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//¿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 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¤ arm_on; PlaySound(SOUND_UP) ; turn_rightb;Wait(100); go; Wait(70); arm_off;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤òÎ¥¤·¸åÂà back; Wait(70); turn_leftb;Wait(100); } } 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 turn OnFwd(OUT_A);OnRev(OUT_C);Wait(220);Off(OUT_A+OUT_C); //180¡ë²óž 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(±¦) 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¤ { 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¤òÄɲà 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 Off(OUT_B); BACK;Wait(100); //¸åÂà turn; //²óž STOP; //Ää»ß START;Wait(20);flag++; } } } 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 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 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(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 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 go_front;//Á°¿Ê until((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))//ξÊý¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ë¤Ê¤ë¤Þ¤Ç stay;} stay;} } } *Á´ÂΤÎÈ¿¾ÊÅÀ [#a3ea6c86] ¡¦¶ö¿ô²óÌÜ¡¢´ñ¿ô²óÌܤȤ¤¤¦¤Î¤¬¤É¤¦¤ä¤ì¤Ð¤¤¤¤¤Î¤«Ê¬¤«¤é¤º¤Ë¶ìÀ路¤¿¡£¡¡¥Þ¥³¥È¡¡&br; ¡¦¥«¥ó¤ò±¿¤Ö¥×¥í¥°¥é¥à¤ò¤É¤Î¤è¤¦¤Ëºî¤ì¤Ð¤¤¤¤¤«¹Í¤¨¤ë¤Î¤Ë¶ìÏ«¤·¤¿¡£¡¡¥«¥º &br; ¡¦»ß¤Þ¤êÊý¤ò¹Í¤¨¤ë¤Î¤Ë¶ìÏ«¤·¤¿¡£¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡&br; ¡¦¸òº¹ÅÀ¤Ç¤Î´Ì¤ò±¿¤Ö¤Î¤¬Æñ¤·¤¯¤É¤¦¤¹¤ì¤ÐÀþ¤Î¾å¤Ë´Ì¤òÃÖ¤±¤ë¤«¶ìÏ«¤·¤¿¡£²ò·èË¡¤È¤·¤Æ¤Ï¥³¡¼¥¹¤Î±¦¤Ë90Åٶʤ¬¤êÃÖ¤¯¤È¤¤¤¦ÊýË¡¤Ç²ò·è¤·¤¿¡£¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¤·¤ç¤¦¤´ *´¶ÁÛ [#jf6e1fa1] ¡¦Á°²ó¤è¤ê¤â¥í¥Ü¥Ã¥È¤ä¥×¥í¥°¥é¥à¤òºî¤ë¤Î¤¬Æñ¤·¤¯¤Æ¶ìÏ«¤·¤¿¤±¤É¤Þ¤¿¤¤¤í¤ó¤Ê¥×¥í¥°¥é¥à¤ÎÊýË¡¤ä¹©Éפò³Ø¤Ù¤Æ¤è¤«¤Ã¤¿¤Ç¤¹¡£&br; 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