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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#m8b91d82]
**¥í¥Ü¥Ã¥È¡¤Î¥×¥í¥°¥é¥à [#y71c52fd]
#define L 43 //ïçÃͤòÀßÄê
#define ON 11 //Á÷¤ë¥á¥Ã¥»¡¼¥¸¤òÀßÄê
#define go OnFwd(OUT_A+OUT_C); //Á°¿Ê¤òÀßÄê
#define right OnFwd(OUT_A);OnRev(OUT_C); //±¦ÀÞ¤òÀßÄê
#define left OnFwd(OUT_C);OnRev(OUT_A); //º¸ÀÞ¤òÀßÄê
task main()
{SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤òÀßÄê
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤òÀßÄê
SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤òÀßÄê
int n=0;¡¡//ÊÑ¿ô¤òÀßÄê
Wait(100); //¤¤¤¤Ê¤êÆ°¤¯¤ÈÌñ²ð¤«¤È»×¤¤¡¢¥¹¥¤¥Ã¥Á¤ò²¡¤·¤Æ¤«¤é¾¯¤·ÂԤäƹÔÆ°³«»Ï
until(n==3){ if(SENSOR_1>L) //¤³¤³¤«¤é
{if(SENSOR_3>L){OnFwd(OUT_A+OUT_C);}
else {right;}
}
else{
if (SENSOR_3>L){left;} //¤³¤³¤Þ¤Ç¤Ï´ðËÜŪ¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤òÊÑ¿ô¤¬£³¤Ë¤Ê¤ë¤Þ¤Ç¹Ô¤¤¡¢
else{if(n==0){go;Wait(80);n++;} //°ì¤ÄÌܤθòº¹ÅÀ¡Ê¡©¡Ë¤Ïľ¿Ê
else if(n==1){go;Wait(40);right;Wait(90);n++;} // Æó¤ÄÌܤϱ¦ÀÞ
else if(n==2){Off(OUT_A+OUT_C);n++;} //»°¤ÄÌܤǤϰì½Ö»ß¤Þ¤ê¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»
}
}
}
go;Wait(10);right;Wait(90); //±¦ÀÞ¤·¤Æ¡¢
go;Wait(248);left;Wait(90); //ÊɤΤؤ³¤ó¤Ç¤¤¤ë¥Ý¥¤¥ó¥È¤Ë¸þ¤«¤Ã¤Æ¡¢
until(SENSOR_2==1){go;} //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤¹¤ë¤Þ¤Ç¿Ê¤ß¡¢
Off(OUT_A+OUT_C); //È¿±þ¤·¤¿¤é¤¤¤Ã¤¿¤ó»ß¤Þ¤Ã¤Æ¡¢
PlaySound(SOUND_UP);Wait(1000);OnRev(OUT_A+OUT_C);Wait(60); //¤·¤Ð¤é¤¯ÂԤäƥ¿¥é¥Ã¥×¤ò²¼¤²¤ë¤¿¤á¾¯¤·¥Ð¥Ã¥¯¤·¤Æ
Off(OUT_A+OUT_C); //½ªÎ»¡ª¡ª
}
**¥í¥Ü¥Ã¥È¢¤Î¥×¥í¥°¥é¥à [#d517f07b]
#define L 40
#define D (SENSOR_1<L)&&(SENSOR_3<L)
#define go OnRev(OUT_A+OUT_C);
#define back OnFwd(OUT_A+OUT_C);
#define right OnFwd(OUT_A);OnRev(OUT_C);
#define left OnRev(OUT_A);OnFwd(OUT_C);
#define ON 11
#define Stop Off(OUT_A+OUT_C+OUT_B);
#define Catch OnRev(OUT_B);
#define Put OnFwd(OUT_B); //¤è¤¯»È¤¦¤â¤Î¤Ï¡¢ÌÌÅݤˤʤé¤Ê¤¤¤è¤¦¤Ë´Êñ²½¤¹¤ë
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_LIGHT); ¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤òÀßÃÖ¤¹¤ë
int n=0;
int m=1; ¡¡¡¡¡¡ //ÊÑ¿ô¤òÀßÄꤹ¤ë
Off(OUT_A+OUT_C);Wait(2300);
go;Wait(50); //23ÉÃÂԤġÊ1¹æµ¡¤¬2¹æµ¡¤ò¸þ¤³¤¦¤Þ¤Ç±¿¤Ö»þ´Ö¡Ë
until(SENSOR_2==1){go;}
until(D){m++;back;}
if(D&&n==0){go;Wait(30);left;Wait(55);n++;Stop;}
start line; ¡¡¡¡¡¡
if(D&&n==1){stop line;go;Wait(30);left;Wait(55);n++;}
start line;
if((SENSOR_2==1)&&(m==1)){stop line;Catch;Wait(400);
right;Wait(110);m++;}
start line;
if(D&&n==2){go;Wait(55);n++;}
if((SENSOR_2==1)&&(m==2)){stop line;Put;Wait(400);Stop;left;Wait(55);m++;}
go;Wait(300);left;Wait(55);go;
if((SENSOR_2==1)&&(m==3)){Catch;Wait(400);right;Wait(110);m++;}
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==4)){back;Wait(50);right;Wait(55);m++;}
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==5)){Put;Wait(400);Stop;right;Wait(55);m++;}
go;Wait(300);left;Wait(55);go;Wait(30);
right;Wait(55);
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==6)){Catch;Wait(400);right;Wait(110);m++;}
start line;
if(D&&n==3){go;Wait(55);right;Wait(55);n++;}
if(D&&n==4){go;Wait(55);n++;}
if(D&&n==5){go;Wait(55);left;Wait(55);n++;}
if((SENSOR_2==1)&&(m==7)){stop line;Put;Wait(400);right;Wait(110);m++;}
start line;
if(D&&n==6){go;Wait(50);n++;}
if((SENSOR_2==1)&&(m==8)){stop line;Catch;Wait(400);right;Wait(110);m++;}
start line;
if(D&&n==7){go;Wait(55);n++;}
if((SENSOR_2==1)&&(m==9)){stop line;Put;Wait(400);back;Wait(55);
right;Wait(55);m++;}
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==10)){right;Wait(55);m++;}
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==11)){Catch;Wait(400);right;Wait(110);m++;}
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==12)){left;Wait(55);m++;}
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==13)){Put;Wait(400);back;Wait(55);
left;Wait(55);m++;}
go;Wait(300);right;Wait(55);go;Wait(30);
left;Wait(55);
until(SENSOR_2==1){go;}
if((SENSOR_2==1)&&(m==14)){Catch;Wait(400);right;Wait(110);m++;}
start line;
if(D&&n==8){go;Wait(55);left;Wait(55);n++;}
if(D&&n==9){go;Wait(55);n++;}
if(D&&n==10){go;Wait(55);right;Wait(55);n++;}
if((SENSOR_2==1)&&(m==15)){Put;Wait(400);}
Stop;
}
task line() //¥é¥¤¥ó¥È¥ì¡¼¥¹
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_LIGHT);
if(SENSOR_1>L)
{if(SENSOR_3>L){go;}
else {right;}
}
else{
if (SENSOR_3>L){left;}
}
}
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#comment