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[[2011b]]
*¥é¥¤¥ó¥È¥ì¡¼¥¹ [#lf4957de]
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#contents
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**¥×¥í¥°¥é¥à [#u072506b]
***¤í¤Ë¤ãver [#y8425034]
¹õÀþ¤ò±¦¤Èº¸¤Î¥»¥ó¥µ¡¼¤Ç¤Ï¤µ¤ó¤Ç¿Ê¤ó¤Ç¤¤¤¯¡£¸òº¹ÅÀ¡Ê±¦¤Èº¸¤Î¥»¥ó¥µ¡¼¤ÎξÊý¤¬Æ±»þ¤Ë¹õ¤Ë¤Ê¤Ã¤¿¤È¤¡Ë¤Î¿ô¤ò¿ô¤¨¤Æ¿ô¤Ë²¿¸ÄÌܤθòº¹ÅÀ¤«¤Ë¤è¤Ã¤Æ¹ÔÆ°¤ò·èÄꤹ¤ë¡£¥°¥í¡¼¥Ð¥ëÊÑ¿ôcount¤Ç¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¡¢switchʸ¤Çʬ´ô¤¹¤ë¡£main´Ø¿ô¤ÎÃæ¤òû¤¯¤ï¤«¤ê¤ä¤¹¤¯¤Ê¤ë¤è¤¦¹©Éפ·¤¿¡£
*¥×¥í¥°¥é¥à [#v1652af9]
NXT¤Î¾ì¹ç¸÷¥»¥ó¥µ¡¼¤¬£±¤Ä¤·¤«¤Ê¤¤¡£
¤³¤ì¤ò²ò·è¤¹¤ë¤Ë¤Ï
¡¥é¥¤¥ó¤Î¾å¤ËÍ褿¤é¤¿¤À¤Á¤Ëº¸¤Î¥¿¥¤¥ä¤À¤±Àµ²óž¤µ¤»¡¢¥é¥¤¥ó¤«¤é³°¤ì¤¿¤é±¦¤Î¥¿¥¤¥ä¤À¤±Àµ²óž¤µ¤»¤ë¡£
#define border1 40
#define border3 30
#define speed 35
#define time 0020
#define angle 90
int count=0;
sub right_pivotTurn(){
OnFwd(OUT_C,speed);
OnRev(OUT_A,speed-7);
}
sub left_pivotTurn(){
OnFwd(OUT_A,speed);
OnRev(OUT_C,speed-7);
}
sub right_turn(){
OnFwd(OUT_C,speed);
Off(OUT_A);
}
sub left_turn(){
OnFwd(OUT_A,speed);
Off(OUT_C);
}
sub hairpin(){
Off(OUT_AC);
Wait(0500);
right_turn();
Wait(1300);
}
sub rotary(){
int count=0;
bool flag = true;
Off(OUT_AC);
Wait(0500);
right_turn();
Wait(1100);
for(int i=0;i<2;i++){
//º¸¤¬¹õ
while(Sensor(IN_1)>border1){
if(Sensor(IN_3)<border3){
if(count<5){
left_pivotTurn();
Wait(time);
}
//ξÊýÇò
}else{
OnFwd(OUT_AC,speed);
}
}
Off(OUT_AC);
Wait(0500);
if(flag){
Off(OUT_AC);
Wait(0500);
left_turn();
Wait(0500);
flag = false;
count = 0;
}else{
Off(OUT_AC);
Wait(0500);
right_pivotTurn();
Wait(0450);
Off(OUT_AC);
Wait(0500);
break;
}
}
}
sub ignore(){
Off(OUT_AC);
Wait(0500);
OnFwd(OUT_AC,speed);
Wait(0500);
}
sub in_shortway(){
Off(OUT_AC);
Wait(0500);
right_turn();
Wait(1100);
count++;
}
sub out_shortway(){
Off(OUT_AC);
Wait(0500);
right_turn();
Wait(1100);
}
task main(){
SetSensorLight(IN_1);
SetSensorColorRed(IN_3);
while(true){
//ξÊý¹õ
if(Sensor(IN_1)<border1 && Sensor(IN_3)<border3){
switch(count){
case 0:
hairpin();
count++;
break;
case 1:
rotary();
count++;
break;
case 2:
case 3:
ignore();
count++;
break;
case 4:
rotary();
if(Sensor(IN_1)<border1) in_shortway();
count++;
break;
case 5:
in_shortway();
break;
case 6:
out_shortway();
count++;
break;
case 7:
case 8:
ignore();
count++;
break;
}
//±¦¤¬¹õ
}else if(Sensor(IN_1)<border1 && Sensor(IN_3)>border3){
right_pivotTurn();
Wait(time);
//º¸¤¬¹õ
}else if(Sensor(IN_1)>border1 && Sensor(IN_3)<border3){
left_pivotTurn();
Wait(time);
//ξÊýÇò
}else{
OnFwd(OUT_AC,speed);
}
}
}
}
***SINANO470ver [#hb077c5b]
¼«Ê¬¤Ï¥â¥Î¥¯¥í¥»¥ó¥µ¡¼¤Î¤ß¤ò»ÈÍѤ·¤Æ¤¤¤Þ¤¹¡£´ðËÜŪ¤Ë¹õ¤ÎÃæ¤ò¿Ê¤ß¡¢³°¤ì¤¿¤é±¦¤Øº¸¤Ø¤ÈËÜÂΤò¿¶¤ë¤³¤È¤Ç¹õ¤òõ¤·¤Þ¤¹¡£¥í¡¼¥¿¥ê¡¼¤Ë¿¯Æþ¤¹¤ë¤Þ¤Ç¤Ï¹õ¤ÎÃæ¤ò¿Ê¤ß¡¢¿¯Æþ¤·¤¿¤é¥¿¥¤¥Þ¡¼¤Ç¹õ¤Îº¸¤ä±¦¤ò¿Ê¤à¥×¥í¥°¥é¥à¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¥í¡¼¥¿¥ê¡¼¤òÆÍÇˤ¹¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤Þ¤¹¡£
#define tim 0060
#define speed 50
#define light 50
sub rightturn(int t){
OnFwd(OUT_A,speed);
OnRev(OUT_C,speed);
Wait(t);
Off(OUT_AC);
}
sub leftturn(int t){
OnFwd(OUT_C,speed);
OnRev(OUT_A,speed);
Wait(t);
Off(OUT_AC);
}
sub rightcourse(){
int t,i,count=0;
SetSensorLight(IN_1);
while(true){
t=tim;
i = 0;
while(Sensor(IN_1)>light){
OnFwd(OUT_AC,speed);
}
Off(OUT_AC);
while(true){
if(i){
rightturn(t);
if(Sensor(IN_1)>light) break;
i--;
t+=tim;
count++;
}else{
leftturn(t);
if(Sensor(IN_1)>light) break;
i++;
t+=tim;
count++;
if(count>8){
OnFwd(OUT_C,speed);
OnRev(OUT_A,speed);
count=0;
if(Sensor(IN_1)>light){
Off(OUT_AC);
break;
}
}
}
}
}
}
sub leftcourse(){
int t,i,count=0;
SetSensorLight(IN_1);
while(true){
t=tim;
i = 0;
while(Sensor(IN_1)>light){
OnFwd(OUT_AC,speed);
}
Off(OUT_AC);
while(true){
if(i){
leftturn(t);
if(Sensor(IN_1)>light) break;
i--;
t+=tim;
count++;
}else{
rightturn(t);
if(Sensor(IN_1)>light) break;
i++;
t+=tim;
count++;
if(count>8){
OnFwd(OUT_C,speed);
OnRev(OUT_A,speed);
count=0;
if(Sensor(IN_1)>light){
Off(OUT_AC);
break;
}
}
}
}
}
}
sub middle(){
int t,i,count=0;
while(true){
t=tim;
i = 0;
while(Sensor(IN_1)<light){
OnFwd(OUT_AC,speed);
}
Off(OUT_AC);
while(true){
if(i){
leftturn(t);
if(Sensor(IN_1)<light) break;
i--;
t+=tim;
count++;
}else{
rightturn(t);
if(Sensor(IN_1)<light) break;
i++;
t+=tim;
count++;
if(count>8){
OnFwd(OUT_C,speed);
OnRev(OUT_A,speed);
count=0;
if(Sensor(IN_1)<light){
Off(OUT_AC);
break;
}
}
}
}
}
}
task main(){
long t0,time;
SetSensorLight(IN_1);
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<28000){
middle();//´ðËÜŪ¤Ë¹õ¤ÎÆ⦤ò¿Ê¤ß¤Þ¤¹¡£
}
if(time>28000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<1000){
leftcourse();//¹õ¤Îº¸Â¦¤òÄ̤ê¤Þ¤¹¡£¤³¤³¤Ç¥í¡¼¥¿¥ê¡¼¤Î¼Ì¿¿¾å¦¤ÎT»úÏ©¤ò²óÈò¤·¤Þ¤¹¡£
}
if(time>1000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<5000){
rightcourse();//¹õ¤Î±¦Â¦¤òÄ̤ê¤Þ¤¹¡£±¦Â¦¤òÄ̤뤳¤È¤Ç¥í¡¼¥¿¥ê¡¼¤«¤éæ½Ð¤·¤Þ¤¹¡£
}
if(time>5000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<6000){
leftcourse();//¹õ¤Îº¸Â¦¤òÄ̤ê¤Þ¤¹¡£¼Ì¿¿º¸²¼¤Î»Í³Ñ¤¤Éôʬ¤Î¥³¡¼¥¹¤ÎÆ⦤òÄ̤¹¤³¤È¤Ç¥ß¥¹¤ò¸º¤é¤·¤Þ¤¹¡£
}
if(time>6000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<1000){
middle();//¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£¥í¡¼¥¿¥ê¡¼¤Ë¿¯Æþ¤¹¤ëÁ°¤Î½½»úÏ©¤òÄ̲ᤷ¡¢¥í¡¼¥¿¥ê¡¼¤ËºÆ¿¯Æþ¤·¤Þ¤¹¡£
}
if(time>1000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<0900){
leftcourse();//¥³¡¼¥¹¤Îº¸Â¦¤òÄ̤·¤Þ¤¹¡£¤³¤ÎÊդˤʤë¤È¥¿¥¤¥Þ¡¼¤Î¸íº¹¤¬½Ð¤Æ¤¯¤ë¤Î¤Ç¡¢¥í¡¼¥¿¥ê¡¼Á°¤Î½½»úÏ©¤ò¤¦¤Þ¤¯Ä̤ì¤Ê¤¤¤³¤È¤¬¤¢¤ë¤Î¤Ç¤³¤¦¤·¤Þ¤·¤¿¡£
}
if(time>0900){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<0600){
middle();¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£¥í¡¼¥¿¥ê¡¼¤Ë¤¦¤Þ¤¯Æþ¤ë¤Ë¤Ï¹õ¤ÎÆ⦤òÄ̤é¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤«¤é¤Ç¤¹¡£
}
if(time>0600){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<4000){
leftcourse();//¹õ¤Îº¸Â¦¤òÄ̤ê¤Þ¤¹¡£¼Ì¿¿±¦Â¦¤ÎT»úÏ©¤ò²óÈò¤·¤Þ¤¹¡£
}
if(time>4000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<4000){
middle();//¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£
}
if(time>4000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<5000){
rightcourse();//¹õ¤Î±¦Â¦¤òÄ̤ê¤Þ¤¹¡£¤½¤ì¤Ë¤è¤Ã¤Æ¥í¡¼¥¿¥ê¡¼¤«¤éæ½Ð¤·¤Þ¤¹¡£
}
if(time>5000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<20000){
middle();//¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£¤³¤Î¤Þ¤Þ¥´¡¼¥ë¤Þ¤Ç¹Ô¤¤Þ¤¹¤¬¡¢¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤âÌäÂê¤Ê¤¯¤³¤Ê¤·¤Þ¤¹¡£
}
if(time>60000){
break;
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<28000){
middle();//´ðËÜŪ¤Ë¹õ¤ÎÆ⦤ò¿Ê¤ß¤Þ¤¹¡£
}
if(time>28000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<1000){
leftcourse();//¹õ¤Îº¸Â¦¤òÄ̤ê¤Þ¤¹¡£¤³¤³¤Ç¥í¡¼¥¿¥ê¡¼¤Î¼Ì¿¿¾å¦¤ÎT»úÏ©¤ò²óÈò¤·¤Þ¤¹¡£
}
if(time>1000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<5000){
rightcourse();//¹õ¤Î±¦Â¦¤òÄ̤ê¤Þ¤¹¡£±¦Â¦¤òÄ̤뤳¤È¤Ç¥í¡¼¥¿¥ê¡¼¤«¤éæ½Ð¤·¤Þ¤¹¡£
}
if(time>5000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<6000){
leftcourse();//¹õ¤Îº¸Â¦¤òÄ̤ê¤Þ¤¹¡£¼Ì¿¿º¸²¼¤Î»Í³Ñ¤¤Éôʬ¤Î¥³¡¼¥¹¤ÎÆ⦤òÄ̤¹¤³¤È¤Ç¥ß¥¹¤ò¸º¤é¤·¤Þ¤¹¡£
}
if(time>6000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<1000){
middle();//¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£¥í¡¼¥¿¥ê¡¼¤Ë¿¯Æþ¤¹¤ëÁ°¤Î½½»úÏ©¤òÄ̲ᤷ¡¢¥í¡¼¥¿¥ê¡¼¤ËºÆ¿¯Æþ¤·¤Þ¤¹¡£
}
if(time>1000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<0900){
leftcourse();//¥³¡¼¥¹¤Îº¸Â¦¤òÄ̤·¤Þ¤¹¡£¤³¤ÎÊդˤʤë¤È¥¿¥¤¥Þ¡¼¤Î¸íº¹¤¬½Ð¤Æ¤¯¤ë¤Î¤Ç¡¢¥í¡¼¥¿¥ê¡¼Á°¤Î½½»úÏ©¤ò¤¦¤Þ¤¯Ä̤ì¤Ê¤¤¤³¤È¤¬¤¢¤ë¤Î¤Ç¤³¤¦¤·¤Þ¤·¤¿¡£
}
if(time>0900){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<0600){
middle();¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£¥í¡¼¥¿¥ê¡¼¤Ë¤¦¤Þ¤¯Æþ¤ë¤Ë¤Ï¹õ¤ÎÆ⦤òÄ̤é¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤«¤é¤Ç¤¹¡£
}
if(time>0600){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<4000){
leftcourse();//¹õ¤Îº¸Â¦¤òÄ̤ê¤Þ¤¹¡£¼Ì¿¿±¦Â¦¤ÎT»úÏ©¤ò²óÈò¤·¤Þ¤¹¡£
}
if(time>4000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<4000){
middle();//¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£
}
if(time>4000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<5000){
rightcourse();//¹õ¤Î±¦Â¦¤òÄ̤ê¤Þ¤¹¡£¤½¤ì¤Ë¤è¤Ã¤Æ¥í¡¼¥¿¥ê¡¼¤«¤éæ½Ð¤·¤Þ¤¹¡£
}
if(time>5000){
break;
}
}
t0 = CurrentTick();
while(true){
time = CurrentTick()-t0;
if(0<time&&time<60000){
middle();//¹õ¤ÎÆ⦤òÄ̤ê¤Þ¤¹¡£¤³¤Î¤Þ¤Þ¥´¡¼¥ë¤Þ¤Ç¹Ô¤¤Þ¤¹¤¬¡¢¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤âÌäÂê¤Ê¤¯¤³¤Ê¤·¤Þ¤¹¡£
}
if(time>20000){
break;
}
}
}
**È¿¾Ê¡¦´¶ÁÛ [#k964561b]
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