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#contents
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3 ¤Þ¤Ã¤¹¤°¤Ë¿Ê¤Þ¤Ê¤¤¥Þ¥·¥ó
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**£²¤ÎÌäÂê ²ò·è[#of1d254b]
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***¸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
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
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
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);
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));
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);
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));
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¤·¤¿
~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);
SetPower(OUT_C,4);
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);
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);
OnRev(OUT_C);
if(SENSOR_3<THRESHOLD){
until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD);
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);
}
**¥×¥í¥°¥é¥àÁ´ÂÎ [#nc793bf8]
~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));
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;
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--;
}
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){
break;
}
if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){
until((SENSOR_1<THRESHOLD||SENSOR_3<THRESHOLD)||(SENSOR_2==1));
x++;
}else if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){
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)){
Off(OUT_A);
OnFwd(OUT_C);
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));
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);
}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));
if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){
until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));
}
x=3;
}
if(x==2){
y++;
}
}
}
}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++;
¡¡}
}
}
¡¡}
}
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-½é¤á¤Æ¸«¤¿¿Í¤Ë¤â¤ï¤«¤ë¤è¤¦¤Ë¡¢¤½¤Î¥Ð¥ó¥Ñ¡¼¤Îµ¡¹½¤Ç¤É¤Î¤è¤¦¤ËÀÜ¿¨¥»¥ó¥µ¡¼¤ò²¡¤·¤Æ¤¤¤ë¤«¤ÎÀâÌÀ¤¬¤Û¤·¤¤¤Ç¤¹¡£ -- [[¥¯¥Î]] &new{2007-12-15 (ÅÚ) 20:27:15};
#comment