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//Á°¿Ê #define back(t) OnRev(OUT_A+OUT_C);Wait(t); //¸åÂà #define turn_R(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t); //±¦²óž #define turn_L(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t); //º¸²óž task main() { SetSensor(eye_R, SENSOR_LIGHT);//¥»¥ó¥µÃ¼»Ò£±¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¤¬¸÷¥»¥ó¥µ¡¼¤ÈÀë¸À SetSensor(eye_L, SENSOR_LIGHT);//¥»¥ó¥µÃ¼»Ò3¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¤¬¸÷¥»¥ó¥µ¡¼¤ÈÀë¸À SetSensor(touch, SENSOR_TOUCH);//¥»¥ó¥µÃ¼»Ò2¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¤¬¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÈÀë¸À while (true) { start follow_line;//¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï until(touch==1);//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô stop follow_line;//¥é¥¤¥ó¥È¥ì¡¼¥¹Ää»ß Float(OUT_B); //´Ì¤òÄϤà Wait(30); Off(OUT_B); OnRev(OUT_A+OUT_B); //´Ì¤òÄϤߤĤIJóž,´Ì¤ò¸åÊý¤Ø OnFwd(OUT_C); Wait(180); Off(OUT_B); back(40); //°ÌÃÖ½¤Àµ OnFwd(OUT_B); //´Ì¤òÊü¤¹ Wait(30); back(50); //´Ì¤«¤éÎ¥¤ì¤ë turn_R(160); } } task follow_line () //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤Ç¤¹ { int k=0 ; //À°¿ôk¤òÄêµÁ(¸òº¹ÅÀ¤Ë¤¤¤¯Å٤ˣ±Áý¤¨¤ë¡Ë while(k<8) //¸òº¹ÅÀ¤òÄ̤俲ó¿ô¤¬8²ó¤è¤ê¾®¤µ¤¤¤È¤ { if ((eye_R > THRESHOLD)&&(eye_L >THRESHOLD)) //ξÊýÇò¤Î»þÁ°¿Ê { go(10) } else if ((eye_L< THRESHOLD)&&(eye_R > THRESHOLD)) // 1¤¬¹õÀþ¾å¤Î»þº¸¤Ë²óž { turn_L (10) } else if ((eye_L > THRESHOLD)&&(eye_R < THRESHOLD)) //3¤¬¹õÀþ¾å¤Î»þ±¦¤Ë²óž { turn_R(10) } else if ((eye_R< THRESHOLD)&&(eye_L < THRESHOLD)) //ξÊý¹õÀþ¾å°ì»þÄä»ß¤·Á°¿È { Off(OUT_A+OUT_C); Wait(100); k++; //¸òº¹ÅÀ¤Ë¤¤¿¤ék¤Ë£±¤ò¤¿¤¹ go(10); } } Off(OUT_A+OUT_C); } ´Ì¤¬¤¢¤Ã¤¿¤é´Ì¤òÄϤߡ¢¸åÊý¤Ë²ó¤·¡¢¥é¥¤¥ó¾å¤ËÌᤷ¤Æ¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¥×¥í¥°¥é¥à¤Ç¤¹¡£&br; ´Ì¤ò¤É¤«¤·¤Æ¤Æ¤«¤éËÜÂΤò¥³¡¼¥¹¤ËÌ᤹¤¿¤á¤ÎÈùÄ´À°¤¬ÂçÊѤǤ·¤¿¡£ **¥ª¥ì¥ó¥¸¤Î¥×¥í¥°¥é¥à [#a28e0ac2] #define get() OnRev(OUT_B);%´Ì¤ò»ý¤Ä¥×¥í¥°¥é¥à #define go(t) OnFwd(OUT_A+OUT_C);Wait(t);%Á°¤Ø #define turn_R(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);%±¦¤Ø #define turn_L(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);%º¸¤Ø #define release() OnFwd(OUT_B);%´Ì¤òÊü¤¹ #define light_R SENSOR_3%¥»¥ó¥µ¡¼3¤Ï¥»¥ó¥µ¡¼¥é¥¤¥È #define light_L SENSOR_1%¥»¥ó¥µ¡¼1¤Ï¥»¥ó¥µ¡¼¥é¥¤¥È #define THRESHOLD 40%40¤ËÀßÄê task main() { SetSensor(light_R,SENSOR_LIGHT); SetSensor(light_L,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); while(true){ start follow_line;%³«»Ï until(SENSOR_2==1);% stop follow_line;%Ää»ß get();´Ì¤ò»ý¤Ã¤Æ start follow_line;ºÆ¤Ó³«»Ï until((light_R<THRESHOLD)&&(light_L<THRESHOLD));%¸òº¹ÅÀ¤Ë¹Ô¤¯¤Þ¤Ç go(200);%¸òº¹ÅÀ¤Ë¹Ô¤Ã¤¿¸å turn_R(200);% go(80);% release();% OnRev(OUT_A+OUT_C);Wait(50);% turn_L(200);%´Ì¤òºÆ¤Ó¤ª¤¤¤Æ start follow_line;%¥¹¥¿¡¼¥È }} task follow_line() { while(true){ if((light_R>THRESHOLD)&&(light_L>THRESHOLD)){ go(5);}%¹õÀþ¾å¤Ë¤¤¤ë¤È¤ if(light_R<THRESHOLD) {turn_R(5); }%¤º¤ì¤¿¾ì¹ç if(light_L<THRESHOLD) {turn_L(5); } if((light_R<THRESHOLD)&&(light_L<THRESHOLD)) { Off(OUT_A+OUT_C); Wait(50); go(5);%¸òº¹ÅÀ¤Î¤È¤ }} } *´¶ÁÛ [#w0240ffb] **¥¿¥Ä¥ä [#v4753e74] ¡¡º£²ó¤ÏÁ°²ó¤ÎÈ¿¾Ê¤ò¤Õ¤Þ¤¨Á᤯¤«¤éÀ½ºî¤Ë¼è¤ê³Ý¤«¤Ã¤¿¤¬·ë¶É´°À®¤¬¥®¥ê¥®¥ê¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£&br; ¡¡¤·¤«¤·Á᤯»Ï¤á¤¿¤À¤±¤¢¤Ã¤Æ¥í¥Ü¥Ã¥È¤Ï¼«Ê¬¤Ç¤Ï¹©Éפò¶Å¤é¤·¤¿Îɤ¤¤â¤Î¤¬¤Ç¤¤¿¤È»×¤¦¡£¤â¤Ã¤È¥×¥í¥°¥é¥à¤Ë»þ´Ö¤ò¤«¤±¤Æ»î¹Ôºø¸í¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤Ï»ÄÇ°¤À¤¬¡¢¤½¤ì¤Ê¤ê¤ËËþ¤Τ¤¤¯¤â¤Î¤¬»Å¾å¤¬¤Ã¤Æ¤è¤«¤Ã¤¿¡£&br; ¡¡¼¡¤Ï¤µ¤é¤ËÎɤ¤¤â¤Î¤¬¤Ç¤¤ë¤è¤¦¤Ë´èÄ¥¤ê¤¿¤¤¡£ **¥ª¥ì¥ó¥¸ [#q8a9ed1a] Á°¤è¤ê¤âÁá¤á¤Ë¼è¤ê¤«¤«¤Ã¤¿¤«¤é»þ´ÖŪ¤Ë¤Ï;͵¤¬¤¢¤Ã¤¿¤¬¡¢²ÝÂ꤬»×¤Ã¤Æ¤¤¤¿¤è¤ê¤âÆñ¤·¤¯¤Ê¤«¤Ê¤«»×¤¤Ä̤ê¤ËÆ°¤«¤Ê¤«¤Ã¤¿¡£¼¡²ó¤Ï¤µ¤é¤Ë¤·¤Ã¤«¤ê¤È¤·¤¿¤â¤Î¤òºî¤Ã¤Æ¤¤¤¤¿¤¤¡£ *¥³¥á¥ó¥È [#hc6da08f] ¥³¥á¥ó¥È¤ò¤É¤¦¤¾ #comment