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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 } **¢¶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] **£´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] *´¶ÁÛ [#n2d9facc] **K.H [#j721425c] >Á°²ó¤Î»÷´é³¨¥í¥Ü¥Ã¥È¤è¤ê¤µ¤é¤ËÆñ°×ÅÙ¤¬¾å¤¬¤ê¡¢º£²ó¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¥Ã¥È¤ÏNQCÆþÌç¤ËºÜ¤Ã¤Æ¤¤¤ë¤³¤È¤Î¤Û¤Ü¤¹¤Ù¤Æ¤ò»È¤ï¤Ê¤±¤ì¤Ð¤Þ¤È¤â¤ËÆ°¤«¤Ê¤¤¤Î¤Ç¤«¤Ê¤êÂçÊѤǤ·¤¿¡£¤Þ¤¿¡¢¥á¥ó¥Ð¡¼¤Ç½¸¤Þ¤ë»þ´Ö¤òºî¤ì¤º¤Ê¤«¤Ê¤«ºÇ½ªÄ´À°¤¬¹Ô¤¨¤Ê¤«¤Ã¤¿¤³¤È¤â¸·¤·¤«¤Ã¤¿¤È»×¤¤¤Þ¤·¤¿¡£¼¡²ó¤¬¤¢¤ì¤Ð¸Ä¡¹¤Î¥×¥í¥°¥é¥à¤Ï¼ø¶È³°¤Î»þ´Ö¤ËÁá¤á¤Ë´°À®¤µ¤»¼ø¶È»þ´Ö¤ÏÁ´°÷¤Ç¤ÎºÇ½ªÄ´À°¤Ë²ó¤»¤¿¤é¤¤¤¤¤Ê¤È»×¤¤¤Þ¤·¤¿¡£ **D.Y [#ke81386b] **¤Æ¤é¤¹¤£¡¼ [#o1cacffa] *¥³¥á¥ó¥È [#j82b64a1] #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 } } ¢¬¾¯¤·½¤Àµ¤·¤Þ¤·¤¿¡£