î¥ë¡¼¥×¤ËÌá¤ë¤â¤Î¤À¤Ã¤¿¤¬¡¢¸òº¹ÅÀ¤ÎÁ°¤Ë¥«¡¼¥Ö¤¬¤¢¤êÄä»ßÀþ¤Ë¶Ê¤¬¤Ã¤Æ»ß¤Þ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤Î¤Þ¤Þ¿Ê¤à¤ÈÅϤ俸帵¤Î¥ë¡¼¥×¤ËÌá¤é¤Ê¤«¤Ã¤¿¡£ ~3²æ¡¹¤Î¥Þ¥·¥ó¤Ï¤Ê¤¼¤«º¸¤Ë¶Ê¤¬¤Ã¤Æ¤·¤Þ¤¦¡£ **£±¤ÎÌäÂê²ò·è [#z058dc73] ¤Þ¤ºµÞ¥«¡¼¥Ö¤ÎÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¥â¡¼¥¿¤òÌ©Ã夵¤»¥Þ¥·¥ó¤ÎÉý¤ò¸Â³¦¤Þ¤Ç¶¹¤¯¤·¤¿¡£ ¤³¤¦¤¹¤ë»ö¤Ç¾®²ó¤ê¤òÍø¤«¤¹¤è¤¦¤Ë¤·¤¿¤Î¤Ç¤¢¤ë¡£¡¡¡¡¡¡ ~¤Þ¤¿Á°Êý¤Ë¶îÆ°ÎؤòÀßÃÖ¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸åÊý¤ËÀßÃÖ¤¹¤ë¤è¤ê¤âÁ᤯ȿ±þ¤·¾®²ó¤ê¤ÎÎɤµ¤¬¾å¤¬¤Ã¤¿¡£ ~¤½¤·¤Æ¥«¡¼¥Ö¤¹¤ë¤È¤¤ËÊÒÊý¤Î¥â¡¼¥¿¡¼¤ò»ß¤á¤ë»ö¤ÇµÞ¥«¡¼¥Ö¤Ë¤âÂбþ¤Ç¤¤ë¤è¤¦¤Ë¤·¤¿¡£¡¡¡¡¡¡¡¡ ~&ref(2007b/A5/²ÝÂꣲ±¦/¤â¡¼¤¿£².jpg); **£²¤ÎÌäÂê ²ò·è[#of1d254b] £²¤ÎÌäÂê¤ÏÇò¤ò£²²ó´¶ÃΤ·¤¿¸å¡¢¤º¤ì¤Æ¤¤¤¿¤é½¤Àµ¤¹¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤òľ¤·¤¿¡£ ***¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à [#i903f892] x=0; while(x<3){ if(SENSOR_2==1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬´¶ÃΤ·¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±½Ð¤·¤Þ¤¹ break; } if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){¡¡¡¡¡¡¡¡¡¡//¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ until((SENSOR_1<THRESHOLD||SENSOR_3<THRESHOLD)||(SENSOR_2==1)); x++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤ò´¶ÃΤ·¤¿²ó¿ô¤ò¿ô¤¨¤Þ¤¹ }else if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡¡¡¡¡ //Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ if(x<2){ until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1)); }else{ until((SENSOR_1>THRESHOLD||SENSOR_3>THRESHOLD)||(SENSOR_2==1)); x++; } ***ÊÒÊý¤¬¸òº¹ÅÀ¤Î¹õÀþ¤«¤é³°¤ì¤¿¤È¤¤Î½¤Àµ¥×¥í¥°¥é¥à [#w4ce0450] else if((SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD)&&(x==2)){¡¡¡¡ //º¸¤¬´¶ÃΤ·¤¿¤éº¸¤Ë¶Ê¤¬¤ê¤Þ¤¹ ¡¡Off(OUT_A); ¡¡OnFwd(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1)); if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡¡¡¡¡¡¡¡¡¡¡//ξÊý¤¬Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1)); } x=3; }else if((SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD)&&(x==2)){¡¡//±¦¤¬´¶ÃΤ·¤¿¤é±¦¤Ë¶Ê¤¬¤ê¤Þ¤¹¡£ OnFwd(OUT_A); Off(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1)); if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡//ξÊý¤¬Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1)); } ¡¡¡¡x=3; ~¤³¤¦¤¹¤ë¤³¤È¤Ç¤â¤·¹õÀþ¤òÊÒÊý¤À¤±´¶ÃΤ·¤Æ¤â½¤Àµ¤·¤Æ¤¯¤ì¤Þ¤¹ **£³¤ÎÌäÂê²ò·è[#y0595e86] ~3¤ÎÌäÂê¤Ïľ¿Ê¤Ç¤¤ë¤è¤¦¤Ë¤¹¤ë¤¿¤á¤ËSetPowar¤ò¤Ä¤«¤¤¥â¡¼¥¿¡¼¤Î®ÅÙ¤ÎÈùÄ´À°¤ò¤¹¤ë»ö¤Ç²ò·è¤·¤¿¡£ ¤·¤«¤·¤½¤ì¤Ç¤â´°Á´¤Ëľ¿Ê¤·¤Ê¤¤ task main(){ SetPower(OUT_A,7);¡¡//º¸¤Î¥â¡¼¥¿½ÐÎÏ£· SetPower(OUT_C,4); //±¦¤Î¥â¡¼¥¿½ÐÎÏ£´ *¥³¡¼¥¹¾Ò²ð [#qa623e67] ~¥³¡¼¥¹¤ÏÁ´ÂÎŪ¤Ë¥«¡¼¥Ö¤¬Â¿¤¯£²¤Ä¤Î¸òº¹ÅÀ¤òÀߤ±¤Æ¤¢¤ë(ľÀþ¤¬¤Û¤È¤ó¤É¤Ê¤¤) ~Á´Âμ̿¿ ~&ref(2007b/A5/²ÝÂꣲ±¦/¤³¡¼¤¹.jpg); ~¸òº¹ÅÀÁ°¤ËµÞ¥«¡¼¥Ö¤¬¤¢¤ë¡£¤ª¤«¤²¤Ç¥Þ¥·¥ó¤ÎÀǽ¤¬Ìä¤ï¤ì¤ë¤è¤¦¤Ê¥³¡¼¥¹¤Ë¤·¤¿ ~¸òº¹ÅÀ¼Ì¿¿ ~&ref(2007b/A5/²ÝÂꣲ±¦/¤³¤¦¤µ.jpg); *¥×¥í¥°¥é¥à [#b7d4e8c8] ~¥¢¡¼¥à¥»¥ó¥µ¤¬È¿±þ¤·¤¿»þ¤Ë°Ê²¼¤Î£³¼ïÎà¤ÎÂбþ¤ò¸«¤»¤ë **①£³ÉôÖÄä»ß¤·¤ÆÂÔ¤Ä [#l4544280] Off(OUT_A+OUT_C); Wait(300);¡¡¡¡¡¡¡¡//£³ÉÃÄä»ß ~¤³¤ì¤Ï¾×Æ͸壳ÉôÖÄä»ß¤¹¤ë¥×¥í¥°¥é¥à¤ÎÈ´¿è¤Ç¤¹¡£ **②¤½¤Î¾ì¤Ç£±²óž¤À¤±£³£¶£°ÅÙÀû²ó¤¹¤ë [#r276ca44] OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¥â¡¼¥¿Àµ²óž OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¥â¡¼¥¿µÕ²óž if(SENSOR_3<THRESHOLD){ //¤â¤·¥»¥ó¥µ£³¤¬Çò¤ò´¶ÃΤ·¤Æ¤¤¤¿¤é until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD);//ξÊý¤¬¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤Ç } until(SENSOR_3<THRESHOLD); until(SENSOR_3>THRESHOLD); until(SENSOR_3<THRESHOLD); ~¾×Æ͸壱²óž¤·¤Þ¤¹¡£ **③£±£¸£°ÅÙÀû²ó¤·¤Æ£µÉô֥³¡¼¥¹¤òµÕÁö¤·¡¢ºÆ¤Ó£±£¸£°ÅÙÀû²ó¤·¤Æ¤â¤È¤Î¸þ¤¤ËÁö¤ë [#b1c0318f] OnFwd(OUT_A); OnRev(OUT_C); if(SENSOR_3<THRESHOLD){ until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD); } hurimuki(); OnFwd(OUT_A); OnRev(OUT_C); until (SENSOR_3<THRESHOLD); } ~¾×Æ͸å180Åٲ󞤷5ÉôֵÕÁö¸å¸µ¤ËÌá¤ê¤Þ¤¹¡£ **①②③¤ÎÊ£¹ç¤È¥×¥í¥°¥é¥à¤ÎÁ´ÂÎ [#nc793bf8] #define THRESHOLD 40¡¡¡¡¡¡¡¡¡¡//¸÷´¶ÃΤΤ¿¤á¤Î¿ôÃͤǤ¹ #define return_time 50¡¡¡¡¡¡¡¡¡¡//£µÉÃÌá¤ë¤¿¤á¤Î¿ôÃͤǤ¹ int x,y=0; sub hurimuki(){ //£µÉÃÌá¤ë¤È¤¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤¹ until (SENSOR_3<THRESHOLD); ClearTimer(0); while(Timer(0)<return_time){ OnFwd(OUT_A); OnFwd(OUT_C); until(SENSOR_1<THRESHOLD|| SENSOR_3< THRESHOLD ); if(SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD){ Off(OUT_A); OnFwd(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)); }else if(SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD){ OnFwd(OUT_A); Off(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)); }else if(SENSOR_3< THRESHOLD&&SENSOR_1< THRESHOLD){ Off(OUT_A+OUT_C); Wait(200); OnFwd(OUT_A+OUT_C); x=0; while(x<3){ if(SENSOR_2==1){ break; } if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){ until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)); x++; }else if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){ until((SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)); }else if(SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD){ Off(OUT_A); OnFwd(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)); x--; }else if(SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD){ OnFwd(OUT_A); Off(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)); x--; } } } } } void atattara(){¡¡¡¡¡¡//¥Ð¥ó¥Ñ¡¼¤Ë¤¢¤¿¤Ã¤¿¤é²¿¤ò¤¹¤ë¤«¤Ç¤¹¡£°ì¼þ¤´¤È¤Ë»Å»ö¤¬°ã¤¤¤Þ¤¹¡£ if(y<=2){ Off(OUT_A+OUT_C); Wait(300); }else if(y>2&&y<=4){ OnFwd(OUT_A); OnRev(OUT_C); if(SENSOR_3<THRESHOLD){ until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD); } until(SENSOR_3<THRESHOLD); until(SENSOR_3>THRESHOLD); until(SENSOR_3<THRESHOLD); }else { OnFwd(OUT_A); OnRev(OUT_C); if(SENSOR_3<THRESHOLD){ until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD); } hurimuki(); OnFwd(OUT_A); OnRev(OUT_C); until (SENSOR_3<THRESHOLD); } } task main(){ SetPower(OUT_A,7); SetPower(OUT_C,4); SetSensor (SENSOR_1,SENSOR_LIGHT); SetSensor (SENSOR_3,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); while(true){ if(SENSOR_2==1){¡¡¡¡¡¡//¥Ð¥ó¥Ñ¡¼¤¬´¶ÃΤ¹¤ë¤ÈºîÆ°¤·¤Þ¤¹¡£¤¤¤Ä¤Ç¤âºîÆ°¤·¤Þ¤¹ atattara(); } OnFwd(OUT_A); OnFwd(OUT_C); ¡¡until((SENSOR_1<THRESHOLD|| SENSOR_3< THRESHOLD )||(SENSOR_2==1));//¤É¤Á¤é¤«¤Î¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤ÇÁö¤ê¤Þ¤¹ if(SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD){ Off(OUT_A); OnFwd(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1)); }else if(SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD){ OnFwd(OUT_A); Off(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1)); }else if(SENSOR_3< THRESHOLD&&SENSOR_1< THRESHOLD){ Off(OUT_A+OUT_C); Wait(200); OnFwd(OUT_A+OUT_C); x=0; while(x<3){ if(SENSOR_2==1){ //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬´¶ÃΤ·¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±½Ð¤·¤Þ¤¹ break; } ¡¡if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){ ¡¡¡¡¡¡¡¡¡¡ //¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ until((SENSOR_1<THRESHOLD||SENSOR_3<THRESHOLD)||(SENSOR_2==1)); x++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤ò´¶ÃΤ·¤¿²ó¿ô¤ò¿ô¤¨¤Þ¤¹ ¡¡}else if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡¡¡//Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ if(x<2){ until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1)); }else{ until((SENSOR_1>THRESHOLD||SENSOR_3>THRESHOLD)||(SENSOR_2==1)); x++; } }else if((SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD)&&(x==2)){¡¡¡¡//º¸¤¬´¶ÃΤ·¤¿¤éº¸¤Ë¶Ê¤¬¤ê¤Þ¤¹ Off(OUT_A); OnFwd(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1));//ξÊý¤¬Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){ until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1)); } x=3; }else if((SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD)&&(x==2)){¡¡ OnFwd(OUT_A); Off(OUT_C); until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1)); if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){ until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ξÊý¤¬´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹ } x=3; } ¡¡if(x==2){ y++; ¡¡} } } ¡¡} } ¤³¤Î¥×¥í¥°¥é¥à¤Ï£±½µ¤¹¤ë¤´¤È¤Ë¥¢¡¼¥à¥»¥ó¥µ¤ÎÈ¿±þ¤¹¤ëÆâÍƤ¬°ã¤¤¤Þ¤¹¡££±½µÌܤϣ³Éûߤޤ롣£²½µÌܤϣ±²óž¡££³½µÌܤϣ±£¸£°ÅÙ²óž¸å¡¢£µÉôֵÕÁö¤·ºÆ¤Ó¸µ¤ËÌá¤ê¤Þ¤¹¡£①②③¤ò³Ý¤±¹ç¤ï¤»¤¿Áö¤ê¤ò¤·¤Þ¤¹ *·ë²Ì [#d047c3d0] ~ &ref(2007b/A5/²ÝÂꣲ±¦/071210_2351~01.jpg); &ref(2007b/A5/²ÝÂꣲ±¦/071210_2351~02.jpg); &ref(2007b/A5/²ÝÂꣲ±¦/071210_2352~01.jpg); ~¾ÈɤΥí¥Ü¥Ã¥È¤ÈÁö¹Ô¤µ¤»¤¿¤È¤³¤í¥Ð¥ó¥Ñ¡¼¤¬¹â¤¹¤®¡¢²£¤ÎÈϰϤ¬¶¹¤¹¤®¤¿¡£¤³¤ì¤À¤ÈÁê¼ê¤Î¥Ð¥ó¥Ñ¡¼¤¬Ä㤹¤®¤ë¤ÈÈ¿±þ¤Ç¤¤º¾×Æͤ·¡¢²£¤Ë¤âÈ¿±þ¤Ç¤¤ºÈô¤Ð¤µ¤ì¤Æ¤·¤Þ¤¤¡¢¥³¡¼¥¹¤«¤é¤Ï¤º¤ì¤Æ¤·¤Þ¤¦¡£¤½¤³¤Ç¥Ð¥ó¥Ñ¡¼¤ÎÈϰϤò¹¤¯¤·¡¢¥Ð¥ó¥Ñ¡¼¤Î¹â¤µ¤òÄ㤯¤·¤¿¡£ ~&ref(2007b/A5/²ÝÂꣲ±¦/¤Û¡¼¤¹.jpg); 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#comment