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#define go OnFwd(OUT_AC);
#define back OnRev(OUT_AC);
#define turn_left Off(OUT_A); OnFwd(OUT_C); Wait(50); Off(OUT_C);
#define turn_right Off(OUT_C); OnFwd(OUT_A); Wait(50); Off(OUT_A);
#define left SetPower(OUT_A, 2); SetPower(OUT_C, 3); OnRev(OUT_A); OnFwd(OUT_C);
#define right SetPower(OUT_A, 3); SetPower(OUT_C, 2); OnFwd(OUT_A); Off(OUT_C);
#define senkai_l OnFwd(OUT_C); Wait(10); Off(OUT_C);
#define THRESHOLD 46
#define STEP 1
#define Catch OnFwd(OUT_B); Wait(50); Off(OUT_B);
#define parge OnRev(OUT_B); Wait(50); OnFwd(OUT_AC); Wait(30); Off(OUT_AC); OnRev(OUT_AC); Wait(20); Off(OUT_ABC);
#define go OnFwd(OUT_AC); //Á°¤Ø¿Ê¤à
#define back OnRev(OUT_AC); //¸å¤í¤Ø²¼¤¬¤ë
#define turn_left Off(OUT_A); OnFwd(OUT_C); Wait(50); Off(OUT_C); //90ÅÙº¸¤Ë¶Ê¤¬¤ë
#define turn_right Off(OUT_C); OnFwd(OUT_A); Wait(50); Off(OUT_A);//90ÅÙ±¦¤Ë¶Ê¤¬¤ë
#define left SetPower(OUT_A, 2); SetPower(OUT_C, 3); OnRev(OUT_A); OnFwd(OUT_C);//¹õ¤¤Îΰè¤Îº¸Â¦¤òÆɤߤʤ¬¤é¥é¥¤¥ó¥È¥ì¡¼¥¹
#define right SetPower(OUT_A, 3); SetPower(OUT_C, 2); OnFwd(OUT_A); Off(OUT_C);//¹õ¤¤Îΰè¤Î±¦Â¦¤òÆɤߤʤ¬¤é¥é¥¤¥ó¥È¥ì¡¼¥¹
#define senkai_l OnFwd(OUT_C); Wait(100); Off(OUT_C);//90ÅÙÀû²ó¤µ¤»¤ë
#define THRESHOLD 46 //¹õ¤¤Éôʬ¤ÈÇò¤¤Éôʬ¤Î°èÃͤοô»ú¤òÄêµÁ
#define STEP 1 //Çò¤È¹õ¤Î¶³¦¤ò¥»¥ó¥µ¤¬Æɤॿ¥¤¥ß¥ó¥°
#define Catch OnFwd(OUT_B); Wait(50); Off(OUT_B);//¥Ô¥ó¥Ý¥ó¤À¤Þ¤ò¥¥ã¥Ã¥Á¤¹¤ëÆ°ºî
#define parge OnRev(OUT_B); Wait(50); OnFwd(OUT_AC); Wait(30); Off(OUT_AC); OnRev(OUT_AC); Wait(20); Off(OUT_ABC);//¥·¥å¡¼¥È¤ÎÆ°ºî
task main ()
{
{
OnRev(OUT_B);
Wait(10);
Catch;
//¥Ô¥ó¥Ý¥óµå¤ò¥¥ã¥Ã¥Á¤·¡¢¥é¥¤¥ó¤È¥ì¡¼¥¹¤ËÆþ¤ëÁ°¤ÎÃʳ¬¤Þ¤Ç¤ò¤³¤³¤Ç´°Î»¡£°Ê²¼¤«¤éº¸¤Ë±è¤Ã¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ë¡£
{
OnRev(OUT_B);
Wait(10);
Catch;//¥Ô¥ó¥Ý¥óµå¤ò¥¥ã¥Ã¥Á¤·¡¢¥é¥¤¥ó¤È¥ì¡¼¥¹¤ËÆþ¤ëÁ°¤ÎÃʳ¬¤Þ¤Ç¤ò¤³¤³¤Ç´°Î»¡£°Ê²¼¤«¤éº¸¤Ë±è¤Ã¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ë¡£
SetSensor(SENSOR_1, SENSOR_LIGHT);
ClearTimer(0);
SetSensor(SENSOR_1, SENSOR_LIGHT);
ClearTimer(0);//¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while(FastTimer(0) <= 700)
{
if(SENSOR_1 < THRESHOLD)
{
left;
}
else
{
right;
}
Wait(STEP);
while(FastTimer(0) <= 700)//ºÇ½é¤Îľ³Ñ¤È¸òº¹ÅÀ¤Î´Ö¤Î¤É¤³¤«
{
if(SENSOR_1 < THRESHOLD)//¥»¥ó¥µ¡¼¤¬¹õ¤Ë¤¢¤ë¾ì¹ç¡¢º¸±¦¤Î¶³¦Àþ¤Îº¸Â¦¤òÆɤߤʤ¬¤é¿Ê¤à
{
left;
}
else
{
right;
}
Wait(STEP);
}
}
right; Wait(50);
ClearTimer(1);
right; Wait(50);//¥³¡¼¥¹¤Î¥¤¥ó¥¯¤¬¤Ë¤¸¤ó¤Ç¤¤¤ë¤Î¤ÇÈùÄ´À°
ClearTimer(1);//
while(FastTimer(1) <= 1500 )
{
if(SENSOR_1 < THRESHOLD)
{
right;
}
else
{
left;
}
Wait(STEP);
while(FastTimer(1) <= 1500 )//°ì¸ÄÌܤθòº¹ÅÀ¤ÎľÁ°¤«¤é¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç¤Î´Ö¤Î¶ÊÀþ´Ö¤Î¤É¤³¤«¤Þ¤Ç¤Î»þ´Ö¡£
{
if(SENSOR_1 < THRESHOLD)//¹õ¤¤Àþ¤ÈÇò¤¤Àþ¤Î±¦Â¦¤Î¶³¦¤òÆɤà
{
right;
}
else
{
left;
}
Wait(STEP);
}
ClearTimer(2);
while(FastTimer(2) <= 1400 )
{
SetPower(OUT_AC, 2);
}
ClearTimer(2);
while(FastTimer(2) <= 1400 )//Æó¸ÄÌܤθòº¹ÅÀ¤ÎÁ°¤Î¶ÊÀþ¤«¤é¥´¡¼¥ë¼êÁ°¤Îû¤¤Ä¾Àþ¤Þ¤Ç¡¢¹õ¤¤Àþ¤Îº¸Â¦¶³¦¤òÆɤࡣ
{
SetPower(OUT_AC, 2);
if(SENSOR_1 < THRESHOLD)
{
left;
}
else
{
right;
}
// Wait(STEP);
if(SENSOR_1 < THRESHOLD)
{
left;
}
else
{
right;
}
Wait(STEP);
}
parge;//ȯ¼Í¤¹¤ë¡£¤³¤Î»þ¥´¡¼¥ëľÁ°¤Î¥³¡¼¥¹¤Îû¤¤Ä¾Àþ¾å¤Ë¤¤¤ë¡£
}
parge;
}