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Wait(t); Off(OUT_A); #define open OnRev(OUT_A); Wait(80); Off(OUT_A); #define push OnFwd(OUT_C); Wait(30); Off(OUT_C); //¾å¤«¤é½ç¤Ë¥¢¡¼¥à¤òÊĤ¸¤ë¡¢¥¢¡¼¥à¤ò³«¤¯¡¢´Ì¤ò²¡¤·½Ð¤¹¡£ Wait(2200); //´Ì¤ÎÁ°¤Þ¤Ç°ÜÆ°¤¹¤ë¤Î¤òÂԤġ£ close(3500); //¥¤ÎÆ°ºî¡Ê¤½¤Î¸å¤Î°ÜÆ°Ãæ¤âÄϤß³¤±¤ë¡£¡Ë //ËÜÂΰÜÆ°Ãæ open; //´Ì¤òÎ¥¤¹¡£ push; //´Ì¤ò²¡¤·½Ð¤¹¡£©¤ÎÆ°ºî } ¸åÉôNQC¡Ê¶îưôÅö¡Ë #define back(t) OnRev(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C); #define right(t) OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_A+OUT_C); #define left(t) OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_A+OUT_C); #define straight(t) OnFwd(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C); //¾å¤«¤é½ç¤ËÁ°¿Ê¡¢±¦ÀÞ¡¢º¸ÀÞ¡¢¸åÂà¡£ task main(){ SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); straight(100); while((SENSOR_1>=40)&&(SENSOR_3>=40)){ straight(10); } //¤³¤³¤Þ¤Ç¡¤ÎÆ°ºî straight(10); right(55); //¹õÀþ¤Ë¾è¤ë while(SENSOR_2 != 1){ if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){ right(20); } if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){ left(20); } else{ OnFwd(OUT_A+OUT_C); } } //¤³¤³¤Þ¤Ç¢¤ÎÆ°ºî back(20); left(55); //ÊɤÈÊ¿¹Ô¤Î¸þ¤¤Ë¤¹¤ë while(SENSOR_2 != 1){ straight(10); } //£¤ÎÆ°ºî OnRev(OUT_C); Wait(20); Off(OUT_C); //´Ì¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë back(150); //¤¤ÎÆ°ºî Wait(500); //¥¢¡¼¥àôÅö¤ÎNQC¤ÎÆ°¤(¥¤ÎÆ°ºî)¤òÂÔ¤Ä right(10); back(150); while((SENSOR_1>=40)&&(SENSOR_3>=40)){ if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){ right(20); } if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){ left(20); } else{ OnRev(OUT_A+OUT_C); } } //¦¤ÎÆ°ºî left(55); //¹õÀþ¤Ë¾è¤ë while(SENSOR_2 != 1){ if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){ right(20); } if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){ left(20); } else{ OnFwd(OUT_A+OUT_C); } } //§¤ÎÆ°ºî right(55); //´Ì¤ÎÊý¤Ë¥¢¡¼¥à¤ò¸þ¤±¤ë back(80); //¨¤ÎÆ°ºî //¤³¤Á¤é¤ÎNQC¤ÎÆ°ºî¤Ï½ªÎ»¡£¸å¤Ï¥¢¡¼¥àôÅö¤ÎNQC¤¬¥¢¡¼¥à¤ò³«¤¡¢´Ì¤ò²¡¤·½Ð¤¹¤Î¤òÂԤġ£ } **¼Â¹Ô·ë²Ì [#u4c4218b] ËÜÈÖ°ì²óÌÜ¡¢¥Õ¥£¡¼¥ë¥É±ü¤Ç¥¿¥¤¥ä¤¬ÊɤÈÀÜ¿¨¤·¤Æ¤·¤Þ¤Ã¤Æ´Ì¤Þ¤Çé¤ê¤Ä¤±¤Ê¤«¤Ã¤¿¡£Æó²óÌܤǤâƱ¤¸¤³¤È¤¬µ¯¤³¤Ã¤Æ¤·¤Þ¤Ã¤¿¤¿¤á¡¢´Ì¤ÎÆÀÅÀ¤Ï£°ÅÀ¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£µ»½ÑÅÀ¤â¿¤Ó¤º¡¢»ÄÇ°¤Ê·ë²Ì¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£&br; 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