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//¥â¡¼¥ÉÀßÄêÍѤÎÊÑ¿ô¤òÄêµÁ int y = 0; //¥«¥¦¥ó¥ÈÍѤÎÊÑ¿ô¤òÄêµÁ void go_straight() //ľ¿Ê¤òÄêµÁ { OnFwd(OUT_AC); } void back() //¸åÂà(¾®)¤òÄêµÁ { OnRev(OUT_AC); Wait(WAIT_TIME); } void back_2() //¸åÂà(Âç)¤òÄêµÁ { back(); Wait(WAIT_TIME); Wait(WAIT_TIME); } void turn_right_little() //´Ë¤á¤Î±¦Àû²ó¤òÄêµÁ { OnFwd(OUT_A);OnRev(OUT_C); //º¸¥¿¥¤¥ä¤òľ¿Ê¤µ¤»¤Ê¤¬¤é¡¢±¦¥¿¥¤¥ä¤ò¼¡¤Î¾ì¹çʬ¤±¤Ë½¾¤¤¸åÂà if((x == 0)||(x == 1)||(x == 8)){ //¥Ø¥¢¥Ô¥óÁ°¡¢¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¡¢Ä¾³Ñ¥«¡¼¥Ö¤Î»þ¤Ï Wait(LITTLE_TIME1_1); //Â礤¯¸åÂà }else{ //¤½¤Î¾¤Î¾ì¹ç¤Ï Wait(LITTLE_TIME1_2); //¾®¤µ¤¯¸åÂà } Off(OUT_C);Wait(LITTLE_TIME2); //±¦¥¿¥¤¥ä¤òÀû²ó»þ´Ö(2)ÉÃÄä»ß¤µ¤»¤ë } void turn_left_little() //´Ë¤á¤Îº¸Àû²ó¤òÄêµÁ(ÆâÍƤϱ¦Àû²ó¤Îº¸±¦È¿ÂÐ) { OnFwd(OUT_C);OnRev(OUT_A); if((x == 0)||(x == 1)||(x == 8)){ Wait(LITTLE_TIME1_1); }else{ Wait(LITTLE_TIME1_2); } Off(OUT_A);Wait(LITTLE_TIME2); } void turn_hairpin() //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¶Ê¤¬¤êÊý¤òÄêµÁ { back(); //°ÌÃÖÄ´À°¤Î¤¿¤á¤ä¤ä²¼¤¬¤ë while(FastTimer(0) < HAIRPIN){ //¥Ø¥¢¥Ô¥ó¤ò¶Ê¤¬¤ë¤Þ¤Ç¤Î´Ö¡¢ if(SE_R >= THRESHOLD){ //±¦¥»¥ó¥µ¤¬Çò¤Ê¤é¿Ê¤à go_straight(); }else{ //±¦¥»¥ó¥µ¤¬¹õ¤Ê¤é±¦Àû²ó turn_right_little(); } } PlaySound(SOUND_FAST_UP); x++; //x¤ò+1¤¹¤ë } void line_trace() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÊýË¡¤òÄêµÁ { if((SE_L >= THRESHOLD)&&(SE_R < THRESHOLD)){ //±¦¥»¥ó¥µ¤¬¹õ¤Çº¸¥»¥ó¥µ¤¬Çò¤Ê¤é¡¢ turn_right_little(); //±¦Àû²ó }else if((SE_L < THRESHOLD)&&(SE_R >= THRESHOLD)){ //±¦¥»¥ó¥µ¤¬Çò¤Çº¸¥»¥ó¥µ¤¬¹õ¤Ê¤é¡¢ turn_left_little(); //º¸Àû²ó }else{ //¤½¤ì°Ê³°(ξÊýÇò¤Þ¤¿¤ÏξÊý¹õ)¤Ê¤é¡¢ go_straight(); //ľ¿Ê } } void line_trace_2() //¸òº¹ÅÀ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÊýË¡¤òÄêµÁ { if((SE_L >= THRESHOLD)&&(SE_R < THRESHOLD)){ //±¦¥»¥ó¥µ¤¬¹õ¤Çº¸¥»¥ó¥µ¤¬Çò¤Ê¤é¡¢ turn_right_little(); //±¦Àû²ó }else if((SE_L < THRESHOLD)&&(SE_R >= THRESHOLD)){ //±¦¥»¥ó¥µ¤¬Çò¤Çº¸¥»¥ó¥µ¤¬¹õ¤Ê¤é¡¢ turn_left_little(); //º¸Àû²ó }else if((SE_L < THRESHOLD)&&(SE_R < THRESHOLD)){ //ξÊý¹õ¤Ê¤é¡¢ go_straight(); //¤É¤Á¤é¤«¤¬Çò¤Ë¤Ê¤ë¤Þ¤Çľ¿Ê¤·¤Æ¡¢°Ê²¼¤Î¾ì¹çʬ¤±¤Ë½¾¤¦ until((SE_L >= THRESHOLD)||(SE_R >= THRESHOLD)); if(SE_L < THRESHOLD){ //º¸¤¬¹õ(±¦¤¬Çò)¤Ê¤é¡¢ Off(OUT_C);OnFwd(OUT_A); //º¸¤¬Çò¤Ë¤Ê¤ë¤Þ¤Ç¡¢±¦¥¿¥¤¥ä¤À¤±Á°¿Ê until(SE_L >= THRESHOLD); }else{ //¤½¤ì°Ê³°(µÕ¤Ë±¦¤¬¹õ¤Çº¸¤¬Çò)¤Ê¤é¡¢ Off(OUT_A);OnFwd(OUT_C); //±¦¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç¡¢º¸¥¿¥¤¥ä¤À¤±Á°¿Ê until(SE_R >= THRESHOLD); } y++; PlaySound(SOUND_CLICK); //y¤ò+1¤¹¤ë }else{ //¤½¤ì°Ê³°¡ÊξÊýÇò¡Ë¤Ê¤é¡¢ go_straight(); //ľ¿Ê } } void rotary_right() //¥í¡¼¥¿¥ê¡¼Æþ¤ê¸ý¤Ç¤Î±¦ÀÞ¤ÎÊýË¡¤òÄêµÁ { while(FastTimer(0) < ROTARY_RIGHT){ //±¦ÀÞ´°Î»¤¹¤ë¤Þ¤Ç¤Î´Ö¡¢ if((SE_R < THRESHOLD)){ //±¦¥»¥ó¥µ¤¬¹õ¤Ê¤é±¦Àû²ó turn_right_little(); }else{ //¤½¤Î¾(±¦¥»¥ó¥µ¤¬Çò)¤Ê¤éľ¿Ê go_straight(); } } } void rotary_left_0() //¥í¡¼¥¿¥ê¡¼¤Îº¸²ó¤ê¤Ç¤Î´ðÁÃÆ°ºî(°Ê²¼º¸´ðÁäÈɽµ)¤òÄêµÁ { //ÆâÍƤϾå¤Îº¸±¦È¿ÂÐ if((SE_L < THRESHOLD)){ turn_left_little(); }else{ go_straight(); } } void rotary_left() //¥í¡¼¥¿¥ê¡¼¤Ç¤Îº¸²ó¤ê¤ÎÊýË¡¤òÄêµÁ { while(SE_R >= THRESHOLD){ //±¦¥»¥ó¥µ¤¬Çò¤Î´Ö(±¦¥»¥ó¥µ¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç)¡¢ rotary_left_0(); //º¸´ðÁà } y++; ClearTimer(0); PlaySound(SOUND_CLICK); //y¤ò+1¤¹¤ë while(FastTimer(0) < ROTARY_LEFT){ //±¦¥»¥ó¥µ¤¬¥é¥¤¥ó¤ò²£ÀÚ¤ë¤Þ¤Ç¡¢ rotary_left_0(); //º¸´ðÁà } while(SE_R >= THRESHOLD){ //±¦¤¬Çò¤Î´Ö(±¦¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç)¡¢ rotary_left_0(); //º¸´ðÁà } Off(OUT_AC);Wait(END); x++; ClearTimer(0); PlaySound(SOUND_FAST_UP); //x¤ò+1¤¹¤ë back_2(); //°ÌÃÖÄ´À°¤Î¤¿¤á¸åÂà } void right_angle() //ľ³Ñ¥«¡¼¥ÖÁ°¤Î¶áÆ»¤Î̵»ë¤Î»ÅÊý¤òÄêµÁ { back_2(); //°ÌÃÖÄ´À°¤Î¤¿¤á¸åÂà while(FastTimer(0) < RIGHT_ANGLE){ //̵»ë¤·½ª¤¨¤ë¤Þ¤Ç¤Î´Ö¡¢ if(SE_R < THRESHOLD){ //±¦¥»¥ó¥µ¤¬¹õ¤Ê¤é±¦Àû²ó turn_right_little(); }else{ //¤½¤Î¾(±¦¥»¥ó¥µ¤¬Çò)¤Ê¤éľ¿Ê go_straight(); } } } -¥á¥¤¥ó¤ÎÉôʬ task main() { SetPower(OUT_A,1); //±¦¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤Î½ÐÎϤò1¤ËÀßÄê(®ÅÙÄ´Àá) SetPower(OUT_C,1); //Ʊ¾å SetSensor(SE_L,SENSOR_LIGHT); //º¸¥»¥ó¥µ¤¬¸÷¥»¥ó¥µ¤Ç¤¢¤ë¤³¤È¤òÀë¸À SetSensor(SE_R,SENSOR_LIGHT); //Ʊ¾å int i; //for¥ë¡¼¥×¤Î¤¿¤á¤Î´Ø¿ôÀë¸À for(i=0;i<=1;i++){ //°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò2²ó¥ë¡¼¥×¤µ¤»¤ë x = 0; ClearTimer(0); while(x != 10){ //{}Æâ¤Î¥×¥í¥°¥é¥à¤òx=10¤Ç¤Ê¤¤´Ö(¥³¡¼¥¹¤ò1¼þ¤¹¤ë¤Þ¤Ç)¥ë¡¼¥×¤µ¤»¤ë if((FastTimer(0) >= HAIRPIN)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 0 && x == 0)){ Off(OUT_AC);Wait(END);ClearTimer(0); x++; y++; PlaySound(SOUND_FAST_UP); //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î»Ï¤Þ¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤¡¢x¤Èy¤ò+1¤¹¤ë }else if((y == 3)&&(x == 2)){ Off(OUT_AC);Wait(END);ClearTimer(0); x++; PlaySound(SOUND_FAST_UP); //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëľÁ°¤Ë¡¢x¤ò+1¤¹¤ë }else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 3)&&(x == 3)){ Off(OUT_AC);Wait(END);x++; PlaySound(SOUND_FAST_UP); //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤¿¸å¡¢x¤ò+1¤¹¤ë }else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 4)&&(x == 5)){ Off(OUT_AC);Wait(END);x++; PlaySound(SOUND_FAST_UP); //¥í¡¼¥¿¥ê¡¼¤ò½Ð¤¿¸å¤Ë¡¢x¤ò+1¤¹¤ë }else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 4 && x == 6)){ Off(OUT_AC);Wait(END);ClearTimer(0); x++; y++; PlaySound(SOUND_CLICK); //¶áÆ»¤Î»Ï¤Þ¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤¡¢x¤Èy¤ò+1¤¹¤ë }else if((FastTimer(0) >= RIGHT_ANGLE)&&(y == 5)&&(x == 7)){ Off(OUT_AC);Wait(END);ClearTimer(0); x++; PlaySound(SOUND_FAST_UP); //¶áÆ»¤ò̵»ë¤·¤¿¸å¡¢x¤ò+1¤¹¤ë }else if((FastTimer(0) >= RIGHT_ANGLE_2)&&(y == 5 && x == 8)){ Off(OUT_AC);Wait(END);ClearTimer(0); x = 6; PlaySound(SOUND_FAST_UP); //ľ³Ñ¤ò¶Ê¤¬¤Ã¤¿¸å¡¢x¤ò6(¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É)¤Ë¤¹¤ë }else if((FastTimer(0) >= RIGHT_ANGLE_2)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 5 && x == 6)){ Off(OUT_AC);Wait(END);ClearTimer(0); x = 3; PlaySound(SOUND_FAST_UP); //¥í¡¼¥¿¥ê¡¼¤ÎÆþ¤ê¸ý¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤é¡¢x¤ò3(¥í¡¼¥¿¥ê¡¼¥â¡¼¥É)¤Ë¤¹¤ë }else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 5)&&(x == 3)){ Off(OUT_AC);Wait(END);x++; PlaySound(SOUND_FAST_UP); //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤¿¸å¡¢x¤ò+1¤¹¤ë }else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 6)&&(x == 5)){ Off(OUT_AC);Wait(END);ClearTimer(0); x++; PlaySound(SOUND_FAST_UP); //¥í¡¼¥¿¥ê¡¼¤ò½Ð¤¿¸å¤Ë¡¢x¤ò+1¤¹¤ë }else if((FastTimer(0) >= CROSS)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 6)&&(x == 6)){ Off(OUT_AC);Wait(END);ClearTimer(0); x = 2; //2¤Ä¤á¤Î¸òº¹ÅÀ¤ò1²ó±Û¤¨¤¿¸å¡¢x¤ò2(¸òº¹ÅÀ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É)¤Ë¤¹¤ë }else if((FastTimer(0) >= CROSS)&&(y == 7)&&(x == 2)){ Off(OUT_AC);Wait(END);x = 0; PlaySound(SOUND_FAST_UP); //2¤ÄÌܤθòº¹ÅÀ¤ò2²ó±Û¤¨¤¿¸å¡¢x¤ò0(¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö½àÈ÷¥â¡¼¥É)¤Ë¤¹¤ë }else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 7)&&(x == 0)){ Off(OUT_AC);Wait(END);ClearTimer(0); x++; y++; PlaySound(SOUND_FAST_UP); //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î»Ï¤Þ¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤¡¢x¤Èy¤ò+1¤¹¤ë }else if((y == 8)&&(x == 2)){ x = 6; //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤ò±Û¤¨¤¿¸å¡¢x¤ò6(¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É)¤Ë¤¹¤ë }else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 8)&&(x == 6)){ Off(OUT_AC);Wait(END);ClearTimer(0); y++; PlaySound(SOUND_CLICK); //¥³¡¼¥¹¤Î½ª¤ï¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤¡¢y¤ò+1¤¹¤ë }else if((FastTimer(0) >= END)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 9)&&(x == 6)){ x = 9; PlaySound(SOUND_FAST_UP); //¥³¡¼¥¹¤Î»Ï¤Þ¤ê¤ËÌá¤Ã¤¿¤È¤¡¢x¤ò9(½ªÎ»¥â¡¼¥É)¤Ë¤¹¤ë } if(x == 1){ //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¥â¡¼¥É turn_hairpin(); }else if((x == 0)||(x == 6||x == 8)){ //¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É //0¤È8¤Ï¤½¤ì¤¾¤ì¥Ø¥¢¥Ô¥ó½àÈ÷¥â¡¼¥É¤Èľ³Ñ¥«¡¼¥Ö¥â¡¼¥É¤Ç¡¢Àû²ó¤¬¤¤Ä¤¯¤Ê¤Ã¤Æ¤¤¤ë line_trace(); }else if(x == 2){ //¸òº¹ÅÀ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É line_trace_2(); }else if((x == 3)||(x == 5)){ //¥í¡¼¥¿¥ê¡¼½ÐÆþ¤ê¥â¡¼¥É rotary_right(); }else if(x == 4){ //¥í¡¼¥¿¥ê¡¼¿Ê¹Ô¥â¡¼¥É rotary_left(); }else if(x == 7){ //ľ³Ñ¥«¡¼¥Ö¥â¡¼¥É right_angle(); }else{ //½ªÎ»¥â¡¼¥É(x¤¬10¤Ë¤Ê¤ê¡¢while¥ë¡¼¥×¤òÈ´¤±¤ë) Off(OUT_AC); y = 0; x++; } } } } **¾áñÄ¤Î¥×¥í¥°¥é¥à [#u84ae5cb] ¾õ¶·¡Êphase¡Ë¤Ë¤è¤Ã¤Æ¤½¤ÎÀìÍÑ¤Î¥×¥í¥°¥é¥à¡Ê´Ø¿ô¡Ë¤ò¼Â¹Ô¤·¤Æ¤¤¤Þ¤¹¡£¤½¤Î¤»¤¤¤Ç¤³¤Î¥ë¡¼¥ÈÀìÍÑ¤Î¥×¥í¥°¥é¥à¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£ ´ðËÜŪ¤Ë¡ÖÊÒ¦¤À¤±¤Î¥»¥ó¥µ¡¼¤À¤±¤Ç¥È¥ì¡¼¥¹¡õ¤â¤¦ÊÒÊý¤Ç¼¡¤Î¾õ¶·¤Ë¤¤¤Ä°Ü¤ë¤«¤ò·×¬¡×¤È¡ÖξÊý¤Î¥»¥ó¥µ¡¼¤ò»È¤Ã¤Æ¥È¥ì¡¼¥¹¡×¤Î2¼ïÎà¤Ç°ÜÆ°¤·¤Æ¤¤¤Þ¤¹¡£¤Á¤Ê¤ß¤Ë °ì¸Ä¤Î¥»¥ó¥µ¡¼¤Ç¥È¥ì¡¼¥¹¤ÎÆÃħ -°ÜÆ°¤¬ÃÙ¤¤ -¥È¥ì¡¼¥¹¤¹¤ë¤È¤¡¢¤¤¤Ä¤â°ìÄê¤Îµ°Æ»¤òÉÁ¤¯ -ÊÒÊý¤Î¥»¥ó¥µ¡¼¤¬Í¾¤ë¢ª¼«Í³¤Ë»È¤¨¤ë¥»¥ó¥µ¡¼¤¬¤Ç¤¤ë Æó¸Ä¤Î¥»¥ó¥µ¡¼¤Ç¥È¥ì¡¼¥¹¤ÎÆÃħ -°ÜÆ°¤¬Áᤤ -¥È¥ì¡¼¥¹¤¹¤ë¤È¤¤Õ¤é¤Õ¤é¤¹¤ë¡£µ°Æ»¤¬Ëè²óÊѤï¤ë¡£ ¥í¡¼¥¿¥ê¡¼¤äÅÀÀþ¿ÊÆþ¤Ê¤ÉÌäÂ꤬¤ª¤¤ä¤¹¤¤¤È¤³¤í¤ÏÊÒ¦¤Î¥»¥ó¥µ¡¼¥È¥ì¡¼¥¹¤Ê¤Î¤Ç¡¢ºÇ½ªÅª¤Ë°ÂÄêŪ¤Ê·ë²Ì¤ò½Ð¤¹¤³¤È¤¬¤Ç¤¤Þ¤·¤¿¡£¥»¥ó¥µ¡¼¤ÎÉý¤ò¤¢¤ëÄøÅÙÊѤ¨¤Æ¤âÌäÂê¤Ê¤¯¿Ê¹Ô¤Ç¤¤Þ¤¹¡£ ¤Á¤Ê¤ß¤Ë1½µ40Éö¯¤Ç°ÜÆ°¤·¤Þ¤¹¡ÊÅÅÃӤξÃÌ׶ñ¹ç¤Ë¤è¤Ã¤ÆÊѲ½¡Ë¡£ #define value 45 //ÌÀ¤ë¤µ1 #define Hvalue 50 //ÌÀ¤ë¤µ2 #define seL SENSOR_1 //SENSOR_1¤ÏŤ¤¤Î¤Ç¥»¥ó¥µ¡¼º¸¤È¸À¤¦°ÕÌ£¤ò¹þ¤á¤Æά¤·¤Æ¤¤¤Þ¤¹ #define seR SENSOR_3 //¾å»²¹Í int phase; //¾õ¶· int count; //¤¤¤í¤¤¤í¤Ê¥«¥¦¥ó¥È int cross; //¸òº¹ÅÀ¤Ë¿¯Æþ¤·¤¿²ó¿ô¤ò·×¬¡§¸òº¹ÅÀ¤ò¤½¤Î¤Þ¤Þľ¿Ê¤¹¤ë²ó¿ô¤òľÁ°¤ÇÂåÆþ¤·¤Æ¤¤¤Þ¤¹ void Rsen_trace(){ //±¦¥»¥ó¥µ¡¼¤Î¤ß¤Ç¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô OnFwd(OUT_AC);if(seR < value){Off(OUT_C);OnFwd(OUT_A);} //±¦¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ê¤é±¦¤Ë else{Off(OUT_A);OnFwd(OUT_C);} //±¦¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ê¤éº¸¤Ë if(seL < value){phase++;} //º¸¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é¼¡¥Õ¥§¥¤¥º¤Ø } void Lsen_trace(){ //º¸¥»¥ó¥µ¡¼¤Î¤ß¤Ç¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô if(seL < value) {Off(OUT_A);OnFwd(OUT_C);} //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ê¤éº¸¤Ë else {Off(OUT_C);OnFwd(OUT_A);} //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ê¤é±¦¤Ë if(seR < value){ //¥í¡¼¥¿¥ê¡¼Æâ¤Ç¤Î¥Õ¥§¥¤¥º°Ü¹Ô¤Î»þ´ü¤ò·×¬¤·¤Æ¤¤¤Þ¤¹ if(count < 2){OnFwd(OUT_AC);Wait(15);count++;} //±¦¥»¥ó¥µ¡¼¤ÎÈ¿±þ¤¬º£¤Þ¤Ç1²ó°ÊÆâ¤Ê¤é¤Ð̵»ë else{Off(OUT_AC);phase++;count = 1;} //2²ó°Ê¾å¤Ê¤é¤Ð¼¡¥Õ¥§¥¤¥º¤Ë°Ü¹Ô¡£count¤ò¸µ¤ËÌᤷ¤Þ¤¹ } } void Dsen_trace(){ //2¸Ä¤Î¥»¥ó¥µ¡¼¤ò»È¤Ã¤Æ¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô if(seL < value && seR > value){OnFwd(OUT_C);Off(OUT_A);} //º¸¡§¹õÀþ¾å¡¡±¦¡§¹õÀþ³° ¢ª¡¡º¸ÀÞ if(seR < value && seL > value){OnFwd(OUT_A);Off(OUT_C);} //±¦¡§¹õÀþ¾å¡¡º¸¡§¹õÀþ³° ¢ª¡¡±¦ÀÞ if(seL > value && seR > value){OnFwd(OUT_AC);} //ξ¥»¥ó¥µ¡¼¤¬¹õÀþ³° ¢ª¡¡Ä¾¿Ê if(seL < value && seR < value) { //ξ¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Î»þcross¤ÎÃͤǹÔÆ°¤òÊѲ½¤µ¤»¤Þ¤¹ OnFwd(OUT_AC);Wait(30);PlaySound(SOUND_UP); //ľ¿Ê¡§¼ç¤ËÄ̾ï¸òº¹ÅÀ¤ÎÄ̲᤹¤ë¤È¤¤Î¹ÔÆ°¤Ç¤¹ if(cross==0){Off(OUT_AC);phase++;} //cross¤ÎÃͤ¬´ûÄêÃͤʤé¤Ð¼¡¥Õ¥§¥¤¥º¤Ë°Ü¹Ô¤·¤Þ¤¹ else{cross--;} //¤½¤¦¤Ç¤Ê¤±¤ì¤Ðø¡¹¤È¿ô¤¨¤Þ¤¹ } } void hairpinLturn(){ //¥Ø¥¢¥Ô¥óº¸¥¿¡¼¥ó¤ò¹Ô¤¦´Ø¿ô PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(seL >= Hvalue);Off(OUT_AC); //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ë½Ð¤ë¤Þ¤ÇÁ°¿Ê PlaySound(SOUND_CLICK);OnRev(OUT_A);OnFwd(OUT_C); //Ķ¿®ÃϺ¸Àû²ó until(seL < value);until(seL >= Hvalue);Off(OUT_AC); //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¢ª¹õÀþ³°¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡ PlaySound(SOUND_CLICK);OnFwd(OUT_C);Wait(15);until(seL >= Hvalue);Off(OUT_AC); //º¸Àû²ó¡¡¤Þ¤¿¹õÀþ¾å¤ËÆþ¤ëº¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡ PlaySound(SOUND_CLICK);phase++; //¼¡¥Õ¥§¥¤¥º¤Ø } void in_rotary(){ //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ë¤È¤¤Î´Ø¿ô PlaySound(SOUND_CLICK);OnRev(OUT_AC);Wait(20);Off(OUT_AC); //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëÁ°¤ÎDsen_trace()¤Ç¿Ê¤ß¤¹¤®¤¿¤Î¤òÌ᤹ PlaySound(SOUND_CLICK);OnFwd(OUT_A);OnRev(OUT_C);Wait(50); //Ķ¿®Ãϱ¦Àû²ó PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(seL < value); //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê PlaySound(SOUND_CLICK);Off(OUT_AC);phase++; //¼¡¥Õ¥§¥¤¥º¤Ø } void out_rotary(){ //¥í¡¼¥¿¥ê¡¼¤«¤é½Ð¤ë¤È¤¤Î´Ø¿ô PlaySound(SOUND_CLICK);OnFwd(OUT_AC);Wait(10);OnRev(OUT_C);Wait(10); //¾¯¤·¤À¤±Á°¿Ê¤·¤¿¸å¡¢Ä¶¿®Ãϱ¦Àû²ó PlaySound(SOUND_CLICK);until(seL >= Hvalue);until(seL < value);Off(OUT_AC); //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¢ª¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡¤·¤¿¸åÄä»ß¡£ phase++; //¼¡¥Õ¥§¥¤¥º¤Ø } void in_shorterline(){ //¶áÆ»¡ÊÅÀÀþ¡Ë¤ËÆþ¤ë»þ¤Î´Ø¿ô PlaySound(SOUND_CLICK);OnFwd(OUT_A);Wait(5); //¾¯¤·¤À¤±Á°¿Ê PlaySound(SOUND_CLICK);until(seL >= Hvalue);until(seL < value);Off(OUT_AC); //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¢ª¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡¤·¤¿¸åÄä»ß¡£ PlaySound(SOUND_CLICK);OnFwd(OUT_C);Wait(5);Off(OUT_AC); //¡ÊÈùÄ´À°¡Ëº¸Àû²ó¤ò¤Á¤ç¤Ã¤È¤À¤± PlaySound(SOUND_DOWN);phase++; //¼¡¥Õ¥§¥¤¥º¤Ø } void go_shorterline(){ //¶áÆ»¡ÊÅÀÀþ¡Ë¤ò¿Ê¹Ô¤¹¤ë»þ¤Î´Ø¿ô if(seL <= Hvalue && seR > value){OnFwd(OUT_C);until(seR < value);Off(OUT_AC);} //º¸¡§¹õÀþ¾å¡¡±¦¡§¹õÀþ³°¡¡¢ª¡¡±¦¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤Çº¸Àû²ó if(seR <= Hvalue && seL > value){OnFwd(OUT_A);until(seL < value);Off(OUT_AC);} //±¦¡§¹õÀþ¾å¡¡º¸¡§¹õÀþ³°¡¡¢ª¡¡º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤Ç±¦Àû²ó if(seL < value && seR < value){PlaySound(SOUND_DOWN);phase++;} //ξ¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Î»þ¼¡¥Õ¥§¥¤¥º¤Ø } void out_shorterline(){ //¶áÆ»¡ÊÅÀÀþ¡Ë¤«¤é½Ð¤ë»þ¤Î´Ø¿ô PlaySound(SOUND_CLICK);OnFwd(OUT_A);Wait(5); //¡ÊÈùÄ´À°¡Ë±¦Àû²ó PlaySound(SOUND_CLICK);until(seL >= Hvalue);until(seL < value);Off(OUT_AC); //º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¢ª¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡¤·¤¿¸åÄä»ß¡£ PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(seR >= Hvalue)Off(OUT_AC); //±¦¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê PlaySound(SOUND_CLICK);phase++; //¼¡¥Õ¥§¥¤¥º¤Ø } task main(){ SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼¤Èǧ¼±¤µ¤»¤ë SetSensor(SENSOR_3,SENSOR_LIGHT); //¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼¤Èǧ¼±¤µ¤»¤ë SetPower(OUT_A,6); //½ÐÎÏÄ´À° SetPower(OUT_C,6); //½ÐÎÏÄ´À° int i; for (i=1;i<=2;i++){ //2½µ¤µ¤»¤Þ¤¹ phase = 1; count = 1; while(phase!=19){ //phase==19¤Ç½ªÎ» while(phase==1){Rsen_trace();} while(phase==2){hairpinLturn();} cross=2; //¼¡¥Õ¥§¥¤¥º¤Ë»È¤¦¡£°Ê²¼Æ±¤¸ while(phase==3){Dsen_trace();} while(phase==4){in_rotary();} while(phase==5){Lsen_trace();} while(phase==6){out_rotary();} count = 2; while(phase==7){Lsen_trace();} while(phase==8){in_shorterline();} while(phase==9){go_shorterline();} while(phase==10){out_shorterline();} cross = 0; while(phase==11){Dsen_trace();} while(phase==12){in_rotary();} while(phase==13){Lsen_trace();} while(phase==14){out_rotary();} cross = 1; while(phase==15){Dsen_trace();} while(phase==16){Rsen_trace();} while(phase==17){hairpinLturn();} cross = 0; while(phase==18){Dsen_trace();} } } } *´¶ÁÛ [#q083144f] **¤°¤ÃP¤ÎÈ¿¾Ê¡¦´¶ÁÛ [#af9cc6aa] º£²ó¤Î²ÝÂê¡¢¡Ö¥é¥¤¥ó¥È¥ì¡¼¥¹¡×¡£¥í¥Ü¥Ã¥È¤¬¤Ê¤¾¤ë¥é¥¤¥ó¤ÏÉߤ«¤ì¤Æ¤¤¤ë¤â¤Î¤Î¡¢¤½¤ì¤ò¤Ê¤¾¤é¤»¤ë»ØÎá¤ò²¼¤¹»ä¤¿¤Á¤¬¥È¥ì¡¼¥¹¤Ç¤¤ë¥é¥¤¥ó¤Ï¤Û¤È¤ó¤É¸ºß¤·¤Ê¤¤¾õ¶·¤«¤é¤Î¥¹¥¿¡¼¥È¤À¤Ã¤¿¡£²¿¤¬¸À¤¤¤¿¤¤¤Î¤«¤È¤¤¤¦¤È¡¢º£²ó¤Î²ÝÂê¤Ï¥×¥í¥°¥é¥à¤Ë¤ª¤±¤ëÀ©¸æ¤Î³ä¹ç¤¬Èó¾ï¤ËÂ礤¤¤â¤Î¤Ç¤¢¤Ã¤¿¡¢¤È¤¤¤¦¤³¤È¤Ç¤¹¡£ ¤³¤Î¤³¤È¤Ï¼è¤ê¤«¤«¤ê¤ÎÀâÌÀ¤Ç¸À¤ï¤ì¤Æ¤¤¤¿¾å¤Ë¡¢²ÝÂê¤ÎÆÃÀ¾å½Å¡¹¾µÃΤ·¤Æ¤¤¤¿¤Ä¤â¤ê¤Ç¤·¤¿¡£¤·¤«¤·¡¢»ä¤Î¥Á¡¼¥à¤¬À½ºî¤·¤¿¥³¡¼¥¹¤Ï¥Ç¥¶¥¤¥óÀ¤ò½Å»ë¤·¤¿º¸±¦ÂоΤΤâ¤Î¤Ç¤¢¤Ã¤¿¤¿¤á¡¢ ¡ÖȾʬ¤Þ¤Ç¿Ê¤á¤Ð¤¢¤È¤ÏµÕ¤ò¤¿¤É¤Ã¤Æ¤¤¤±¤Ð¤è¤¤¡× ¡Ö¤¢¤È¤ÏºÇ½é¤«¤é¤â¤¦°ì²ó·«¤êÊÖ¤»¤Ð£²¼þ¤Ç¤¤ë¡× ¤Ê¤É¤È¤¤¤¦´Å¤¤¹Í¤¨¤Î¤â¤È¥×¥í¥°¥é¥à¤ò½ñ¤¤¤Æ¤·¤Þ¤Ã¤Æ¤¤¤Þ¤·¤¿¡£¤½¤Î·ë²Ì¡¢ÅÓÃæ¤Ç¥×¥í¥°¥é¥à¤ò£±¤«¤é¸«Ä¾¤¹É¬Íפ¬½Ð¤Æ¤¤¿¤ê¡¢ºÇ½ªÅª¤Ë¤â°ÂÄꤷ¤¿Áö¹Ô¤¬½ÐÍè¤Æ¤¤¤Ê¤¤¾õÂ֤ˤʤäƤ·¤Þ¤¤¤Þ¤·¤¿¡£²¿»ö¤Ë¤âÌýÃÇÂçŨ¡¢Á´ÎϤÇÎפޤʤ¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¤³¤È¤ò»×¤¤ÃΤê¤Þ¤·¤¿¡£¤½¤Î¤»¤¤¤ÇÃÙ¤¯¤Þ¤Çºî¶È¤¹¤ë»ä¤ËÉÕ¤¹ç¤Ã¤Æ¤¯¤ì¤¿ÁêÊý¤Ë¤ÏƬ¤¬¾å¤¬¤ê¤Þ¤»¤óm(_ _)m ¼¡²ó¤«¤é¤Ï¤¤¤è¤¤¤èºÇ¸å¤Î²ÝÂê¤Ç¤¹¡£¤Þ¤À¤ï¤«¤é¤Ì¥Á¡¼¥à¤ÎÃç´Ö¤È¤È¤â¤Ë¡¢ÁÇÀ²¤é¤·¤¤¥í¥Ü¥Ã¥È¤ÈÆ°ºî¤òÃÛ¤¾å¤²¤Æ¤¤¤¤¿¤¤¤È»×¤¤¤Þ¤¹¡£ **¾áñĤÎÈ¿¾Ê¡ ¡½¡½°ÕÌ£¤Î¤Ê¤¤ÅØÎÏ [#f43d1ee2] #ref(2011b/A1/²ÝÂꣲº¸/robotanime.gif,100%,²¿¤Ç¤³¤ó¤Ê¤³¤È¹Í¤¨¤¿¤Î¤À¤í¤¦¤«) ¡Ö¸÷¥»¥ó¥µ¡¼¤¬45°Ê²¼¤Ê¤éÄä»ß¢ª¸÷¥»¥ó¥µ¡¼¤¬45°Ê²¼¤Ê¤é¡û¡û¡û¡û¡û¡×¤Î¥³¥ó¥Ü¤¬¾å¿Þ¤Î¤è¤¦¤Ë¤¦¤Þ¤¯¤¤¤«¤Ê¤¤¤³¤È¤â¹Í¤¨¤Æ¡¢¡Ö¸÷¥»¥ó¥µ¡¼¤¬45°Ê²¼¤Ê¤éÄä»ß¢ª¸÷¥»¥ó¥µ¡¼¤¬50°Ê²¼¤Ê¤é¡û¡û¡û¡û¡û¡×¤È¤Ê¤ë¤è¤¦¤Ë´ðËÜŪ¤Ë¥×¥í¥°¥é¥à¤ò½ñ¤¤¤Æ¤¤¤Þ¤¹¡£value¤ÈHvalue¤È¸÷¥»¥ó¥µ¡¼¤ÎÃͤË2¤Ä¤âÄêµÁ¤·¤Æ¤¤¤ë¤Î¤Ï¤½¤Î¤¿¤á¤Ç¤¹¡£ ¤·¤«¤·¤¢¤È¤Ç³Îǧ¤·¤¿¤Î¤Ç¤¹¤¬1¤Ä¤ÎÃÍ¡Ê£´£µ¡Ë¤Ç¤Þ¤Ã¤¿¤¯ÌäÂê¤Ï½Ð¤Þ¤»¤ó¤Ç¤·¤¿¡£ ´·À¤ÇÁ°¤Ë¤º¤ì¤ë¤³¤È¤Ï²ñ¤Ã¤Æ¤â¡¢¸å¤í¤Ë¤º¤ì¤ë¤³¤È¤Ï¤Ê¤¤¡£¹Í¤¨¤Æ¤ß¤ì¤ÐÅö¤¿¤êÁ°¤Î¤³¤È¤Ç¤·¤¿¡£ **¾áñĤÎÈ¿¾Ê¢ ¡½¡½Ä©Àï¿´¤¬Â¤ê¤Ê¤¤¡ª[#g61b5dec] ¥×¥í¥°¥é¥à¹½À®Â裲°Æ¤ò¤µ¤é¤·¤Þ¤¹ ´ðËÜŪ¤Ëº¸¥»¥ó¥µ¡¼¤Î¤ß¤Ç¥È¥ì¡¼¥¹¤·¤Þ¤¹¡£±¦¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ë¤Ê¤ë¤Î¤Ï¼¡¤Î4Ä̤ê¡Ê¤Î¤Ï¤º¡Ë ---- &ref(2011b/A1/²ÝÂꣲº¸/È¿¾Ê1.gif,70%,°Æ); 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