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[[2010a]]
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#contents
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#define GO OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡Á°¿Ê¤¹¤ë
#define STOP Off(OUT_A); //¡¡Ää»ß¤¹¤ë
#define CIR OnRev(OUT_A); //¡¡±¦ÀÞ¤¹¤ë
#define DOWNF OnFwd(OUT_B);Wait(35);Off(OUT_B); //¡¡º¸Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
#define DOWNS OnRev(OUT_C);Wait(35);Off(OUT_C); //¡¡±¦Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
#define pika SENSOR_2 //¡¡¥»¥ó¥µ¡¼2¤ò¡Øpika¡Ù¤È̾ÉÕ¤±¤ë
#define time 775 // ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯(±¦²ó¤ê)»þ´Ö¤òÄêµÁ
#define FSTOP Float(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
¡¡¡¡¾å¤ÇÄêµÁ¤·¤¿ÃͤòÍѤ¤¤Æ¥×¥í¥°¥é¥à¤ò½ñ¤¤Þ¤·¤¿¡£
task main(){
int l_max = 0; // ¸÷¤ÎºÇÂçÃͤòµÏ¿¤¹¤ëÊÑ¿ô
int t_max = 0; // »þ´Ö¤òµÏ¿¤¹¤ëÊÑ¿ô
SetSensor(pika,SENSOR_LIGHT); // ¥»¥ó¥µ¡Øpika¡Ù¤ò¸÷¡¦¥»¥ó¥µ¤Ë
ClearTimer(0); // Timer(0)¤ò¥ê¥»¥Ã¥È¤¹¤ë
while(FastTimer(0) <= time){
CIR;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯¤Þ¤Ç±¦²ó¤ê
if(pika > l_max){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
l_max = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
t_max = FastTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤½¤Î»þ¤Î»þ´Ö¤òµÏ¿¤¹¤ë
}
}
CIR;
Wait(t_max);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ºÆÅÙ±¦²ó¤ê¤Ë²óž¤¹¤ë(pika¤¬¸÷¤ÎºÇÂçÃͤò´¶ÃΤ¹¤ë¤Þ¤Ç)
STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // Ää»ß¤¹¤ë
if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
GO; // Á°¿Ê¤¹¤ë
} else {¡¡¡¡¡¡¡¡¡¡¡¡ // ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30ѤǤ¢¤ë¤Ê¤é
STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // Ää»ß¤¹¤ë
DOWNS;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ±¦Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
}
STOP; //¡¡Ää»ß¤¹¤ë
while(FastTimer(0) <= time){
CIR;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯¤Þ¤Ç±¦²ó¤ê
if(pika > l_max){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
l_max = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
t_max = FastTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤½¤Î»þ¤Î»þ´Ö¤òµÏ¿¤¹¤ë
}
}
CIR;
Wait(t_max);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ºÆÅÙ±¦²ó¤ê¤Ë²óž¤¹¤ë(pika¤¬¸÷¤ÎºÇÂçÃͤò´¶ÃΤ¹¤ë¤Þ¤Ç)
STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // Ää»ß¤¹¤ë
if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
GO; // Á°¿Ê¤¹¤ë
} else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡// ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30ѤǤ¢¤ë¤Ê¤é
STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // Ää»ß¤¹¤ë
DOWNF;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // º¸Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
¡¡¡¡¡¡¡¡¡¡¡¡ }
FSTOP; // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
}
***¥×¥í¥°¥é¥à¤Î¹©É× [#n434a889]
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***È¿¾Ê¡¢´¶ÁÛ [#zab89523]
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**¥Þ¥³¥È¤Î¥×¥í¥°¥é¥à [#f6be9553]
¡¡¡¦¸÷¡¦¥»¥ó¥µ¤ò°ì¤Ä¤·¤«ÅëºÜ¤·¤Æ¤¤¤Ê¤¤¤Î¤Ç¡¢¤«¤Ê¤ê¶ìÀ路¤Þ¤·¤¿¡£
**¶¡¢¥Þ¥³¥È¤Î¥×¥í¥°¥é¥à [#f6be9553]
#define TURN_TIME 400¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //°ì¼þ¤¹¤ë»þ´Ö
task main(){
SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ
int light_max=0;//¸÷¤ÎºÇÂçÃÍ
int t_max=0;//¸÷¤ÎºÇÂçÃͤλþ´Ö
ClearTimer(0);
OnFwd(OUT_B);Wait(TURN_TIME); //°ì¼þ¤¹¤ë
while(FastTimer(0)<TURN_TIME){ //²ó¤Ã¤Æ¤¤¤ë´Ö
if(SENSOR_1>light_max) //ºÇÂçÃͤθ÷¤ò¸«¤Ä¤±¤¿¤é
{
light_max=SENSOR_1; //ºÇÂçÃͤθ÷¤ÈÀßÄê
t_max=FastTimer(0); //¥¿¥¤¥Þ¡¼¤òÆþ¤ì¤ë
}
}
OnFwd(OUT_B); //¸÷¤ÎºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
Wait(t_max);//
Off(OUT_B);//
OnFwd(OUT_A); //º¸¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
Wait(10);//
Off(OUT_A);//
Wait(50);//
OnRev(OUT_C); //±¦¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
Wait(10);//
Off(OUT_C);//
}
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***¥×¥í¥°¥é¥à¤ÎÌäÂêÅÀ¡¢²þÁ±ºö [#gea8dac9]
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***È¿¾Ê¡¢´¶ÁÛ [#u56d2086]
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**¥«¥º¤Î¥×¥í¥°¥é¥à [#j688e193]
**·¡¢¥«¥º¤Î¥×¥í¥°¥é¥à [#j688e193]
#define turn_time 400 //¥í¥Ü¥Ã¥È¤¬1¼þ¤¹¤ë»þ´Ö
task main()
{
int light_max=0; //ºÇÂçÃÍ
int t_max=0; //ºÇÂçÃͤò¼Â¸½¤¹¤ë»þ¹ï
SetSensor(SENSOR_2,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼
ClearTimer(0); //»þ´Ö¤ò0¤È¤¹¤ë
OnFwd(OUT_B); //°ì¼þ¤¹¤ë
while(Timer(0)<turn_time){
if(SENSOR_2>light_max){ //²ó¤Ã¤Æ¤¤¤ë´Ö
light_max=SENSOR_2; //ºÇÂçÃͤò¥»¥ó¥µ¡¼2¤È¤¹¤ë
t_max=Timer(0); //¥¿¥¤¥Þ¡¼¤òÆþ¤ì¤ë
}
}
Off(OUT_B); //°ìö»ß¤á¤Æ
Wait(100);
OnFwd(OUT_B); //ºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
Wait(t_max)
Off(OUT_B); //»ß¤Þ¤ë
Wait(50);
OnRev(OUT_B); //¸÷¤Ë¸þ¤«¤Ã¤ÆÁ°¿Ê
Wait(50);
Off(OUT_B);
OnFwd(OUT_A); //º¸¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
Wait(20);
Off(OUT_A);
OnFwd(OUT_C); //±¦¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
Wait(20);
Off(OUT_C); //´°Î»
}
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