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¡¡¡¦¾åµ¤Î¤³¤È¤È½Å¤Ê¤ë¤«¤â¤·¤ì¤Þ¤»¤ó¤¬¡¢¥í¥Ü¥Ã¥È¤Îµ¡ÂΤˤª¤±¤ëÁ°¸å¤Î¥Ð¥é¥ó¥¹¤¬Á°¤ËÊФäƤ·¤Þ¤Ã¤¿ÅÀ¡£ **¤½¤ÎÌäÂêÅÀ¤Î²þÁ±ºö [#r61c79b8] #ref(./018.JPG,around,25%,΢¦) ¡¦¥Ô¥ó¥¯¤ÎÎؤǼ¨¤·¤¿Éôʬ¤Ë¤¢¤ë¤è¤¦¤Ë¡¢¤·¤Ã¤Ý¤ò¥â¥Á¡¼¥Õ¤Ë¤·¤¿½Å¤ê¤ò¼è¤êÉÕ¤±¤¿¤ê¡¢Á°Êý¤Ë¼è¤êÉÕ¤±¤¿¸÷¡¦¥»¥ó¥µ¤ò1¤Ä¤Ë¤¹¤ë¤³¤È¤ÇÁ°¸å¤Î¥Ð¥é¥ó¥¹¤ò²þÁ±¤·¤Þ¤·¤¿¡£&br; ¡¦ÀÖ¤¤ÎؤǼ¨¤·¤¿¤è¤¦¤ËÁ°Êý¤Î¥¿¥¤¥ä¤Î¥´¥à¤ò¤¢¤¨¤Æ¼è¤êÉÕ¤±¤Ê¤¤¤³¤È¤Ç¡¢Ë໤¤Ë¤è¤ëÄñ¹³¤ò·Ú¸º¤·¤Þ¤·¤¿¡£ #clear *£´¡¢¤½¤ì¤¾¤ì¤Î¥×¥í¥°¥é¥à [#fd1634ba] ¡¡¤³¤³¤«¤é¤Ï¡¢¥á¥ó¥Ð¡¼¤½¤ì¤¾¤ì¤¬[²ÝÂê3]¤ÎÃ椫¤é²ÝÂê¤ò°ì¤ÄÁª¤ó¤ÇºîÀ®¤·¤¿¥×¥í¥°¥é¥à¤ò¡¢¸Ä¿ÍŪ¤ÊÈ¿¾Ê¤È´¶ÁÛ¤ò¸ò¤¨¤Æ¡¢µ¡Á·¤Ë¾Ò²ð¤·¤Æ¤¤¤¤¿¤¤¤È»×¤¤¤Þ¤¹¡£ **µ¡¢¥«¥ï¥·¥Þ¤Î¥×¥í¥°¥é¥à [#h399a642] ¡¡»ä¤Ï¡¢Ž¢2. ²ûÃæÅÅÅô¤ò¤æ¤Ã¤¯¤êÆ°¤«¤·¤¿¤È¤²ûÃæÅÅÅô¤Ë¸þ¤«¤Ã¤Æ¿Ê¤ß¡¢²ûÃæÅÅÅô¤ÎÆ°¤¤ò»ß¤á¤ì¤Ð°ìÄê¤Îµ÷Î¥(²ûÃæÅÅÅô¤«¤é30cm°Ê¾åÎ¥¤ì¤¿µ÷Î¥)¤Þ¤Ç¶á¤Å¤¤¤Æ²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¡£Ž£¤È¤¤¤¦²ÝÂê¤òÁªÂò¤·¤Þ¤·¤¿¡£ #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] ¡¡¡¦¡Öint¡×¤òÍѤ¤¤Þ¤·¤¿¡£&br; ¡¡¡¦£²²ó¤Þ¤ÇÄɤ¤¤«¤±¤Æ(¤È¤¤¤¦¤è¤êõÃΤ·¤Æ)ÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡£&br; ¡¡¡¦ÄêµÁ¤òÍѤ¤¤ë¤³¤È¤Ç¡¢´Êά²½¤ò¿Þ¤ê¤Þ¤·¤¿¡£&br; ***¥×¥í¥°¥é¥à¤ÎÌäÂêÅÀ¡¢²þÁ±ºö [#ue226255] ¡¡¡¦²ûÃæÅÅÅô¤Ë¤Ä¤¤¤Æ¤¤¤¯¤È¤¤È¡¢¤¤¤«¤Ê¤¤¤È¤¤¬¤¢¤ë¡£&br; ¡¡¡¦¤Ä¤¤¤Æ¹Ô¤¯¤È¤¤¤¦¤è¤ê¤Ï¡¢Ãµ¤¹¤È¤¤¤Ã¤¿¤Û¤¦¤¬Å¬ÀÚ¤ÊÆ°¤¤ò¤¹¤ë¡£&br; ¡¡¡¦¾åµ¤Î²þÁ±ºö¤È¤·¤Æ¡¢Èæ³ÓŪÌÀ¤ë¤µ¤Î¶¯¤¤²ûÃæÅÅÅô¤ò»ÈÍѤ·¤Þ¤·¤¿¡£&br; ***È¿¾Ê¡¢´¶ÁÛ [#zab89523] ¡¡¡¦ÀèÇÚã¤Î¥×¥í¥°¥é¥à¤ò»²¹Í¤Ë¤µ¤»¤Æ¤â¤é¤¤¤Þ¤·¤¿¡£&br; ¡¡¡¦¡Öint¡×¤òÍѤ¤¤ë¤³¤È¤ÇÌÀ¤ë¤µ¤ÎºÇÂçÃͤò¬¤ë¤³¤È¤¬¤Ç¤¤ë¤Î¤Ë¤Ï¶Ã¤¤Þ¤·¤¿¡£&br; ¡¡¡¦°ì±þ¡¢£²Ï¢¼Í¤¹¤ë¤³¤È¤¬¤Ç¤¤ÆÎɤ«¤Ã¤¿¤Ç¤¹¡£&br; ¡¡¡¦¸÷¡¦¥»¥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);// } ***¥×¥í¥°¥é¥à¤Î¹©É× [#i52436ef] ¡¡¥¿¥¤¥Þ¡¼¤òÀßÄꤷ¤Æ³ä¤ÈÀµ³Î¤Ê°ÌÃ֤˹Ԥ±¤ë¤è¤¦¤Ë¤·¤¿¡£ ***¥×¥í¥°¥é¥à¤ÎÌäÂêÅÀ¡¢²þÁ±ºö [#gea8dac9] ¡¡ºÇÂçÃͤȤ«¤ÎÀßÄ꤬¤É¤¦¤¹¤ì¤Ð¤¦¤Þ¤¯¤¤¤¯¤Î¤«¤ï¤«¤é¤Ê¤«¤Ã¤¿¡£ ***È¿¾Ê¡¢´¶ÁÛ [#u56d2086] ¡¡»þ´Ö¤¬¤Ê¤¯¤ÆÂçÊѤÀ¤Ã¤¿¡£ **·¡¢¥«¥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» } ***¥×¥í¥°¥é¥à¤Î¹©É× [#nb6cd543] ¡¡ÀèÇڤΤò»²¹Í¤Ë¤·¤Þ¤·¤¿¡£Àµ³Î¤Ë¤Ê¤ë¤è¤¦¤Ë¤Ê¤ë¤Ù¤¯Æ°¤¯»þ´Ö¤ò¹Í¤¨¤Þ¤·¤¿¡£ ***¥×¥í¥°¥é¥à¤ÎÌäÂêÅÀ¡¢²þÁ±ºö [#l1b9522c] ¡¡¸÷¤Ë¸þ¤«¤Ã¤Æ¿Ê¤Þ¤Ê¤¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¤È¤³¤í¤Î¥×¥í¥°¥é¥à¤È²ûÃæÅÅÅô¤ËÅö¤Æ¤ë¥×¥í¥°¥é¥à¤¬¤¢¤Þ¤ê¤¦¤Þ¤¯¤¤¤¤Þ¤»¤ó¤Ç¤·¤¿¡£ ***È¿¾Ê¡¢´¶ÁÛ [#cee2acb8] ¡¡»þ´Ö¤¬¤Ê¤¯¡¢¤¢¤Þ¤êÀµ³Î¤Ë¤Ç¤¤Ê¤¯¤Æ»ÄÇ°¤Ç¤·¤¿¡£&br; *£µ¡¢Á´ÂΤÎÈ¿¾Ê [#k1adacc8] ¡¡¡¦¥í¥Ü¥Ã¥È¤ÎºîÀ®¤Ë´Ø¤·¤Æ¤Ï¡¢¤ß¤ó¤Ê¤Ç¤Ç¤¤ë¸Â¤ê½¸¤Þ¤Ã¤ÆºîÀ®¤·¤¿¤Î¤ÇÈæ³ÓŪÍưפ˺îÀ®¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤·¤¿¡£&br; ¡¡¡¦¥×¥í¥°¥é¥à¤Ë´Ø¤·¤Æ¤Ï¡¢¤Ê¤«¤Ê¤«»þ´Ö¤ò³ÎÊݤ¹¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¾¯¤·È¿¾Ê¤·¤Æ¤¤¤Þ¤¹¡£&br; ¡¡¡¦¥í¥Ü¥Ã¥È¤Îȯ¼ÍÉô¤Ë´Ø¤·¤Æ¤Ï¡¢¤«¤Ê¤ê¥¯¥ª¥ê¥Æ¥£¡¼¤Î¹â¤¤¤â¤Î¤Ë¤Ê¤ê¤Þ¤·¤¿¡£ *£¶¡¢¥³¥á¥ó¥ÈÍó [#h26dc012] ¡¡»ä¤¿¤Á¤Î¥Ú¡¼¥¸¤ò¸«¤Æ¡¢´¶¤¸¤¿¤³¤È¤ò¼«Í³¤ËÅê¹Æ¤·¤Æ²¼¤µ¤¤¡£ - ¥×¥í¥°¥é¥à¤Ë¤¤¤¯¤Ä¤«ÌäÂ꤬¤¢¤ë¤Î¤Ç²þÁ±¤·¤Æ¤¯¤À¤µ¤¤¡£°ì¿ÍÌܤ˴ؤ·¤Æ¤Ï¡¢¤Þ¤ºÅÓÃ椫¤éÀâÌÀ¤¬¤Ê¤¤¤Ç¤·¡¢²ûÃæÅÅÅô¤¬Æ°¤¤¤Æ¤ë¤Þ¤¿¤Ï»ß¤Þ¤Ã¤Æ¤¤¤ë¤ò¸÷¥»¥ó¥µ¤ä¥¿¥¤¥Þ¡¼¤òÍѤ¤¤Æ¤É¤¦ÄêµÁ¤¹¤ë¤«¤¬¥Ý¥¤¥ó¥È¤À¤È»×¤¤¤Þ¤¹¡£Æó¿ÍÌܤ˴ؤ·¤Æ¤Ï¡¢ºÇÂçÃͤò¸«¤Ä¤±¤ë¤³¤È¤ËÀ®¸ù¤·¤Æ¤¤¤Þ¤¹¤¬¡¢º£²ó¤Î²ÝÂê¤Ç¤Ï2ÈÖÌܤËÂ礤¤Ãͤ⸫¤Ä¤±¤ëɬÍפ¬¤¢¤ê¤Þ¤¹¡£Î㤨¤Ð¡¢¸÷Î̤˴ؤ·¤Æ2¤Ä¤ÎÊÑ¿ô¤òÍѤ¤¤Æ¡¢´Ñ¬¤·¤¿¸÷Î̤ÎÂ礤µ¤Ï3¤Ä¤Î¾ì¹ç¤Ëʬ¤±¤é¤ì¤ë¤Î¤Ç¡¢¤½¤ì¤¾¤ì¤Î¾ì¹ç¤ËÂн褹¤ë¤È¤¤¤¦ÊýË¡¤¬¤¢¤ê¤Þ¤¹¡£3¿ÍÌܤ˴ؤ·¤Æ¤Ï²ûÃæÅÅÅô¤Þ¤Ç40cm¤È¤¤¤¦¤Î¤¬¤É¤¦¥í¥Ü¥Ã¥È¤ËȽÃǤµ¤»¤ë¤Î¤«¤¬¤Ê¤¤¤«¤È»×¤¤¤Þ¤¹¡£ -- [[FI]] &new{2010-07-30 (¶â) 17:24:07}; 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