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**Àïά¡¡1 [#t6e8ee4f]
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#define BLACK 35
#define u_turn OnRev(OUT_A); OnFwd(OUT_C);
#define go_forward OnFwd(OUT_AC);
#define turn_left OnRev(OUT_A); OnFwd(OUT_C);
#define turn_right OnFwd(OUT_A); OnRev(OUT_C);
#define n_turn OnFwd(OUT_A); OnRev(OUT_C);
#define STEP 1
#define BLACK 35¡¡//¤·¤¤¤ÃÍ
#define u_turn OnRev(OUT_A); OnFwd(OUT_C); ¡¡//¥â¡¼¥¿¡¼A¤ò¸åÂà¡¢C¤òÁ°¿Ê
#define go_forward OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡// Á°¿Ê
#define turn_left OnRev(OUT_A); OnFwd(OUT_C); ¡¡¡¡// ¥â¡¼¥¿¡¼A¤ò¸åÂà¡¢C¤òÁ°¿Ê
#define turn_right OnFwd(OUT_A); OnRev(OUT_C); ¡¡// ¥â¡¼¥¿¡¼A¤òÁ°¿Ê¡¢C¤ò¸åÂà
#define n_turn OnFwd(OUT_A); OnRev(OUT_C);¡¡¡¡¡¡// ¥â¡¼¥¿¡¼A¤òÁ°¿Ê¡¢C¤ò¸åÂà
#define STEP 1¡¡
task main()
{
SetSensor(SENSOR_3, SENSOR_LIGHT);
ClearTimer(3);
OnFwd(OUT_B);
OnFwd(OUT_B);¡¡¡¡¡¡//¡¡¡¡¡¡¡½êÄêÃϤ«¤é¥Ü¡¼¥ë¤ò¼è¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£
Wait(20);
OnFwd(OUT_AC);
Wait(90);
Off(OUT_B);
Off(OUT_AC);
Wait(70);
OnFwd(OUT_AC);
Wait(30);
ClearTimer(3);
while (FastTimer(3) <=100){
if (SENSOR_3 <= BLACK){
Off(OUT_AC);
while (FastTimer(3) <=100){¡¡¡¡¡¡// ¢¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¸å¡¢¹õ¤¤Àþ¤ËÌá¤ë¤¿¤á¤Î
if (SENSOR_3 <= BLACK){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥×¥í¥°¥é¥à¡£
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
Wait(50);
} else if(SENSOR_3 > BLACK && FastTimer(3) <=40){
OnFwd(OUT_AC);
Wait(5);
} else if(SENSOR_3 > BLACK && FastTimer(3) >40){
OnRev(OUT_AC);
Wait(5);
}
}
ClearTimer(3);
while (FastTimer(3) <=650){
while (FastTimer(3) <=650){¡¡¡¡¡¡// £
if (SENSOR_3 <= BLACK){
go_forward;
Wait(10);
¡¡ turn_right;
Wait(10);
ClearTimer(0);
}else if(FastTimer(0) >=100){
u_turn;
¡¡ ClearTimer(0);
}else if(FastTimer(0) >40){
turn_right;
}else if(SENSOR_3 > BLACK){
turn_left;
}
}
Off(OUT_AC);
Wait(5);
u_turn;
Wait(40);
ClearTimer(3);
while (FastTimer(3) <=100){
if (SENSOR_3 <= BLACK){
Off(OUT_AC);
Wait(50);
} else if(SENSOR_3 > BLACK){
u_turn;
Wait(10);
}
}
Off(OUT_AC);
Wait(10);
ClearTimer(3);
while (FastTimer(3) <=2400){
while (FastTimer(3) <=2400){¡¡¡¡¡¡// ¤
if (SENSOR_3 < BLACK ){
go_forward;
ClearTimer(1);
ClearTimer(0);
}else if(SENSOR_3 > BLACK && FastTimer(1) >=60){
n_turn
}else if(SENSOR_3 > BLACK && FastTimer(0) >=20){
turn_left;
}else if(SENSOR_3 > BLACK ){
turn_right;
}
}
Off(OUT_AC);
Wait(5);
ClearTimer(3);
while (FastTimer(3) <=1000){
while (FastTimer(3) <=1000){¡¡¡¡// ¥
if (SENSOR_3 < BLACK ){
go_forward;
ClearTimer(1);
ClearTimer(0);
}else if( FastTimer(1) >=10){
u_turn;
}else if( FastTimer(0) >=70){
turn_right;
}else if(SENSOR_3 > BLACK ){
turn_left;
}
}
Off(OUT_AC);
Wait(5);
ClearTimer(3);
while (FastTimer(3) <= 800){
while (FastTimer(3) <= 800){¡¡¡¡// ¦
if (SENSOR_3 < BLACK){
go_forward;
Wait(10);
ClearTimer(0);
}else if(SENSOR_3 > BLACK && FastTimer(0) >=40){
n_turn;
}else if(SENSOR_3 > BLACK && FastTimer(0) >=10){
turn_left;
}else if(SENSOR_3 > BLACK){
turn_right;
}
}
Off(OUT_AC);
Off(OUT_AC);¡¡¡¡// §
Wait(100);
OnRev(OUT_AC);
Wait(60);
Off(OUT_AC);
turn_left;
Wait(40);
OnFwd(OUT_B);
Wait(20);
Off(OUT_B);
Off(OUT_AC);
}
**Àïά¡¡2 [#g89a2a7d]
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¡
¡¡SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡
¡¡ClearTimer(3);¡¡//¥¿¥¤¥Þ¡¼3¤ò¥¼¥í¤Ë¥ê¥»¥Ã¥È
¡¡OnFwd(OUT_B);¡¡ //¥â¡¼¥¿¡¼B¤òÁ°¿Ê¡Ê¥¢¡¼¥à¾å¾º¡Ë
¡¡Wait(20);¡¡¡¡¡¡
¡¡OnFwd(OUT_AC);¡¡¡¡//Á°¿Ê
¡¡ Wait(90);
¡¡Off(OUT_B);¡¡¡¡¡¡//¥â¡¼¥¿¡¼B¤ò¸åÂà¡Ê¥¢¡¼¥à²¼¹ß¡Ë
¡¡Off(OUT_AC);
¡¡Wait(70);
¡¡OnFwd(OUT_AC);¡¡//Á°¿Ê
¡¡Wait(30);
¡¡¡¡ClearTimer(3);¡¡
¤´Í÷¤ÎÄ̤ꥷ¥ó¥×¥ë¤Ê¥×¥í¥°¥é¥à¤Ç¥â¡¼¥¿B¤òOnFwd¤¹¤ë¤³¤È¤Ë¤è¤ê¥¢¡¼¥à¤ò»ý¤Á¾å¤²¡¢¿Ê¤ß¡¢Off¤Ë¤¹¤ë¤³¤È¤Ë¤è¤ê¥¢¡¼¥à¤¬¼«Á³¤ÈÍî¤Á¤ë¤Î¤Ç¥Ü¡¼¥ë¤òÄϤá¤ë½ê¤Þ¤Ç¹Ô¤¯¤È¥¢¡¼¥à¤¬²¼¤²¤ë¤È¤¤¤¦ºîÀï¤Ç¤¹¡£
¢¡¡
while (FastTimer(3) <=100){
if (SENSOR_3 <= BLACK){
Off(OUT_AC);¡¡¡¡//¥â¡¼¥¿¡¼AB¤òÄä»ß
Wait(50);
} else if(SENSOR_3 > BLACK && FastTimer(3) <=40){¡¡//¤·¤¤¤Ãͤè¤ê¹â¤¤¤«
OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡0.4É俤俤éÁ°¿Ê
Wait(5);
} else if(SENSOR_3 > BLACK && FastTimer(3) >40){¡¡//¤·¤¤¤Ãͤè¤ê¹â¤¤¤«
OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡0.4Éðʾå¤Ç¸åÂà¡¡
Wait(5);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
}
}
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£
while (FastTimer(3) <=650){¡¡//6.5ÉôÖ³¤±¤ë
if (SENSOR_3 <= BLACK){¡¡//¤·¤¤¤Ãͤè¤ê¾®¤µ¤±¤ì¤Ð0.1ÉÃÁ°¿Ê¤·¤¿¸å
go_forward;¡¡¡¡¡¡¡¡¡¡¡¡£°.£±Éñ¦ÀÞ¤¹¤ë¡£
Wait(10);¡¡¡¡¡¡¡¡¡¡¡¡
¡¡ turn_right;
Wait(10);
ClearTimer(0);
}else if(FastTimer(0) >=100){¡¡¡¡//º¸ÀÞ¤¬£±Éðʾå¤Çuturn
u_turn;
¡¡ ClearTimer(0);
}else if(FastTimer(0) >40){¡¡¡¡//º¸ÀÞ¤¬0.4Éðʾå¤Ç±¦ÀÞ
turn_right;
}else if(SENSOR_3 > BLACK){ //¤·¤¤¤Ãͤè¤ê¤âÂ礤±¤ì¤Ðº¸ÀÞ
turn_left;
}
}
Off(OUT_AC); //¥â¡¼¥¿¡¼ACÄä»ß
Wait(5);
u_turn;
Wait(40);
ClearTimer(3);
while (FastTimer(3) <=100){¡¡¡¡//1ÉôÖ³¤±¤ë
if (SENSOR_3 <= BLACK){¡¡//¤·¤¤¤Ãͤè¤ê¾®¤µ¤±¤ì¤Ð
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡Ää»ß
Wait(50);¡¡
} else if(SENSOR_3 > BLACK){¡¡¡¡//¤·¤¤¤Ãͤè¤êÂ礤±¤ì¤Ð
u_turn;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡uturn
Wait(10);
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¤
while (FastTimer(3) <=2400){¡¡//24ÉôÖ³¤±¤ë
if (SENSOR_3 < BLACK ){¡¡//¤·¤¤¤ÃͰʲ¼¤À¤ÈÁ°¿Ê
go_forward; ¡¡¡¡
ClearTimer(1);¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼1¤ò¥¼¥í¤Ë¥ê¥»¥Ã¥È
ClearTimer(0);¡¡¡¡ //¥¿¥¤¥Þ¡¼0¤ò¥¼¥í¤Ë¥ê¥»¥Ã¥È
}else if(SENSOR_3 > BLACK && FastTimer(1) >=60){¡¡//¤·¤¤¤ÃͰʾ夫0.6ÉÃ
n_turn¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¤Çnturn
}else if(SENSOR_3 > BLACK && FastTimer(0) >=20){ //¤·¤¤¤ÃͰʾ夫0.2ÉÃ
turn_left; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¤Çº¸ÀÞ
}else if(SENSOR_3 > BLACK ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤·¤¤¤ÃͰʾå¤Ç±¦ÀÞ
turn_right;
}
}
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß
Wait(5);
¤¤Ï¿Þ¤Î±¦¤«¤éÆóÈÖ¤á¤ÎÀִݤޤǺîÆ°¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¡¢¸òº¹ÅÀ¤òÅϤé¤Ê¤¤¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤â¤¢¤ê¤Þ¤¹¡£¸òº¹ÅÀ¤òÅϤé¤Ê¤¤ÊýË¡¤È¤·¤Æ¤Ï¡¢¾åµ¤Î¥×¥í¥°¥é¥à¤É¤¦¤ê¡¢µ¡ÂΤ¬Àþ¾å¤Ë¿¿¤Ãľ¤°¤Ë¤Ê¤ê¡¢¤½¤Î¤Þ¤ÞÁ°¿Ê¤·¤Æ¤¯¤ì¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¿Þ¤Î±¦¤«¤éÆóÈÖÌܤÎÀÄ´ÝÉÕ¶á¤ÇÄä»ß¡¢¥×¥í¥°¥é¥à½ªÎ»¤Ç¤¹¡£
¥
while (FastTimer(3) <=1000){¡¡¡¡//10ÉôÖ³¤±¤ë
if (SENSOR_3 < BLACK ){
go_forward; //Á°¿Ê
ClearTimer(1);¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼1¤ò¥ê¥»¥Ã¥È
ClearTimer(0);¡¡¡¡¡¡¡¡ //¥¿¥¤¥Þ¡¼0¤ò¥ê¥»¥Ã¥È
}else if( FastTimer(1) >=10){¡¡¡¡//±¦ÀÞ¤«¤é0.1Éøåuturn
u_turn;
}else if( FastTimer(0) >=70){¡¡//º¸ÀÞ¤«¤é£°.£·Éø屦ÀÞ
turn_right;
}else if(SENSOR_3 > BLACK ){ //¤·¤¤¤ÃͰʾå¤Çº¸ÀÞ
turn_left;
}
}
Off(OUT_AC); //Ää»ß
Wait(5);
¿Þ¤Ç¤¤¤¦¤È±¦¤«¤é»°ÈÖÌܤÎÀÖ´Ý¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¡£¥»¥ó¥µ¡¼¤¬±¦¤Ë¤è¤Ã¤Æ¸òº¹ÅÀ¤ò¤ï¤¿¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ë±¦ÀÞ¤ËÊѹ¹¤¹¤ë¤Þ¤Ç¤Î»þ´Ö¤òŤ¯¤·¤Þ¤·¤¿¡£ÀÄÉÕ¶á¤ÇÄä»ß¤·¤Æ½ªÎ»¡¢¦¤Î¥×¥í¥°¥é¥à¤ËÀÚ¤êÂؤï¤ë¤Èuturn¤·¤Æ¥é¥¤¥ó¤ò¤Þ¤¿µÕÌá¤ê¤·¤½¤¦¤Ë¤Ê¤ê¤Þ¤¹¤¬¡¢¤Þ¤¿¤â¤È¤Î¸þ¤¤ËÌá¤Ã¤Æ¤¯¤ì¤Þ¤¹¡£¡Ê´°Á´¤Ë¤¤¤é¤Ê¤¤Æ°¤(^_^;)¡Ë
¦
while (FastTimer(3) <= 800){
if (SENSOR_3 < BLACK){
go_forward;
Wait(10);
ClearTimer(0);
}else if(SENSOR_3 > BLACK && FastTimer(0) >=40){
n_turn;
}else if(SENSOR_3 > BLACK && FastTimer(0) >=10){
turn_left;
}else if(SENSOR_3 > BLACK){
turn_right;
¡¡¡¡¡¡}
}