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#define ROTATION_GET 60
#define ROTATION_PUT 10
#define ROTATION_KICK ¡¡¡¡¡¡¡¡ 500
#define ROTATION_GIVE 130
#define FRONT 1
#define BACK 2
#define DEGREE_OF_LIGHT 53
//¡¡¥í¥Ü¥Ã¥È¤ÎÏÓ¤òÆ°¤¯´Ø¿ô
// iRotation : ÏÓ¤òÆ°¤¯³ÑÅÙ¤ÎÊÑ¿ô
// iDirection : ÏÓ¤òÆ°¤¯Êý¸þ
void move_arm ( int iRotation, int iDirection )
{
int iTime = iRotation;
ClearSensor ( SENSOR_2 );
if ( iDirection == FRONT ) {
OnFwd ( OUT_B );
}
else {
OnRev ( OUT_B );
}
Wait ( iRotation );
Off ( OUT_B );
}
// ¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤¹¤ë´Ø¿ô
// iTime : Á°¿Ê¤¹¤ë»þ´Ö
void go ( int iTime )
{
OnFwd ( OUT_A );
OnFwd ( OUT_C );
Wait ( iTime );
Off ( OUT_A + OUT_C );
}
// ¥í¥Ü¥Ã¥È¤ò¸å¿Ê¤¹¤ë´Ø¿ô
// iTime :¡¡¸å¿Ê¤¹¤ë»þ´Ö
void back ( int iTime )
{
OnRev ( OUT_A );
OnRev ( OUT_C );
Wait ( iTime );
Off ( OUT_A + OUT_C );
}
// ¥í¥Ü¥Ã¥È¤òº¸¤Ë¶Ê¤¬¤ë´Ø¿ô
void left ( )
{
OnRev ( OUT_A );
OnFwd ( OUT_C );
Wait ( 46 );
Off ( OUT_A + OUT_C );
}
// ¥í¥Ü¥Ã¥È¤ò±¦¤Ë¶Ê¤¬¤ë´Ø¿ô
void right ()
{
OnFwd ( OUT_A );
OnRev ( OUT_C );
Wait ( 46 );
Off ( OUT_A + OUT_C );
}
task main()
{
SetSensor ( SENSOR_2, SENSOR_LIGHT );
SetSensor ( SENSOR_3, SENSOR_LIGHT );
SetSensor ( SENSOR_1, SENSOR_TOUCH );
go ( 145 );
left ( );
go ( 60 );
move_arm ( ROTATION_GET, FRONT );
back ( 20 );
right ( );
go ( 150 );
left ();
go ( 200 );
move_arm ( ROTATION_GIVE, FRONT );
move_arm ( ROTATION_GIVE, BACK );
Wait ( 30 );
move_arm ( ROTATION_GIVE, FRONT );
move_arm ( ROTATION_GIVE, BACK );
back (90 );
right ( );
go (70 );
move_arm ( ROTATION_GET, FRONT );
back ( 30 );
left ( );
go ( 130 );
move_arm ( ROTATION_GIVE, FRONT );
move_arm ( ROTATION_GIVE, BACK );
Wait ( 30 );
move_arm ( ROTATION_GIVE, FRONT );
move_arm ( ROTATION_GIVE, BACK );
back ( 90 );
right ();
go (70 );
move_arm(ROTATION_KICK, BACK );
go ( 30 );
move_arm(ROTATION_KICK, BACK );
go (30 );
move_arm(ROTATION_KICK, BACK );
}
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task main(){
OnFwd(OUT_A+OUT_C); //È¢¤ÎÁ°¤Þ¤Çľ¿Ê
Wait(575);
Off(OUT_A+OUT_C);
Wait(1600); //¥Ü¡¼¥ë¤¬¾è¤ë¤Þ¤ÇÂÔµ¡
OnRev(OUT_B);
Wait(30);
Off(OUT_B);
OnFwd(OUT_B); //¥Ü¡¼¥ë¤òÈ¢¤Ë¤¤¤ì¤ë
Wait(30);
Off(OUT_B);}
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#define BLACKLINE 45
#define SIGNAL_A 11
#define SIGNAL_B 12
task main ()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while (true) {
if(SENSOR_1 < BLACKLINE){¡¡¡¡¡¡//º¸Â¦¤Î¸÷¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ê¤éľ¿Ê
OnFwd(OUT_A+OUT_C); ¤½¤¦¤Ç¤Ê¤¤¾ì¹ç¤Ï±¦ÀÞ
} else {
OnFwd(OUT_A);
Off(OUT_C);}
if((SENSOR_1 < BLACKLINE) && (SENSOR_3 < BLACKLINE)){ //ξ¦¤Î¸÷¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ê¤éÄä»ß¤¹¤ë
Off(OUT_A+OUT_C);
ClearMessage();
while(Message() == 1){ //¤â¤¦£±¤Ä¤Î¥í¥Ü¥Ã¥È¤«¤éÊÖ¿®¤¬¤¢¤ë¤Þ¤Ç¡¢¼«Ê¬¤¬¥Ü¡¼¥ë¼õ¤±ÅϤ·ÃÏÅÀ¤Þ¤ÇÍ褿¤³¤È¤òÄÌ¿®¤ÇÅÁ¤¨¤ë
SendMessage(SIGNAL_A);}
if(Message() == 1){¡¡¡¡¡¡¡¡¡¡¡¡//ÊÖ¿®¤¬Í褿¤é¡¢²»¤òÌĤ餹
PlaySound(SOUND_CLICK);
ClearMessage();}
}
if(Message() == SIGNAL_B){¡¡¡¡¡¡¡¡ //Áê¼ê¤«¤é¡Ö¥Ü¡¼¥ë¤ò¾è¤»¤¿¡×¤ÈÄÌ¿®¤¬¤¢¤Ã¤¿¤éºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë
SendMessage(2);
OnFwd(OUT_A+OUT_C);}
if(SENSOR_2 == 1){ //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¢¤Ë¿¨¤Ã¤¿¤éÈ¢¤ò²óÈò¤·¤Æ²£ÉÕ¤±¤¹¤ë
OnRev(OUT_A+OUT_C);
Wait(100);
Off(OUT_C);
OnFwd(OUT_A);
Wait(190);
OnFwd(OUT_A+OUT_C);
Wait(50);
Off(OUT_A);
OnFwd(OUT_C);
OnFwd(OUT_A+OUT_C);
Wait(300);
¡¡¡¡¡¡¡¡¡¡ Off(OUT_A+OUT_C);
OnFwd(OUT_B); //¥Ü¡¼¥ë¤òÈ¢¤Ë¤¤¤ì¤ë
Wait(30);
Off(OUT_B);
OnFwd(OUT_A+OUT_C);}
}
}
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