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#CONTENTS
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**¡¶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) //tÉÃÁ°¿Ê
#define turn_right(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t) //tÉñ¦¤ËÀû²ó
#define turn_left(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t) //tÉú¸¤ËÀû²ó
#define fleeze_there(t) Off(OUT_A+OUT_C);Wait(t) //tÉÃÀÅ»ß
#define limit 40 //ïçÃÍ
#define limit 40 //ïçÃÍ
#define away_can OnFwd(OUT_B);Wait(100);OnFwd(OUT_A+OUT_C);Wait(50);
OnRev(OUT_A);OnFwd(OUT_C);Wait(180);OnRev(OUT_B);Wait(100);
OnRev(OUT_A+OUTC);Wait(50);OnFwd(OUT_A);OnRev(OUT_C);Wait(180);
OnRev(OUT_A+OUT_C);Wait(80) //´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¿Ê¹ÔÊý¸þ¤Ë¸þ¤Ä¾¤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
stop follow_line; //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥àÄä»ß
fleeze_there(100); //£±ÉÃÀÅ»ß
away_can; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¿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¤òÄêµÁ¤·¤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
{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
}
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#COMMENT
*ÊÔ½¸ÅÓÃæ¥á¥â [#f6657299]
FastTimer(0)
FastTimer(1)
FastTimer(2)
FastTimer(3)¤ò»È¤¦
ClearTimer(0); /¥¿¥¤¥Þ¡¼0¤ò¥ê¥»¥Ã¥È¤·¤Æ¥¹¥¿¡¼¥È¤µ¤»¤ë
t1=FastTimer(0)
t2=FirstTimer(0)
°Ê²¼»ñÎÁ¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¸¶°Æby¤Æ¤é¤¹¤£¡¼
#define THRESHOLD 40 // ïçÃÍ
task follow_line()
{
SetSensor(SENSOR_1, SENSOR_LIGHT); //±¦¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_3, SENSOR_LIGHT); //º¸¸÷¥»¥ó¥µ¡¼
while (true) {
if ((SENSOR_1 < THRESHOLD) && (SENSOR_3 < THRESHOLD)) //º¸±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬ïçÃͰʲ¼¤Î¤È¤
{OnFwd(OUT_A+OUT_C);} //ľ¿Ê
else if ((SENSOR_1 > THRESHOLD) && (SENSOR_3 < THRESHOLD)) //±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤È¤
{OnRev(OUT_A);OnFwd(OUT_C);} //±¦ÀÞ
else if ((SENSOR_1 < THRESHOLD) && (SENSOR_3 > THRESHOLD)) //º¸¤Î¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤È¤
{OnFwd(OUT_A);OnRev(OUT_C);} //º¸ÀÞ
}
}
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