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**µ¡¢¥ä¥Þ¥â¥È¤Î¥×¥í¥°¥é¥à [#p0ffc33a]
#define ss1 SENSOR_1;
#define ss2 SENSOR_2;
#define ss3 SENSOR_3;
#define ss1 SENSOR_1
#define ss2 SENSOR_2
#define ss3 SENSOR_3
#define go_front OnFwd(OUT_A+OUT_C);
#define STOP Off(OUT_A+OUT_C);
#define move OnFwd(OUT_B);Wait(150);Off(OUT_B);OnFwd(OUT_A);OnRev(OUT_C);Wait(90);Off(OUT_A+OUT_C);OnRev(OUT_B);Wait(150);Off(OUT_B);OnRev(OUT_A);OnFwd(OUT_C);Wait(90)Off(OUT_A+OUT_C);
#define move OnFwd(OUT_B);Wait(150);Off(OUT_B);OnFwd(OUT_A);OnRev(OUT_C);Wait(90);Off(OUT_A+OUT_C);OnRev(OUT_B);Wait(150);Off(OUT_B);OnRev(OUT_A);OnFwd(OUT_C);Wait(90);Off(OUT_A+OUT_C);
task main()
{
SetSensor(ss1,SENSOR_LIGHT);
SetSensor(ss2,SENSOR_TOUCH);
SetSensor(ss2,SENSOR_LIGHT);
SetSensor(ss3,SENSOR_LIGHT);
while (true)
{
Wait(100);
start line;
until(ss2 == 1);
stop line;
STOP;
move;
}
}
task line()
{
while (true)
{
go_front;
until((ss1<45)||(ss3<45));
STOP;
if(ss1<45)
{
OnRev(OUT_A);
OnFwd(OUT_C);
until((ss1>45)||((ss1<45)&&(ss3<45)));
STOP;
}
if(ss3<45)
{
OnFwd(OUT_A);
OnRev(OUT_C);
until((ss3>45)||((ss1<45)&&(ss3<45)));
STOP;
}
if((ss1<45)&&(ss3<45))
{
go_front;
until((ss1>45)&&(ss3>45));
STOP;
}
}
}
***¹©É×ÅÀ [#e262e118]
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***´¶ÁÛ [#e262e118]
**¶¡¢ÀîÅè¤Î¥×¥í¥°¥é¥à [#oc1b03dd]
¡¡¡¡»ä¤Ï¡¢[²ÝÂê2]¤Î¡Ö2.¶õ¤´Ì¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ó¤Ç¹Ô¤¡¢¤½¤Î¸òº¹ÅÀ¤Ë»æ¥Ñ¥Ã¥¯¤ò»Ä¤·¤Æ¤µ¤é¤Ë¥³¡¼¥¹¤Ë±è¤Ã¤Æ¿Ê¤à¡£¡×¤òÁª¤Ó¤Þ¤·¤¿¡£
¡¡¡¡
#define GO OnFwd(OUT_A+OUT_C);
#define STOP Off(OUT_A+OUT_C);
#define BACK OnRev(OUT_A+OUT_C);
#define CIR OnFwd(OUT_C);OnRev(OUT_A);
#define REV OnFwd(OUT_A);OnRev(OUT_C);
#define pika_L SENSOR_1
#define ossu SENSOR_2
#define pika_R SENSOR_3
#define cont 45
#define DOWN OnRev(OUT_B);Wait(30);Off(OUT_B);
#define UP OnFwd(OUT_B);Wait(30);Off(OUT_B);
¡¡¡¡¾åµ¤ÎÄêµÁ¤òÍѤ¤¤Æ¥×¥í¥°¥é¥à¤·¤Þ¤·¤¿¡£
#define DOWN OnRev(OUT_B);Wait(35);Off(OUT_B);
#define UP OnFwd(OUT_B);Wait(35);Off(OUT_B);
#define SOFT Float(OUT_A+OUT_C);
¾åµ¤ÎÄêµÁ¤òÍѤ¤¤Æ¥×¥í¥°¥é¥à¤·¤Þ¤·¤¿¡£
task main()
{
SetSensor(pika_L,SENSOR_LIGHT);
SetSensor(ossu,SENSOR_TOUCH);
SetSensor(pika_R,SENSOR_LIGHT);
¡¡¡¡
SetSensor(pika_R,SENSOR_LIGHT);
repeat(4){start follow_brack;
until (ossu == 1);
stop follow_black;
STOP;
DOWN;
}
ClearTimer(0);
while(Timer(0) <= 100 ){
start follow_black;
stop follow_black;
SOFT;
{
task follow_black()
{
while(true) {
if ((pika_L >= 36) && (eye_R >=35))¡¡¡¡¡¡¡¡
{ GO; }
else if ((pika_L >= 36) && (pika_R <= 35))¡¡
{ REV; }
else if ((pika_L <= 36) && (pika_R >= 35))¡¡
{ CIR; }
else if ((pika_L <= 38) && (pika_R <= 39))
{ GO; Wait(50);
until((pika_L <= 40) && (pika_R <= 40));
STOP;¡¡¡¡¡¡
DOWN;
GO; Wait(50);¡¡¡¡¡¡¡¡
STOP; }
Wait(10); }
***¹©É×ÅÀ [#e262e118]
***È¿¾ÊÅÀ [#e262e118]
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#comment