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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(80);Off(OUT_B);        //¥¢¡¼¥à¤ÎÁàºî
 #define BORDER 40                                      //ïçÃÍ
 #define LIGHT OnFwd(OUT_C);                            //º¸ÀÞ
 #define RIGHT OnFwd(OUT_A);                            //±¦ÀÞ
 #define RECIRCLE OnFwd(OUT_A);OnRev(OUT_C);            //»þ·×²ó¤ê
 #define CIRCLE OnFwd(OUT_C);OnRev(OUT_A);              //È¿»þ·×²ó¤ê


 take main()
 { 
  SetSensor(SENSER_1,SENSER_LIGHT);                     //¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼
  SetSensor(SENSER_2,SENSER_TOUCH);                     //¥»¥ó¥µ¡¼2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
  SetSenser(SERECIRCLENSER_3,SENSER_LIGHT);             //¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼
    int flat = 0 ;                                       
  while(flat<8){
  if((SENSER_1>BORDER)&&(SENSER_3>BORDER)){
     START;
  }else if((SENSER_1<BORDER)&&(SENSER_3>BORDER)){       //º¸ÀÞ
    LIGHT;
  }else if((SENSER_1>BORDER)&&(SENSER_3<BORDER)){       //±¦ÀÞ
     RIGHT;
  }else if((SENSER_1<BORDER)&&(SENSER_3<BORDER)){    
     START;  
      flat=flat++;
  }
   

   if(SENSER_2==1){                          //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
     STRAT;Wait(80);flat++;
      if(SENSER_1>BORDER){
      if(SENSER_3>BORDER){START;}
       else{RECIRCLE;}  
      }
    else{
    if(SENSER_3>BORDER){CIRCLE;}
  }
  }
   BACK;
   RIGHT;
   START;
   LIGHT;
   START;
   flat++;  
 #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(±¦) 
 
   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¤òÄɲÃ
 
      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++;
   }
 }

   ClearTimer(0);                             //¥¿¥¤¥Þ¡¼£°¥»¥Ã¥È
     while(Timer(0)<600){
     if(SENSER_1>BORDER)
          {if(SENSER_3>BORDER){START;}
     else
         {RECIRCLE;}
     else
           {if(SENSER_3>BORDER){CIRCLE;}
     else{START;}
  }
 }
 STOP;
 }
   }
   }           
         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()
 #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)
 {start follow_line;
 int n=0;
 while(n==1){
    if(SENSOR_2==1)
    turn_left(200);
    n++;
 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){
    if(SENSOR_2==1)
    go_front;
    n--;}
 int turn_count=0;
task follow_line()
 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){
 go_front;
 until((SENSOR_1<THRESHOLD)||(SENSOR_3<THRESHOLD))
 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){
 OnFwd(OUT_C);OnRev(OUT_A);
 until(SENSOR_1>THRESHOLD)
 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;}
 if(SENSOR_3<THRESHOLD){
 OnFwd(OUT_A);OnRev(OUT_C);
 until(SENSOR_3>THRESHOLD)
 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;
 if((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD)){
 Wait(100);
 turn_count++;
 go_front;
 until((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))
 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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- ¥í¥Ü¥Ã¥È¤Î°ã¤¤¤ä¹©Éפ¬¤ï¤«¤ê¤ä¤¹¤¯½ñ¤«¤ì¤Æ¤¤¤Þ¤¹¡£¥×¥í¥°¥é¥à¤Î¹©Éס¢²ÝÂ꣱¤Î¤è¤¦¤ËÆ°¤­¤ÎÀâÌÀ¤ò²Ã¤¨¤ë¤È¤µ¤é¤ËÎɤ¯¤Ê¤ë¤È»×¤¤¤Þ¤¹ -- [[TAKA]] &new{2010-07-09 (¶â) 16:44:28};
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