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[[2009a]]
*Ìܼ¡ [#q3f2648a]
#contents
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**¥×¥í¥°¥é¥à¤Î¹©É× [#afe17489]
¡¦¹õÀþ¤ò£²¤Ä¤Î¥»¥ó¥µ¡¼¤Ç¤Ï¤µ¤ß¡¢¥»¥ó¥µ¡¼¤¬¹õÀþ¤Î¾å¤ËÍ褿¤é¥â¡¼¥¿¡¼¤òÄ´Àᤷ¤Æµ°Æ»¤òľ¤·¤Þ¤¹
***µíÆý¥Ñ¥Ã¥¯¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤Ö¥×¥í¥°¥é¥à [#h854a0b5]
***µíÆý¥Ñ¥Ã¥¯¤òÈò¤±¤Æ¿Ê¤à¥×¥í¥°¥é¥à [#w40a17eb]
#define THRESHOLD 40
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£±¤Ï¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£³¤Ï¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_2,SENSOR_TOUCH);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£²¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼
while (true)
{
if ((SENSOR_1>THRESHOLD) && (SENSOR_3>THRESHOLD)){
OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£²¤Ä¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ê¤éľ¿Ê
until((SENSOR_1 < THRESHOLD) || (SENSOR_3 < THRESHOLD));
}
{
if ((SENSOR_1<THRESHOLD) && (SENSOR_3<THRESHOLD)){
OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£²¤Ä¤Î¥»¥ó¥µ¡¼¤¬¹õ¤Ê¤éľ¿Ê
until((SENSOR_1 < THRESHOLD) || (SENSOR_3 < THRESHOLD));
}
if (SENSOR_1<THRESHOLD){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬¹õ¤Î»þ¤Ïº¸¤Ë½¤Àµ
OnFwd(OUT_C);
Off(OUT_A);
Wait(1);
}
if (SENSOR_3<THRESHOLD){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬¹õ¤Î»þ¤Ï±¦¤Ë½¤Àµ
OnFwd(OUT_A);
Off(OUT_C);
Wait(1);
}
if (SENSOR_2==1) { ¡¡¡¡¡¡¡¡//¾ã³²Êª¤Ë¤¢¤¿¤Ã¤¿¤é±ª²ó¤·¤Æ¾ã³²Êª¤òÈò¤±¤ë
OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ð¥Ã¥¯¤·¤Þ¤¹
Wait(200);
OnFwd(OUT_A);OnRev(OUT_C); //Êý¸þž´¹¤·¤Þ¤¹
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(150);
OnFwd(OUT_C);OnRev(OUT_A); ¡¡¡¡¡¡¡¡¡¡//Êý¸þž´¹¤·¤Þ¤¹
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(200);
OnFwd(OUT_C);OnRev(OUT_A); ¡¡¡¡¡¡¡¡//Êý¸þž´¹¤·¤Þ¤¹
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(150);
OnFwd(OUT_A);OnRev(OUT_C); ¡¡¡¡¡¡¡¡
Wait(100);¡¡¡¡¡¡¡¡
}
}
}
}
***¸òº¹ÅÀ¤´¤È¤Ë±¦º¸ÀÞ¤òÊѤ¨¤ë¥×¥í¥°¥é¥à [#fe2e9077]
#define RUN_TIME 1200
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡¡¡ //¥»¥ó¥µ¡Ý£±¤Ï¥é¥¤¥È
SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡¡¡ //¥»¥ó¥µ¡Ý£³¤â¥é¥¤¥È
SetSensor(SENSOR_2,SENSOR_TOUCH);¡¡¡¡ //¥»¥ó¥µ¡¼£²¤Ï¥¿¥Ã¥Á
while(true)¡¡¡¡¡¡//¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à
{
start follow_line;
until((SENSOR_1>=£´0)&&(SENSOR_3<=30))
stop follow_line;
start turn_right;
stop turn_right;
start follow_line;
until((SENSOR_1<=30)&&(SENSOR_3>=40))
start turn_left;
stop turn_left;
}
}
task follow_line()¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à
{
while(true)
{
if((SENSOR_1>=40)&&(SENSOR_3>=40))¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¡¢£³¤¬Çò¤Ê¤éÁ°¿Ê
{
OnFwd(OUT_A+OUT_C);
}
else if((SENSOR_1>=40)&&(SENSOR_3<=30))¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬¹õ¤Ê¤é±¦¤Ø
{
OnFwd(OUT_A); OnRev(OUT_C);
}
else if((SENSOR_1<=30)&&(SENSOR_3>=40))¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬¹õ¤Ê¤éº¸¤Ø
{
OnRev(OUT_A); OnFwd(OUT_C);
}
Wait(1);
}
}
task turn_right()¡¡¡¡¡¡//±¦²ó¤ê¤Î¥×¥í¥°¥é¥à
{
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(60);
Wait(1);
}
task turn_left()¡¡¡¡¡¡//º¸²ó¤ê¤Î¥×¥í¥°¥é¥à
{
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(60);
Wait(1);
}
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#comment