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sub turn(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¤Ë90Åٶʤ¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó SetPower(OUT_A,6); SetPower(OUT_B,5); SetPower(OUT_C,7); ClearMessage(); until((Message() == SIGNAL_A) || (Message() == SIGNAL_B)); PlaySound(SOUND_CLICK); ClearMessage(); Off(OUT_A+OUT_B); Wait(50); OnRev(OUT_A+OUT_B); Wait(10); Off(OUT_A+OUT_B); OnFwd(OUT_A); OnRev(OUT_B); Wait(80); Off(OUT_A+OUT_B); Wait(50); ClearMessage(); } sub turn_r(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë£¹£°¡ë¶Ê¤¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó until((Message() == SIGNAL_A) || (Message() == SIGNAL_B)); ClearMessage(); Off(OUT_A+OUT_B); Wait(50); OnRev(OUT_A+OUT_B); Wait(10); Off(OUT_A+OUT_B); OnFwd(OUT_B); OnRev(OUT_A); Wait(80); Off(OUT_A+OUT_B); Wait(50); ClearMessage(); } sub line(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó SetPower(OUT_A,6); SetPower(OUT_B,5); SetSensor(SENSOR_1,SENSOR_LIGHT); move_count = 0; ClearMessage(); ClearTimer(0); while(move_count < 1){ if(((Message() == SIGNAL_A) || (Message() == SIGNAL_B)) && (FastTimer(0) > 500)){ PlaySound(SOUND_CLICK); ClearMessage(); (move_count); move_count = move_count + 1; } if(SENSOR_1>THRESHOLD){ OnFwd(OUT_A); Off(OUT_B); if(FastTimer(0) > 400){ ClearMessage(); }} else{ Off(OUT_A); OnFwd(OUT_B); if(FastTimer(0) > 400){ ClearMessage(); } } } } task main(){ SetPower(OUT_A,6); SetPower(OUT_B,5); SetSensor(SENSOR_1,SENSOR_LIGHT); ClearMessage(); OnFwd(OUT_A+OUT_B); until(SENSOR_1<THRESHOLD); Off(OUT_A+OUT_B); Wait(50); OnFwd(OUT_A+OUT_B); until((Message() == SIGNAL_A) || (Message() == SIGNAL_B)); PlaySound(SOUND_CLICK); ClearMessage(); OnRev(OUT_A+OUT_B); Wait(20); OnFwd(OUT_B); OnRev(OUT_A); Wait(57); OnFwd(OUT_A+OUT_B); Wait(250); OnFwd(OUT_A); OnRev(OUT_B); Wait(40); OnFwd(OUT_A+OUT_B); until(SENSOR_1<THRESHOLD); line(); Off(OUT_A+OUT_B); Wait(50); OnRev(OUT_A+OUT_B); Wait(10); Off(OUT_A+OUT_B); OnFwd(OUT_A); OnRev(OUT_B); Wait(80); Off(OUT_A+OUT_B); Wait(50); OnFwd(OUT_A+OUT_B); ClearMessage(); until((Message() == SIGNAL_A) || (Message() == SIGNAL_B)); move_count = 0; ClearMessage(); while(move_count < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡ if(Message() == SIGNAL_A){ ClearMessage(); (move_count); move_count = move_count + 1; } if(Message() == SIGNAL_B){ OnFwd(OUT_A); Off(OUT_B); Wait(10); ClearMessage(); } else{ Off(OUT_A); OnFwd(OUT_B); } } Off(OUT_A+OUT_B); PlaySound(SOUND_CLICK); OnRev(OUT_A); Wait(145); OnRev(OUT_A+OUT_B); Wait(30); Off(OUT_A+OUT_B); ClearMessage(); SendMessage(SIGNAL); until(Message() == SIGNAL_2); PlaySound(SOUND_CLICK); Off(OUT_A+OUT_B); move_count = 0; while(move_count < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¢ if((SENSOR_2 < THRESHOLD_2) && (SENSOR_3 > THRESHOLD_3)){ OnRev(OUT_A); Off(OUT_B); } if((SENSOR_2 > THRESHOLD_2) && (SENSOR_3 < THRESHOLD_3)){ OnRev(OUT_B); Off(OUT_A); } if((SENSOR_2 < THRESHOLD_2) && (SENSOR_3 < THRESHOLD_3)) { OnRev(OUT_A+OUT_B); Wait(20); (move_count); move_count = move_count + 1; } if((SENSOR_2 > THRESHOLD_2) && (SENSOR_3 > THRESHOLD_3)) { OnRev(OUT_A+OUT_B); } } OnRev(OUT_A+OUT_B); Wait(28); Float(OUT_A+OUT_B); SendMessage(SIGNAL_3); until(Message() == SIGNAL_4); PlaySound(SOUND_CLICK); OnFwd(OUT_A); OnRev(OUT_B); Wait(100); Off(OUT_A+OUT_B); OnFwd(OUT_A+OUT_B); ClearMessage(); until((Message() == SIGNAL_A) || (Message() == SIGNAL_B)); PlaySound(SOUND_CLICK); ClearMessage(); Off(OUT_A+OUT_B); Wait(50); OnRev(OUT_A+OUT_B); Wait(15); Off(OUT_A+OUT_B); OnFwd(OUT_A); OnRev(OUT_B); Wait(80); Off(OUT_A+OUT_B); Wait(50); ClearMessage(); PlaySound(SOUND_CLICK); OnFwd(OUT_A+OUT_B); turn_r(); OnFwd(OUT_B); OnRev(OUT_A); Wait(25); Off(OUT_A+OUT_B); OnFwd(OUT_A+OUT_B); Wait(35); line(); turn_r(); Off(OUT_A+OUT_B); OnRev(OUT_A+OUT_B); Wait(200); Off(OUT_A+OUT_B); SendMessage(SIGNAL_8); ClearMessage(); until(Message() == SIGNAL_9); SendMessage(SIGNAL_5); ClearMessage(); until(Message() == SIGNAL_6); OnFwd(OUT_A+OUT_B); Wait(200); Off(OUT_A+OUT_B); SendMessage(SIGNAL_7); Wait(200); OnRev(OUT_A+OUT_B); Wait(200); Off(OUT_A+OUT_B); OnFwd(OUT_A+OUT_B); Wait(150); Off(OUT_A+OUT_B); } ¤â¤¦°ì¤Ä¤ÎRCX #define SIGNAL 11 #define SIGNAL_2 12 #define SIGNAL_3 13 #define SIGNAL_4 14 #define SIGNAL_5 15 #define SIGNAL_6 16 #define SIGNAL_7 17 #define SIGNAL_8 18 #define SIGNAL_9 19 #define SIGNAL_A 21 #define SIGNAL_B 22 task main(){ SetSensor(SENSOR_1,SENSOR_ROTATION); SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_TOUCH); ClearMessage(); while(true){ if(Message() == SIGNAL){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¡SIGNAL¤ò¼õ¿®¤·¤¿¤È¤ PlaySound(SOUND_CLICK);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ÏÓ¤ò³«¤¯ OnFwd(OUT_A); until(SENSOR_1 == 90); Off(OUT_A); Wait(50); ClearMessage(); SendMessage(SIGNAL_2); } if(Message() == SIGNAL_3){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGNAL_3¤ò¼õ¿®¤·¤¿¤È¤ ClearSensor(SENSOR_1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ÏÓ¤òÊĤ¸¡¢´Ì¤ò»ý¤Á¾å¤²¤ë OnRev(OUT_A); until(abs(SENSOR_1) == 68); ClearSensor(SENSOR_1); Off(OUT_A); Wait(30); OnFwd(OUT_B+OUT_C); Wait(30); Off(OUT_B+OUT_C); SendMessage(SIGNAL_4); ClearMessage(); } if(Message() == SIGNAL_5){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGANAL_5¤ò¼õ¿®¤·¤¿»þ OnRev(OUT_C+OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡´Ì¤ò»ý¤Á¾å¤²¤Ê¤¬¤éÏÓ¤ò³«¤¯ Wait(30); Off(OUT_C+OUT_B); OnFwd(OUT_A); until(abs(SENSOR_1) == 65); Off(OUT_A); Wait(50); SendMessage(SIGNAL_6); ClearSensor(SENSOR_1); ClearMessage(); } if(Message() == SIGNAL_7){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//signal_7¤ò¼õ¿®¤·¤¿¤È¤ ClearSensor(SENSOR_1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ÏÓ¤òÊĤ¸¤ë OnRev(OUT_A); 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