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[[2009b]]
#contents
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#define fo 300
#define ma 80
#define su 200
#define na 500
#define l_mini 60
#define l_max 85
int t = 0;
task main ()
{
SetSensor(SENSOR_1, SENSOR_LIGHT);
SetSensor(SENSOR_3, SENSOR_LIGHT);
while ( t < 1 ) {
if (SENSOR_1 > l_mini && SENSOR_3 > l_mini ) {¡¡¡¡//ξÊý¤Î¥»¥ó¥µ¡¼¤¬¡¢¸÷¤ò´¶ÃΤ·¤Æ¡¢
PlaySound(SOUND_CLICK);
if(SENSOR_1 < l_max || SENSOR_3 < l_max) {¡¡¡¡//¤É¤Á¤é¤«¤¬¡Ö¸÷¤ÎºÇÂçÃ͡פۤÉÌÀ¤ë¤¯´¶¤¸¤Ê¤¤¤È¤
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²óž
} else { ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ξÊý¡Ö¸÷¤ÎºÇÂçÃ͡פò¤È¤Ã¤Æ¤¤¤ë¤È¤¡¡¡¡¡¡
until( SENSOR_1 >= l_max && SENSOR_3 >=l_max)//ξÊý¡Ö¸÷¤ÎºÇÂçÃ͡פò¼è¤ë¤Þ¤Ç
PlaySound(SOUND_DOUBLE_BEEP);
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê
t = t+1;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //t=1¤È¤Ê¤ê¡¢¤³¤ì°Ê¾å·«¤êÊÖ¤µ¤Ê¤¤
}
} else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¤ò´¶ÃΤ·¤Æ¤¤¤Ê¤¤¤È¤¡¢
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤ä
Wait(ma);
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸åÂà¤Ç¸÷¤ò¤µ¤¬¤¹¡£
Wait(su);¡¡¡¡¡¡
}
}
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Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Ää»ß¤·¡¢
PlaySound(SOUND_FAST_UP);
OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ö¥í¥Ã¥¯È¯¼Í¡£
Wait(na);
Off(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Ää»ß¡£
}
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#define time 700¡¡¡¡¡¡¡¡//¥í¥Ü¤¬1²óž¤¹¤ë»þ´Ö
task main()
{
int l_max = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡Ö¸÷¤ÎºÇÂçÃ͡פò¤¤í¤¯¤¹¤ë¤¿¤á¤ÎÊÑ¿ô
int t_max = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»þ´Ö¤òµÏ¿¤¹¤ë¤¿¤á¤ÎÊÑ¿ô
SetSensor(SENSOR_1, SENSOR_LIGHT);
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
while(FastTimer(0) <= time){¡¡¡¡¡¡¡¡//¥í¥Ü¤¬1²óž¤¹¤ë¤Þ¤Ç¤Ç¡¢
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¤·¤Æ¡¡
if(SENSOR_1 > l_max){¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬¡Ö¸÷¤ÎºÇÂçÃ͡פè¤êÌÀ¤ë¤¤¤È¤
l_max = SENSOR_1;¡¡¡¡¡¡¡¡¡¡//¤½¤Î»þ¤ÎÃͤò¡Ö¸÷¤ÎºÇÂçÃ͡פ˹¹¿·
t_max = FastTimer(0);¡¡¡¡¡¡//¤½¤Î»þ¤Î»þ´Ö¤òµÏ¿¡£
}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //1²óž¤·¤¿»þ¤Ë¤Ï¡¢
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PlaySound(SOUND_DOUBLE_BEEP);
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ºÆ¤Ó²óž¤ò»Ï¤á¤Þ¤¹¡£
Wait(t_max);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¾å¤Çµá¤á¤¿¡¢ºÇ¤âÌÀ¤ë¤¤¤È¤³¤í¤Þ¤Ç²óž
Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤·¤ÆÄä»ß¡£
if(SENSOR_1 < 100 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤â¤·¥é¥¤¥È¤«¤é30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¾ì¹ç
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} else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //30cm¤Î°ÌÃ֤ˤ¢¤ì¤Ð¡¢
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OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ö¥í¥Ã¥¯¤òȯ¼Í¡£
}
Off(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß¡£
}
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#comment