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[[2010a]]
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#contents
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**¤·¤ç¤¦¤´¤Î¥×¥í¥°¥é¥à [#o8eca2c2]
#define go OnFwd(OUT_A+OUT_C); //¿Ê¤à
#define turn_right OnFwd(OUT_C);OnRev(OUT_A);Wait(1);¡¡¡¡¡¡//±¦¤Ë²ó¤ë
#define turn_left OnFwd(OUT_A);OnRev(OUT_C);Wait(1);¡¡¡¡¡¡//º¸¤Ë²ó¤ë
#define tomaru Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»ß¤Þ¤ë
#define back OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ìá¤ë
#define goes OnFwd(OUT_A+OUT_C);Wait(40); //¿Ê¤à
#define turn_leftb OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë²ó¤ëtime free
#define turn_rightb OnFwd(OUT_C);OnRev(OUT_A); //º¸¤Ë²ó¤ëtime free
#define arm_on OnFwd(OUT_B);Wait(8);Off(OUT_B); //´Ì¤òÄϤà
#define arm_off OnRev(OUT_B);Wait(8);Off(OUT_B); //´Ì¤òÎ¥¤¹
#define turn_left OnFwd(OUT_A);OnRev(OUT_C);Wait(1);¡¡¡¡¡¡ //º¸¤Ë²ó¤ë
#define tomaru Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //»ß¤Þ¤ë
#define back OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Ìá¤ë
#define goes OnFwd(OUT_A+OUT_C);Wait(40); //¿Ê¤à
#define turn_leftb OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡ //±¦¤Ë²ó¤ëtime free
#define turn_rightb OnFwd(OUT_C);OnRev(OUT_A); //º¸¤Ë²ó¤ëtime free
#define arm_on OnFwd(OUT_B);Wait(8);Off(OUT_B); //´Ì¤òÄϤà
#define arm_off OnRev(OUT_B);Wait(8);Off(OUT_B); //´Ì¤òÎ¥¤¹
¡¡ ¾å¤ÎÄêµÁ¤òÍѤ¤¤Þ¤·¤¿¡£
task main(){
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_LIGHT);
int move_time = 10 ;
while (move_time < 18){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ξ¥»¥ó¥µ¡¼Çò¤Î»þ¿Ê¤à
if (SENSOR_1>39 && SENSOR_3>39){
go;
}else if(SENSOR_3>39){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë²ó¤ë
turn_right;
}else if(SENSOR_1>39 ){ //º¸¤Ë²ó¤ë
turn_left;
}
else{
tomaru;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
Wait(150);
go;
Wait(30);
move_time = move_time + 1;
}
if(SENSOR_2 == 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¥¿¥Ã¥Á¤·¤¿¤È¤
if(SENSOR_2 == 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //´Ì¤ò¥¿¥Ã¥Á¤·¤¿¤È¤
arm_on;
PlaySound(SOUND_UP) ;
turn_rightb;Wait(100);
go;
Wait(70);
arm_off;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤òÎ¥¤·¸åÂà
arm_off;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //´Ì¤òÎ¥¤·¸åÂà
back;
Wait(70);
turn_leftb;Wait(100);
}
}
go;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ8¤ÄÄ̲á¸å¾¯¤·¿Ê¤ß»ß¤Þ¤ë
go;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸òº¹ÅÀ8¤ÄÄ̲á¸å¾¯¤·¿Ê¤ß»ß¤Þ¤ë
Wait(20);
tomaru;
}
¡¡
**¥«¥º¤Î¥×¥í¥°¥é¥à [#bb6424f1]
#define START OnFwd(OUT_A+OUT_C); //Á°¿Ê
#define STOP Off(OUT_A+OUT_C); //Ää»ß
#define BACK OnRev(OUT_A+OUT_C); //¸åÂà
#define arm_l OnFwd(OUT_B);Wait(30);Off(OUT_B); //¥¢¡¼¥àÁàºî
#define BORDER 39 //ïçÃÍ
#define RIGHT OnFwd(OUT_C);OnRev(OUT_A); //±¦ÀÞ
#define LIGHT OnFwd(OUT_A);OnRev(OUT_C); //º¸ÀÞ
#define START OnFwd(OUT_A+OUT_C); //Á°¿Ê
#define STOP Off(OUT_A+OUT_C); //Ää»ß
#define BACK OnRev(OUT_A+OUT_C); //¸åÂà
#define arm_l OnFwd(OUT_B);Wait(30);Off(OUT_B); //¥¢¡¼¥àÁàºî
#define BORDER 39 //ïçÃÍ
#define RIGHT OnFwd(OUT_C);OnRev(OUT_A); //±¦ÀÞ
#define LIGHT OnFwd(OUT_A);OnRev(OUT_C); //º¸ÀÞ
#define turn OnFwd(OUT_A);OnRev(OUT_C);Wait(220);Off(OUT_A+OUT_C); //180¡ë²óž
¡¡ ¾å¤ÎÄêµÁ¤òÍѤ¤¤Þ¤·¤¿¡£
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼(º¸)
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼(±¦)
SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼(º¸)
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼(±¦)
SetPower(OUT_B,1); //¥»¥ó¥µ¡¼B¤Î¥Ñ¥ï¡¼¤ò1¤È¤¹¤ë
SetPower(OUT_B,1); //¥»¥ó¥µ¡¼B¤Î¥Ñ¥ï¡¼¤ò1¤È¤¹¤ë
int flag=0;
while(flag<8){ //¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï
if(SENSOR_1>BORDER && SENSOR_3>BORDER){ //¸÷¥»¥ó¥µ¡¼¤¬Î¾ÊýÇò¤Î¤È¤ {
if(SENSOR_1>BORDER && SENSOR_3>BORDER){ //¸÷¥»¥ó¥µ¡¼¤¬Î¾ÊýÇò¤Î¤È¤
START;} //Á°¿Ê
else if(SENSOR_1>BORDER){ //¸÷¥»¥ó¥µ¡¼3¤¬¹õ¤Î¤È¤
LIGHT;} //º¸ÀÞ
else if(SENSOR_3>BORDER){ //¸÷¥»¥ó¥µ¡¼1¤¬¹õ¤Î¤È¤
RIGHT;} //±¦ÀÞ
else{ //¸÷¥»¥ó¥µ¡¼¤¬Î¾Êý¹õ¤Î¤È¤
STOP;Wait(150); //Ää»ß
START;Wait(30);
flag++;} //flag¤Ë1¤òÄɲÃ
if(SENSOR_2==1){ //¥¿¥Ã¥Á¥»¥ó¥µ¡¼È¿±þ
arm_l; //¥¢¡¼¥àÁàºî
if(SENSOR_2==1){ //¥¿¥Ã¥Á¥»¥ó¥µ¡¼È¿±þ
arm_l; //¥¢¡¼¥àÁàºî
START;Wait(20);flag++;
until((SENSOR_1<BORDER)&&(SENSOR_3<BORDER));
if(SENSOR_1>BORDER && SENSOR_3>BORDER)
{
START;}
else if(SENSOR_1>BORDER){
LIGHT; }
else if(SENSOR_3>BORDER){
RIGHT;}
else{
STOP;Wait(150); //Ää»ß
START;Wait(100); //Á°¿Ê
STOP; //Ää»ß
turn; //²óž
STOP; //Ää»ß
START;Wait(100); //Á°¿Ê
STOP; //Ää»ß
OnRev(OUT_B); //¥¢¡¼¥àÁàºî
STOP;Wait(150); //Ää»ß
START;Wait(100); //Á°¿Ê
STOP; //Ää»ß
turn; //²óž
STOP; //Ää»ß
START;Wait(100); //Á°¿Ê
STOP; //Ää»ß
OnRev(OUT_B); //¥¢¡¼¥àÁàºî
Off(OUT_B);
BACK;Wait(100); //¸åÂà
turn; //²óž
STOP; //Ää»ß
BACK;Wait(100); //¸åÂà
turn; //²óž
STOP; //Ää»ß
START;Wait(20);flag++;
}
}
}
STOP; //Ää»ß
STOP; //Ää»ß
}
**¥Þ¥³¥È¤Î¥×¥í¥°¥é¥à [#y99d2434]
#define go_front 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
#define go_front 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
¡¡ ¾å¤ÎÄêµÁ¤òÍѤ¤¤Þ¤·¤¿¡£
task main()
{
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
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
while(true)//while¤Ï¾ï¤Ë¿¿
{start follow_line;//¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï
int n=0;//n¤ÎÃͤòÄêµÁ
while(n==1){//n¤¬1¤Î»þ
if(SENSOR_2==1)//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ
turn_left(200);//ȿž
while(true) //while¤Ï¾ï¤Ë¿¿
{start follow_line; //¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï
int n=0; //n¤ÎÃͤòÄêµÁ
while(n==1){ //n¤¬1¤Î»þ
if(SENSOR_2==1) //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ
turn_left(200); //ȿž
n++;//n¤ò1Áý¤ä¤¹
}
while(n==2){//n¤¬2¤Î»þ
if(SENSOR_2==1)//¥»¥ó¥µ¡¼¤¬È¿±þ
go_front;//ľ¿Ê
n--;//n¤ò1¸º¤é¤¹}
int turn_count=0;//turn_count¤òÄêµÁ
task follow_line()//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à
while(n==2){ //n¤¬2¤Î»þ
if(SENSOR_2==1) //¥»¥ó¥µ¡¼¤¬È¿±þ
go_front; //ľ¿Ê
n--; //n¤ò1¸º¤é¤¹
}
int turn_count=0; //turn_count¤òÄêµÁ
sub follow_line() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à
{
while(turn_count<10){//9²ó¸òº¹ÅÀ¤ËÅö¤¿¤Ã¤¿¤éÄä»ß
go_front;//ľ¿Ê
until((SENSOR_1<THRESHOLD)||(SENSOR_3<THRESHOLD))//¸÷¥»¥ó¥µ¡¼¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç
while(turn_count<10){ //9²ó¸òº¹ÅÀ¤ËÅö¤¿¤Ã¤¿¤éÄä»ß
go_front; //ľ¿Ê
until((SENSOR_1<THRESHOLD)||(SENSOR_3<THRESHOLD)) //¸÷¥»¥ó¥µ¡¼¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç
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
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
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
go_front;//Á°¿Ê
until((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))//ξÊý¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ë¤Ê¤ë¤Þ¤Ç
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
go_front; //Á°¿Ê
until((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD)) //ξÊý¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ë¤Ê¤ë¤Þ¤Ç
stay;}
stay;}
}
}
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