[[2013a/Member]] #define off Off(OUT_BC); #define TURN_TIME 500 //1/4回転の時間 #define BLACK 31 #define WHITE 62 #define SPEED 100 #define go OnFwd(OUT_BC,50); #define left OnFwd(OUT_B,50);Off(OUT_C); #define right OnFwd(OUT_C,50);Off(OUT_B); #define THRESHOLD 46 #define lleft OnFwd(OUT_B,50);OnRev(OUT_C,50); #define rright OnFwd(OUT_C,50);OnRev(OUT_B,50); #define fire OnRev(OUT_A,75); #define catch OnFwd(OUT_A,50); #define back OnRev(OUT_BC,50); #define off1 Off(OUT_BC); #define off2 Off(OUT_A); #define CONN 1 task main () {//1 int msg; long t0 = CurrentTick();//時間指定 while(CurrentTick()-t0 <= 500)//球を排出するまでのプログラム {//5 if (SENSOR_1 < 37){left} else {//6 if(SENSOR_1 < 45){lleft} else if (SENSOR_1 < 50){go} else if (SENSOR_1 < 56){right} else {rright} }//6 }//5 rright Wait(1000); off1 while(!(msg == 11)){ReceiveRemoteNumber(MAILBOX1,true,msg);} catch Wait(1000); off2 while(SENSOR_1 > 50){rright} long t1 = CurrentTick();//時間指定 while(CurrentTick()-t1 <= 1500)//球を排出するまでのプログラム {//5 if (SENSOR_1 < 37){left} else {//6 if(SENSOR_1 < 45){lleft} else if (SENSOR_1 < 50){go} else if (SENSOR_1 < 56){right} else {rright} }//6 }//5 lleft Wait(1000); off1 while(!(msg == 12)){ReceiveRemoteNumber(MAILBOX1,true,msg);} fire Wait(1000); off2 while(SENSOR_1 > 50){rright} long t2 = CurrentTick();//時間指定 while(CurrentTick()-t2 <= 1500)//球を排出するまでのプログラム {//5 if (SENSOR_1 < 37){left} else {//6 if(SENSOR_1 < 45){lleft} else if (SENSOR_1 < 50){go} else if (SENSOR_1 < 56){right} else {rright} }//6 }//5 lleft Wait(1000); off1 while(!(msg == 13)){ReceiveRemoteNumber(MAILBOX1,true,msg);} catch Wait(1000); off2 while(SENSOR_1 > 50){rright} long t3 = CurrentTick();//時間指定 while(CurrentTick()-t3 <= 8500)//球を排出するまでのプログラム {//5 if (SENSOR_1 < 37){left} else {//6 if(SENSOR_1 < 45){lleft} else if (SENSOR_1 < 50){go} else if (SENSOR_1 < 56){right} else {rright} }//6 }//5 }//1