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#define a OUT_A
#define b OUT_B
task main(){
SetSensor(SENSOR_1, SENSOR_LIGHT);
SetPower(a+b,7);
int defaultSensorLevel = SENSOR_1;
int maxSensorLevel;
// MaxLevel ¤Î¥»¥Ã¥È¥¹¥¿¡¼¥È¢¢¢¢
while(true){
OnFwd(a);
if(SENSOR_1>maxSensorLevel){
maxSensorLevel = SENSOR_1;
}
if(SENSOR_1 == defaultSensorLevel ){
break;
}
}
Off(a);
// MaxLevel ¤Î¥»¥Ã¥È½ªÎ»¢¬¢¬¢¬¢¬
// ²ûÃæÅÅÅô¤òǧÃΤ¹¤ë¤È»ß¤Þ¤ë¡£
while(true){
OnFwd(a);
if(SENSOR_1 == maxSensorLevel){
break;
}
}
Off(a);
//²ûÃæÅÅÅô¤Ë¶á¤Å¤¯
repeat(5){
OnFwd(a);Wait(15);
OnRev(a);Wait(15);
}
Off(a);
//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
OnFwd(b);Wait(12);
Off(b);
}
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#define THRESHOLD 65 //ïçÃͤÎÀßÄê
#define RUN_TIME 20¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//RUNTIME¤ÎÀßÄê
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼£±¤Ï¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁÉÕ¤±
SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡ //¥»¥ó¥µ¡¼£³¤â¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁÉÕ¤±
SetPower(OUT_A+OUT_B,7);¡¡¡¡¡¡¡¡¡¡ //¥â¡¼¥¿¡¼¤Î½ÐÎϤÎÀßÄê
ClearTimer(0);
while(Timer(0)<=RUN_TIME){ //¥¿¥¤¥Þ¡¼¤¬£²Éðʲ¼¤Î»þ¤Ë¼Â¹Ô
if((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD)) //¥»¥ó¥µ¡¼Î¾Êý¤¬ïçÃÍ̤Ëþ¤Î»þ
{ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
OnRev(OUT_A);} //º¸²ó¤ê¤Ç¸÷¸»¤òõ¤¹
if((SENSOR_1>THRESHOLD)&&(SENSOR_3<THRESHOLD)) //¥»¥ó¥µ¡¼£±¤Î¤ßïçÃͤò±Û¤¨¤¿»þ
{ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¡ª
OnRev(OUT_A);} //º¸²ó¤ê¤Ç¸÷¸»¤òÄɤ¤¤«¤±¤ë
if((SENSOR_1<THRESHOLD)&&(SENSOR_3>THRESHOLD)) //¥»¥ó¥µ¡¼£³¤À¤±ïçÃͤò±Û¤¨¤¿»þ
{ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Þ¤¹
OnFwd(OUT_A);} //±¦²ó¤ê¤Ç¸÷¸»¤òÄɤ¤¤«¤±¤ë
if((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD)) //¥»¥ó¥µ¡¼Î¾ÊýïçÃͤò±Û¤¨¤¿»þ
{OnRev(OUT_A); //Á°¿Ê¤·¤Æ¤¤¤¯
OnFwd(OUT_A);}}
Off(OUT_B); //¥¿¥¤¥Þ¡¼¤¬£²Éäò±Û¤¨¤¿»þ
Repeat(4)
{OnRev(OUT_A); Wait(15); //²ûÃæÅÅÅô¤ËÀܶá
OnFwd(OUT_A); Wait(15);} Off(OUT_A);
OnFwd(OUT_B); Wait(15); //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
Off(OUT_B); //½ªÎ»
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