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#define value 45 //ÌÀ¤ë¤µ1
#define Hvalue 50 //ÌÀ¤ë¤µ2
-»þ´Ö»ØÄê¤ÎÉôʬ
#define LITTLE_TIME1_1 12 //Àû²ó»þ´ÖÄ´À°(1)¤ò»ØÄê
#define LITTLE_TIME2 1 //Àû²ó»þ´ÖÄ´À°(2)¤ò»ØÄê
#define LITTLE_TIME1_2 4 //Àû²ó»þ´ÖÄ´À°(3)¤ò»ØÄê
#define THRESHOLD 50 //¥»¥ó¥µ¡¼¤ÎïçÃͤò»ØÄê
#define BACK_TIME 5 //¸åÂà¤Î»þ´Ö¤ò»ØÄê
#define HAIRPIN 120 //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¥â¡¼¥É(1²óÌÜ)¤Ø¤Î°Ü¹Ô»þ´Ö¤ò»ØÄê
#define CROSS 250 //2²óÌܤθòº¹ÅÀ¤Ç¤Î¥â¡¼¥ÉÊѹ¹¤Î»þ¤Î»þ´Ö¤ò»ØÄê
#define ROTARY_IN_1 40 //¥í¡¼¥¿¥ê¡¼¥â¡¼¥É(1²óÌÜ)¤Ø¤Î°Ü¹Ô¤Î»þ´Ö¤ò»ØÄê
#define ROTARY_RIGHT 140 //¥í¡¼¥¿¥ê¡¼Æþ¸ý¤È½Ð¸ý¤Î¡¢±¦¥»¥ó¥µ¤Î¤ß͸ú¤Ê»þ´Ö¤ò»ØÄê
#define ROTARY_LEFT 80 //¥í¡¼¥¿¥ê¡¼¿Ê¹ÔÃæ¤Î¡¢º¸¥»¥ó¥µ¤Î¤ß͸ú¤Ê»þ´Ö¤ò»ØÄê
#define RIGHT_ANGLE 80 //ľ³Ñ¥«¡¼¥ÖÁ°¤Î¡¢¶áÆ»¤ò̵»ë¤¹¤ë»þ¤Î»þ´Ö¤ò»ØÄê
#define RIGHT_ANGLE_2 170 //ľ³Ñ¤ò¶Ê¤¬¤ë»þ¤È¡¢¶áÆ»½ª¤ï¤ê¤ò̵»ë¤¹¤ë»þ¤Î»þ´Ö¤ò»ØÄê
#define END 25 //½ª¤ï¤ê¤Î¥é¥¤¥ó¤ò±Û¤¨¤Æ¡¢¥¹¥¿¡¼¥È¥é¥¤¥ó¤ËÌá¤ë»þ¤Î»þ´Ö¤ò»ØÄê
task main(){
#define SE_L SENSOR_1 //û½Ì¤Î¤¿¤á¡¢¥»¥ó¥µ¡¼1(SENSOR_1)¤ò¥»¥ó¥µ¡¼¥ì¥Õ¥È(SE_L)¤Ë
#define SE_R SENSOR_3 //Ʊ¾å
-Æ°ºîÄêµÁ¤ÎÉôʬ
int x = 0; //¥â¡¼¥ÉÀßÄêÍѤÎÊÑ¿ô¤òÄêµÁ
int y = 0; //¥«¥¦¥ó¥ÈÍѤÎÊÑ¿ô¤òÄêµÁ
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
int situation = 1;
int cross = 0;
int count = 0;
SetPower(OUT_A,1);
SetPower(OUT_C,1);
void go_straight() //ľ¿Ê¤òÄêµÁ
{
OnFwd(OUT_AC);
}
while(situation!=100){
void back() //¸åÂà(¾®)¤òÄêµÁ
{
OnRev(OUT_AC);
Wait(WAIT_TIME);
}
//ºÇ½é¤Î°ìÊâ¡£º¸¤ËÃí°Õ¤·¤Æ¿Ê¤à
while(situation==1 || situation==16){
OnFwd(OUT_AC);
if(SENSOR_3 <= value) {Off(OUT_C);OnFwd(OUT_A);}
else {Off(OUT_A);OnFwd(OUT_C);}
if(SENSOR_1 <= value){
if(situation==1){situation = 2;}
if(situation==16){situation = 17;}
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
}
//±Ô³Ñº¸Àû²ó
while(situation==2 || situation==17){
PlaySound(SOUND_CLICK);OnFwd(OUT_AC);Wait(70);
PlaySound(SOUND_CLICK);Off(OUT_C);OnRev(OUT_A);until(SENSOR_1 <= value);
PlaySound(SOUND_CLICK);OnFwd(OUT_C);Wait(35);
PlaySound(SOUND_CLICK);OnFwd(OUT_AC);Wait(15);Off(OUT_AC);
PlaySound(SOUND_CLICK);
if(situation==2){situation = 3;}
if(situation==17){situation = 18;}
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);
}
//2¥»¥ó¥µ¡¼¥È¥ì¡¼¥¹
while(situation==3 || situation==11 || situation==15 || situation==18){
if(SENSOR_1 < value && SENSOR_3 > value) {OnFwd(OUT_C);Off(OUT_A);}
if(SENSOR_3 < value && SENSOR_1 > value) {OnFwd(OUT_A);Off(OUT_C);}
if(SENSOR_1 > value && SENSOR_3 > value) {OnFwd(OUT_AC);}
if(SENSOR_1 < value && SENSOR_3 < value) {
OnFwd(OUT_AC);Wait(30);PlaySound(SOUND_UP);
if(cross==2){
Off(OUT_AC);
if(situation==3){situation = 4;}
if(situation==11){situation = 12;}
if(situation==15){situation = 16;}
if(situation==18){situation = 100;}
}
else{cross++;}
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
}
}
//¥í¡¼¥¿¥ê¡¼¿ÊÆþ¡£±¦Àû²ó
while(situation==4 || situation==12){
PlaySound(SOUND_CLICK);OnRev(OUT_AC);Wait(20);Off(OUT_AC);
PlaySound(SOUND_CLICK);OnFwd(OUT_A);OnRev(OUT_C);Wait(50);
PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(SENSOR_1 <= value);
PlaySound(SOUND_CLICK);Off(OUT_AC);
PlaySound(SOUND_CLICK);
if(situation==4){situation = 5;}
if(situation==12){situation = 13;count = 0;}
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();
}
}
}
//±¦¤ËÃí°Õ¤·¤Æ¿Ê¤à
while(situation==5 || situation==7 || situation==13){
if(SENSOR_1 <= value) {Off(OUT_A);OnFwd(OUT_C);}
else {Off(OUT_C);OnFwd(OUT_A);}
if(SENSOR_3 <= value){
if(count < 1){
OnFwd(OUT_AC);PlaySound(SOUND_UP);Wait(15);count++;
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¸´ðÁÃ
}
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¸´ðÁÃ
}
while(SE_R >= THRESHOLD){ //±¦¤¬Çò¤Î´Ö(±¦¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç)¡¢
rotary_left_0(); //º¸´ðÁÃ
}
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();
}
else{Off(OUT_AC);situation++;}
}
}
-¥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
//¥í¡¼¥¿¥ê¡¼Ã¦½Ð¡£±¦Àû²ó
while(situation==6 || situation==14){
PlaySound(SOUND_CLICK);OnFwd(OUT_AC);Wait(10);OnRev(OUT_C);Wait(10);
PlaySound(SOUND_CLICK);until(SENSOR_1 > Hvalue);until(SENSOR_1 <= value);Off(OUT_AC);
if(situation==6){situation = 7;}
if(situation==14){situation = 15;cross = 1;}
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»þ¡¢¤¤¤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¤Ï°ì¸Ä¤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
//ÅÀÀþ¿ÊÆþ¡£±¦Àû²ó
while(situation==8){
PlaySound(SOUND_CLICK);OnFwd(OUT_A);Wait(5);
PlaySound(SOUND_CLICK);until(SENSOR_1 > Hvalue);until(SENSOR_1 < value);Off(OUT_AC);
PlaySound(SOUND_CLICK);OnFwd(OUT_C);Wait(5);Off(OUT_AC);
PlaySound(SOUND_DOWN);situation++;
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
}
//ÅÀÀþ¿Ê¹Ô
while(situation==9){
if(SENSOR_1 < Hvalue && SENSOR_3 > value){OnFwd(OUT_C);until(SENSOR_3 < value);Off(OUT_AC);}
if(SENSOR_3 < Hvalue && SENSOR_1 > value){OnFwd(OUT_A);until(SENSOR_1 < value);Off(OUT_AC);}
if(SENSOR_1 < value && SENSOR_3 < value){PlaySound(SOUND_DOWN);situation++;}
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
}
}
//ÅÀÀþæ½Ð¡£±¦Àû²ó
while(situation==10){
PlaySound(SOUND_CLICK);OnFwd(OUT_A);Wait(5);
PlaySound(SOUND_CLICK);until(SENSOR_1 > Hvalue);until(SENSOR_1 <= value);Off(OUT_AC);
PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(SENSOR_3 > Hvalue)Off(OUT_AC);
PlaySound(SOUND_CLICK);situation=11;
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();}
}
}
}
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