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#CONTENTS
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#ref(CA3A0014.JPG)
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#ref(CA3A0015.JPG)
*¤½¤ì¤¾¤ì¤Î¥×¥í¥°¥é¥à [#fdd830b1]
**­¡¶õ¤­´Ì¤ò¥³¡¼¥¹¾å¤ËÌᤷ¤ÆºÆ¤Ó¥³¡¼¥¹¤ËÌá¤Ã¤Æ¿Ê¤à(K.H) [#k711c3ab]
 #define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t); Off(OUT_A+OUT_C);     //tÉÃÁ°¿Ê
 #define turn_right(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_A+OUT_C);//tÉñ¦¤ËÀû²ó
 #define turn_left(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C); //tÉú¸¤ËÀû²ó
 #define fleeze_there(t) Off(OUT_A+OUT_C);Wait(t);                        //tÉÃÀÅ»ß
 #define limit 40                                                         //ïçÃÍ
 #define away_can OnFwd(OUT_B);Wait(50);Off(OUT_B);OnFwd(OUT_A+OUT_C);Wait(50);OnRev(OUT_A);OnFwd(OUT_C);Wait(180);OnRev(OUT_B);Wait(50);Off(OUT_B);OnRev(OUT_A+OUT_C);Wait(50);OnFwd(OUT_A);OnRev(OUT_C);Wait(180);OnRev(OUT_A+OUT_C);Wait(80);Off(OUT_A+OUT_C);
                                                                          //´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤­¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
 #define away_can OnFwd(OUT_B);Wait(50);Off(OUT_B);OnFwd(OUT_A+OUT_C);Wait(50);OnRev(OUT_A);OnFwd(OUT_C);Wait(180);OnRev(OUT_B);Wait(50);Off(OUT_B);
                                                                          //´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¯
 #define return¡¡OnRev(OUT_A+OUT_C);Wait(50);OnFwd(OUT_A);OnRev(OUT_C);Wait(180);OnRev(OUT_A+OUT_C);Wait(80);Off(OUT_A+OUT_C);
                                                                          //´Ì¤òÃÖ¤¤¤¿¸å¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
  int i=0;¡¡                                                              //ÊÑ¿ôi¤ò¸òº¹ÅÀ¤ò´¶ÃΤ·¤¿²ó¿ô¤ÈÄêµÁ¤·¤½¤Î½é´üÃͤò£°¤È¤¹¤ë
 task main()
 {
  SetSensor(SENSOR_2,SENSOR_TOUCH);                                       //¥»¥ó¥µ¡¼£²¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ç¤¹
    start follow_line;                                                    //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
    until (SENSOR_1 == 1);                                                //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
    until (SENSOR_2 == 1);                                                //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
    stop follow_line;                                                     //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥àÄä»ß
    fleeze_there(100);                                                    //£±ÉÃÀÅ»ß
    away_can;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡         //£±¤ÄÌܤδ̤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤­¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
    away_can;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡         //£±¤ÄÌܤδ̤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¯
    return;                                                               //¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
    start follow_line;                                                    //ºÆ¤Ó¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
    until (SENSOR_1 == 1);                                                //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
    until (SENSOR_2 == 1);                                                //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
    stop follow_line;                                                     //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥àÄä»ß
    fleeze_there(100);                                                    //£±ÉÃÀÅ»ß
    away_can;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡         //£²¤ÄÌܤδ̤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤­¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
    away_can;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡         //£²¤ÄÌܤδ̤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¯
    return¡¨                                                              //¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
    start follow_line;                                                    //ºÆ¤Ó¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
 }
 task follow_line()
 {
  SetSensor(SENSOR_1, SENSOR_LIGHT);                                      //¥»¥ó¥µ¡¼£±¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
  SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡                                    //¥»¥ó¥µ¡¼£³¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
  int i=0;¡¡                                                              //ÊÑ¿ôi¤ò¸òº¹ÅÀ¤ò´¶ÃΤ·¤¿²ó¿ô¤ÈÄêµÁ¤·¤½¤Î½é´üÃͤò£°¤È¤¹¤ë
    while (i<9){                                                          //i¤¬£¹Ì¤Ëþ¤Î¤È¤­°Ê²¼¤Î¹ÔÆ°¤ò¤¹¤ë
          if ((SENSOR_1 < limit) && (SENSOR_3 < limit))                   //¤â¤·¤É¤Á¤é¤Î¥»¥ó¥µ¡¼¤â̵ȿ±þ¤Ê¤é
          if ((SENSOR_1 < limit) && (SENSOR_3 < limit))                   //ξÊý¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é¸òº¹ÅÀ¤Ê¤Î¤Ç
           {fleeze_there(200);                                            //£²ÉÃÄä»ß
            i++;                                                          //i¤Ë+1¤¹¤ë
            go_straight(10);}                                             //¸òº¹ÅÀ¤òÁ°¿Ê¤·±Û¤¨¤ë
               }
     else if ((SENSOR_1 > limit) && (SENSOR_3 > limit))                   //¤â¤·¤É¤Á¤é¤Î¥»¥ó¥µ¡¼¤â̵ȿ±þ¤Ê¤é
           {go_straight(5);}¡¡                                            //ľ¿Ê
     else if ((SENSOR_1 > limit) && (SENSOR_3 < limit))                   //±¦¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
           {turn_right(5);}                                               //±¦¤ËÀû²ó
     else if ((SENSOR_1 < limit) && (SENSOR_3 > limit))                   //º¸¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
           {turn_left(5);}                                                //º¸¤ËÀû²ó
     else if ((SENSOR_1 > limit) && (SENSOR_3 > limit))                   //ξÊý¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é¸òº¹ÅÀ¤Ê¤Î¤Ç
           {fleeze_there(200);                                            //£²ÉÃÄä»ß
            i++;                                                          //i¤Ë+1¤¹¤ë
            go_straight(10);}                                             //¸òº¹ÅÀ¤òÁ°¿Ê¤·±Û¤¨¤ë
               }
 Off(OUT_A+OUT_B+OUT_C);                                                  //¥â¡¼¥¿¡¼ABC¤òÄä»ß
 }
**­¢¶õ¤­´Ì¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ó¤Ç¹Ô¤­¡¢¤½¤Î¸òº¹ÅÀ¤Ë¶õ¤­´Ì¤ò»Ä¤·¤Æ¤µ¤é¤Ë¥³¡¼¥¹¤Ë±è¤Ã¤Æ¿Ê¤à(D.Y) [#ab26dd6c]
 #define THRESHOLD 40
 #define FRONT OnFwd(OUT_A);OnFwd(OUT_C);		//Á°¿Ê
 #define BACK OnRev(OUT_A);OnRev(OUT_C);		//¸å¿Ê
 #define RIGHT Off(OUT_A);OnFwd(OUT_C);			//±¦½¤Àµ
 #define LEFT OnFwd(OUT_A);Off(OUT_C);			//º¸½¤Àµ
 #define STOP Off(OUT_A+OUT_C);				//Ää»ß
 #define ARMDOWN OnRev(OUT_B);Wait(100);		//¥¢¡¼¥à²¼¹ß
 #define ARMUP OnFwd(OUT_B);Wait(100);			//¥¢¡¼¥à¾å¾º
 #define ARMSTOP Off(OUT_B);				//¥¢¡¼¥àÄä»ß
 #define TURN OnFwd(OUT_A);OnRev(OUT_C);Wait(180);	//180¡ëÀû²ó
 #define RUN_TIME 1200					//µ¯Æ°»þ´Ö
 
 
 task main()
 {
 	SetSensor(SENSOR_1,SENSOR_LIGHT); 
 	SetSensor(SENSOR_2,SENSOR_TOUCH);
 	SetSensor(SENSOR_3,SENSOR_LIGHT);
  
 	ClearTimer(0);
 
 	while(Timer(0) <= RUN_TIME ){					//¥¿¥¤¥Þ¡¼0¤¬RUN_TIME°Ê²¼¤Î»þ¤Ë·«¤êÊÖ¤¹
 	start line_trace;
 	until(SENSOR_2==1);
 	stop line_trace;
 	start can_carry;}
 } 
 
 task can_carry()
 {
 	while(true)
 {	if(SENSOR_1<THRESHOLD)
 		if(SENSOR_3<THRESHOLD)
 {			FRONT;Wait(20);					//Á°¿Ê
 			TURN;							//180¡ëÀû²ó(¸åÊý¤ò¸þ¤¯)
 			ARMUP;							//¥¢¡¼¥à¾å¾º
 			FRONT;Wait(20);					//Á°¿Ê
 			TURN;							//180¡ëÀû²ó(Á°Êý¤ò¸þ¤¯)
 
 }
 		else{RIGHT;}							//º¸¤¬Çò¡¢±¦¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢±¦½¤Àµ¡£
 	else{if(SENSOR_3<THRESHOLD){LEFT;}				//º¸¤¬¹õ¡¢±¦¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢º¸½¤Àµ¡£
 		else{FRONT;}}						//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢Á°¿Ê¡£
 }
 }
 
 task line_trace()
 {
 	while(true)
 {	if(SENSOR_1<THRESHOLD)
 		if(SENSOR_3<THRESHOLD){STOP;Wait(15);FRONT;}		//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢°ì»þÄä»ß¤Î¤ÁÁ°¿Ê¡£
 		else{RIGHT;}							//º¸¤¬Çò¡¢±¦¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤­¡¢±¦½¤Àµ¡£
 	else{if(SENSOR_3<THRESHOLD){LEFT;}				//º¸¤¬¹õ¡¢±¦¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢º¸½¤Àµ¡£
 		else{FRONT;}}						//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤­¡¢Á°¿Ê¡£
 }
 }


 
 
**­£´ñ¿ô²óÌܤ˶õ¤­´Ì¤ËÁø¶ø¤·¤¿¤é¡¢¤½¤Î¾ì¤Çȿž¤·¤Æ¿Ê¤ß¡¢¶ö¿ô²óÌܤËÁø¶ø¤·¤¿¤é¡¢¶õ¤­´Ì¤ò²¡¤·¤Î¤±¤Æ¿Ê¤à(¤Æ¤é¤¹¤£¡¼) [#vbe66b53]
 #define strate OnFwd(OUT_A+OUT_C);  //Á°¿Ê
 #define turn_left(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_A+OUT_C); //º¸ÀÞ
 #define turn_right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);//±¦ÀÞ
 #define stay Off(OUT_A+OUT_C);//»ß¤Þ¤ë
 #define THRESHOLD 40//ïçÃÍ
  int turn_count
 #define straight OnFwd(OUT_A+OUT_C);					//Á°¿Ê
 #define back OnRev(OUT_A+OUT_C);					//¸å¿Ê
 #define turn_left OnRev(OUT_A);OnFwd(OUT_C); 				//º¸ÀÞ
 #define turn_right OnFwd(OUT_A);OnRev(OUT_C);				//±¦ÀÞ
 #define stay Off(OUT_A+OUT_C);						//»ß¤Þ¤ë
 #define THRESHOLD 40							//ïçÃÍ
 #define armdown OnRev(OUT_B);Wait(100);Off(OUT_B);			//¥¢¡¼¥à²¼¹ß
 #define armup OnFwd(OUT_B);Wait(100);Off(OUT_B);			//¥¢¡¼¥à¾å¾º
 #define turn OnFwd(OUT_A);OnRev(OUT_C);Wait(180);			//180¡ëÀû²ó
 
 int cross_count=0;							//¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤ëÊÑ¿ô
 int can_count=0;							//´Ì¤Î¿ô¤ò¿ô¤¨¤ëÊÑ¿ô
 
 task main()
 
 sub can()								//´Ì¤ÈÁø¶ø
 {
   SetSensor(SENSOR_1,SENSOR_LIGHT);   //¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼
   SetSensor(SENSOR_2,SENSOR_TOUCH);//¥»¥ó¥µ¡¼2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
   SetSensor(SENSOR_3,SENSOR_LIGHT);   //¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼
   
	if(can_count == 1,3,5,7,9){					//´ñ¿ô²óÌܤΤȤ­
		turn;							//ȿž
		stay;
	} else {							//¶ø¿ô²óÌܤΤȤ­
		armdown;						//²¡¤·¤Î¤±¤ë
		straight; Wait(400);
		armup;
		back; Wait(400);
		stay;
	}
 }
  
 
 while(true)
 task main()								//¥á¥¤¥ó¥¿¥¹¥¯
 {
  
 turn_count=0
 SetSensor(SENSOR_1,SENSOR_LIGHT);  					//¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼
 SetSensor(SENSOR_2,SENSOR_TOUCH);					//¥»¥ó¥µ¡¼2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
 SetSensor(SENSOR_3,SENSOR_LIGHT);					//¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼
 
 strate;//ľ¿Ê
 until((SENSOR_1<THRESHOLD)||(SENSOR_3<THRESHOLD))//¸÷¥»¥ó¥µ¡¼¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç
	while(true){
		start linetrace;					//¤Ï¤¸¤á
		until(SENSOR_2 == 1 || cross_count > 10);		//¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤ê¡¢11ÈÖÌܤθòº¹ÅÀ¤Þ¤Ç
		stop linetrace;
		if(SENSOR_2 == 1){
			can();
		} else {
		 	break;
		}
	}
 stay;
 if(SENSOR_1<THRESHOLD){//º¸¤Î¸÷¥»¥ó¥µ¡¼¤¬¹õ
 OnFwd(OUT_C);OnRev(OUT_A);//±¦ÀÞ
 until(SENSOR_1>THRESHOLD)//¥é¥¤¥ó¾å¤ËÌá¤ë¤Þ¤Ç
 stay;}
 else if(SENSOR_3<THRESHOLD){//±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬¹õ
 OnFwd(OUT_A);OnRev(OUT_C);//º¸ÀÞ
 until(SENSOR_3>THRESHOLD)//¥é¥¤¥ó¾å¤ËÌá¤ë¤Þ¤Ç
 stay;
 else if((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD))//ξÊý¤Î¥»¥ó¥µ¡¼¤¬¹õ
 {Wait(100);//°ìöÄä»ß
 turn_count++;//¥«¥¦¥ó¥È¤òÁý¤ä¤¹
 strate;//Á°¿Ê
 until((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))//ξÊý¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ë¤Ê¤ë¤Þ¤Ç
 stay;}
 while(turn_count<10){//9²ó¸òº¹ÅÀ¤ËÅö¤¿¤Ã¤¿¤éÄä»ß
 
 
 
 
 
 {  int n=0;//n¤ÎÃͤòÄêµÁ
 
 while(n==1){//n¤¬1¤Î»þ
    if(SENSOR_2==1)//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ
    OnRev(OUT_A);
    OnRev(OUT_C);
    Wait(50);    
    turn_left(200);//ȿž
    n++;//n¤ò1Áý¤ä¤¹
 }
 while(n==2){//n¤¬2¤Î»þ
    if(SENSOR_2==1)//¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ
    strate;//ľ¿Ê
    n--;//n¤ò1¸º¤é¤¹}
 
 
 stay;}
 task linetrace()							//¥é¥¤¥ó¥È¥ì¡¼¥¹¥¿¥¹¥¯
 {	  
	while (true) {
		if ((SENSOR_1 >= THRESHOLD) && (SENSOR_3 >= THRESHOLD)) { //ľ¿Ê
			straight;
		} else if ((SENSOR_1 >= THRESHOLD) && (SENSOR_3 <= THRESHOLD)) { //±¦
			turn_right;
		} else if ((SENSOR_1 <= THRESHOLD) && (SENSOR_3 >= THRESHOLD)) { //º¸
			turn_left;
		} else {						//¸òº¹ÅÀ
			stay; Wait(100);
			straight; Wait(100);  				
			cross_count++;					//¿ô¤ò¿ô¤¨¤ë
 		}
 		Wait(2);
	}
 }

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#COMMENT


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