- Äɲ䵤줿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
- ºï½ü¤µ¤ì¤¿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
*¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#y51accda]
#ref(./image.jpg,10%,¥í¥Ü¥Ã¥È)
-ÁÇÀ²¤é¤·¤¤¥í¥Ü¥Ã¥È¤Ç¤¹
-Á°¤¬½Å¤¹¤®¤ë¤Î¤Ç²¿²ó¤«²þÎɤò²Ã¤¨¤ë¤³¤È¤Ç¡¢·ÚÎ̲½¤ËÀ®¸ù¤·Á°¤Ë·¹¤¯¤³¤È¤¬¤Ê¤¯¤Ê¤Ã¤¿
-´Ì¤ò°ÂÄꤷ¤Æ±¿¤Ö¤¿¤á¤Ë¥¢¡¼¥à¤òŤá¤Ë¤·¤¿¤¬¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ëºÝ¤ÎÍɤì¤ËÂѤ¨¤ë¤³¤È¤¬¤Ç¤¤º¡¢Åݤì¤ë¤³¤È¤¬Â¿¤«¤Ã¤¿¤Î¤Ç¡¢¥â¡¼¥¿¡¼¤ËϢư¤¹¤ë¥¢¡¼¥à¤È¤ÏÊ̤˸ÇÄꤵ¤ì¤¿¥¢¡¼¥à¤ò¤Ä¤±¤ë¤³¤È¤Ç¡¢¾¯¤·²þÁ±¤µ¤ì¤¿¤¬¤Þ¤ÀÅݤì¤Æ¤·¤Þ¤¦¤³¤È¤¬¾¯¤·¤¢¤ë¤Î¤¬²ÝÂê
-RCXËÜÂΡʲ«¿§¤Î¥ì¥´¥Ö¥í¥Ã¥¯¡Ë¤Ï»ý¤Á±¿¤ÖºÝ¼è¤ì¤ä¤¹¤¤¤È¤¤¤¦ÌäÂ꤬¤¢¤Ã¤¿¤Î¤Ç»ý¤Á±¿¤Ó¤ä¤¹¤¯¤¹¤ë¤¿¤á¤Ë»ý¤Ä¤È¤³¤í¤òºîÀ®¤·¤¿
ÁÇÀ²¤é¤·¤¤¥í¥Ü¥Ã¥È¤Ç¤¹¡£¤±¤ÉÂ礤¤¤Ç¤¹¡£
*¥³¡¼¥¹¹¶Î¬Ë¡ [#icba8cc7]
-¥¿¥¤¥Þ¡¼¤òÍÑ°Õ¤·¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤«¤«¤ë»þ´Ö¤ò¬Äꤷ¤Ê¤¬¤é»þ´Ö¤òÀßÄꤷ¤Æ¤¤¤Ã¤¿
+¤Þ¤º´Ì¤ò¤Ä¤«¤à¤Þ¤Ç¤Î»þ´Ö¤ò¬Äꤷ¡¢´Ì¤ò¤Ä¤«¤à¤Þ¤Ç¤Î¥é¥¤¥ó¤È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë
+¤½¤ì¤«¤é»þ´Ö¤ò²¿¸Ä¤«¶èÀڤäơ¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºîÀ®¤ò¤¹¤ë¤¬¡¢¤½¤Î»þ´Ö¤Î´Ö¤Ë²»¤ò¤Ê¤é¤·¡¢¤Þ¤¿¡¢¤½¤Î»þ¤Ë´Ì¤ò¤Ä¤«¤à¤è¤¦¤Ë¥â¡¼¥¿¡¼¤ò²ó¤¹¤è¤¦¤Ë¤·¤¿
+¸òº¹ÅÀ¤òÄ̲᤹¤ë¤µ¤¤¤Ï¥«¥¦¥ó¥¿¡¼¤ò¤Ä¤±¤ÆƱ¤¸¤¦¤´¤¤ònMAX·«¤êÊÖ¤·¤¿¤é¸òº¹ÅÀ¤òÄ̲½¤¹¤ë¤È¤¤¤¦¥×¥í¥°¥é¥à¤Ë¤·¤¿
+ºÇ¸å¤Î´Ì¤òÃÖ¤¯¥×¥í¥°¥é¥à¤Ï´Ì¤òÃÖ¤¯ÌÜɸ¤ÎÃÏÅÀ¤ËU¥¿¡¼¥ó¤·¤¿»þ¤Ë¤Ä¤¯(¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤Æ¤½¤ÎÃÏÅÀ¤Ë㤷¤¿»þ´Ö¤Ç¤Ï¤Ê¤¯¤½¤ÎÃÏÅÀ¤ò¤³¤¨¤ÆU¥¿¡¼¥ó¤·¤¿»þ¤Ë¤½¤ÎÃÏÅÀ¤Ë㤹¤ë¤è¤¦¤Ë¤¹¤ë¤³¤È)»þ´Ö¤ò¬Äꤷ¤Æ¤½¤Î»þ´Ö¤ËĶ¤¨¤¿¤éU¥¿¡¼¥ó¤·´Ì¤ò¤Ï¤Ê¤·¡¢¥Ð¥Ã¥¯¤·¤Æ¤«¤é¤Þ¤¿U¥¿¡¼¥ó¤¹¤ë¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿
»þ´Ö¤ò£´¤Ä¤Ëʬ¤±¤ë¡£
¡±ß¤Î¼êÁ°¤Þ¤Ç¡¢´Ì¤ò¤Ä¤«¤à
¢1¸ÄÌܤαß
£2¸ÄÌܤαß
¤»Ä¤ê¤È´Ì¤òÎ¥¤¹ºî¶È
´Ì¤ò¤Ä¤«¤à¤Î¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë¤·¤Þ¤·¤¿¡£
*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#kd73bee5]
#define THRESHOLD 45
#define HIPOWER 7
#define LOWPOWER 3
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define set_power_N SetPower(OUT_B,LOWPOWER);
#define go_fwd set_power_H; OnFwd(OUT_AC);
#define arm_fwd set_power_N; OnFwd(OUT_B);Wait(30);Off(OUT_B);
#define arm_bwd set_power_N; OnRev(OUT_B);Wait(30);Off(OUT_B);
#define turn_left1 set_power_L ;OnFwd(OUT_C);OnRev(OUT_A);
#define turn_left0 set_power_L ;\
OnFwd(OUT_C);Off(OUT_A);
#define turn_right0 set_power_L ;\
OnFwd(OUT_A);Off(OUT_C);
#define turn_right1 set_power_L ;\
OnFwd(OUT_A);OnRev(OUT_C);
#define STEP 1
#define nMAX 200
#define short_break Off(OUT_AC); Wait(100);
#define CROSS_TIME 300
#define cross_line set_power_L;\
OnFwd(OUT_A);OnRev(OUT_C);\
Wait(CROSS_TIME);short_break;
¤È¡¢¹Í¤¨¤¿¤Î¤Ç¤¹¤¬¡¢
¤±¤É¤¦¤Þ¤¯¤¤¤¤Þ¤»¤ó¡£
¤Ê¤Ë¤¬¤ª¤«¤·¤¤¤«¤â¤ï¤«¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£
task main () {
*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#kd73bee5]
SetSensor(SENSOR_2, SENSOR_LIGHT);
int nOnline=0;
ClearTimer(0);
while(FastTimer(0)<=600){
while(nOnline < nMAX && FastTimer(0)<=600){
if(SENSOR_2< THRESHOLD -13) {
turn_left1;
nOnline++;
}else{
if(SENSOR_2< THRESHOLD -11){
turn_left0;
}else if(SENSOR_2< THRESHOLD -7){
go_fwd;
}else if(SENSOR_2< THRESHOLD -1){
turn_right0;
}else{
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
}
arm_fwd;
PlaySound(SOUND_CLICK);
while(FastTimer(0)<=1600){
while(nOnline < nMAX && FastTimer(0)<=1600){
if(SENSOR_2< THRESHOLD -13) {
turn_left1;
nOnline++;
}else{
if(SENSOR_2< THRESHOLD -11){
turn_left0;
}else if(SENSOR_2< THRESHOLD -7){
go_fwd;
}else if(SENSOR_2< THRESHOLD -1){
turn_right0;
}else{
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
}
PlaySound(SOUND_DOUBLE_BEEP);
ClearTimer(0);
turn_right1;
Wait(10);
arm_fwd;
while(FastTimer(0)<=1200){
while(nOnline < nMAX && FastTimer(0)<=1200){
if(SENSOR_2< THRESHOLD -15) {
turn_right1;
nOnline++;
}else{
if(SENSOR_2< THRESHOLD -13){
turn_right0;
}else if(SENSOR_2< THRESHOLD -7){
go_fwd;
}else if(SENSOR_2< THRESHOLD +2){
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
}
PlaySound(SOUND_DOWN);
turn_left1;
Wait(10);
arm_fwd;
while(FastTimer(0)<=2000){
while(nOnline < nMAX && FastTimer(0)<=2000){
if(SENSOR_2< THRESHOLD -13) {
turn_left1;
nOnline++;
}else{
if(SENSOR_2< THRESHOLD -11){
turn_left0;
}else if(SENSOR_2< THRESHOLD -7){
go_fwd;
}else if(SENSOR_2< THRESHOLD -1){
turn_right0;
}else{
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
}
PlaySound(SOUND_LOW_BEEP);
turn_right1;
Wait(20);
arm_fwd;
while(FastTimer(0)<=2900){
while(nOnline < nMAX && FastTimer(0)<=2900){
if(SENSOR_2< THRESHOLD -15) {
turn_right1;
nOnline++;
}else{
if(SENSOR_2< THRESHOLD -13){
turn_right0;
}else if(SENSOR_2< THRESHOLD -7){
go_fwd;
}else if(SENSOR_2< THRESHOLD +2){
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
}
PlaySound(SOUND_FAST_UP);
arm_fwd;
while(FastTimer(0)<=4500){
while(nOnline < nMAX && FastTimer(0)<=4500){
if(SENSOR_2< THRESHOLD -13) {
turn_right1;
nOnline++;
}else{
if(SENSOR_2< THRESHOLD -11){
turn_right0;
}else if(SENSOR_2< THRESHOLD -7){
go_fwd;
}else if(SENSOR_2< THRESHOLD -1){
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
}
PlaySound(SOUND_DOUBLE_BEEP);
turn_left1; Wait(275);
arm_bwd;
OnRev(OUT_AC); Wait(100);
turn_left1; Wait(275);
while(FastTimer(0)<=5500){
while(nOnline < nMAX && FastTimer(0)<=5500){
if(SENSOR_2< THRESHOLD -13) {
turn_left1;
nOnline++;
}else{
if(SENSOR_2< THRESHOLD -11){
turn_left0;
}else if(SENSOR_2< THRESHOLD -7){
go_fwd;
}else if(SENSOR_2< THRESHOLD -1){
turn_right0;
}else{
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1;Wait(nMAX*STEP);
cross_line;
nOnline=0;
}
}
*¤Þ¤È¤á [#jbc6ba2d]
¥é¥¤¥ó¤È¥ì¡¼¥¹¤¬¤Ç¤¤Æ¤¤¤¿¤Î¤Ë
´Ì¤òÎ¥¤·¤¿¤ê¤Î¥×¥í¥°¥é¥à¤ò¤¤¤ì¤¿¤ê¡¢¤¤¤í¤¤¤í¤¤¤¸¤Ã¤¿¤é¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤â¤Ç¤¤Ê¤¯¤Ê¤Ã¤Æ»ÄÇ°¤À¤Ã¤¿¡£
¼¡¤Î²ÝÂê¤Ï´°àú¤Ë¤³¤Ê¤·¤¿¤¤¤Ç¤¹¡£
-»þ´Ö¤ò¬Äꤹ¤ë¤Î¤¬Æñ¤·¤¤¡£¤Þ¤¿¡¢¤½¤Î»þ¤Ë¤è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤«¤«¤ë»þ´Ö¤¬¤Á¤¬¤¯¡¢¤¦¤Þ¤¯¤¤¤«¤Ê¤¤¤³¤È¤¬Â¿¤«¤Ã¤¿¡£´Ì¤ò±¿¤Ö¤È¤¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤ÎÍɤì¤ËÂѤ¨¤ë¤³¤È¤¬¤Ç¤¤º¤Ë´Ì¤¬Åݤì¤Æ¤·¤Þ¤¹¤È¤¤¤¦²ÝÂê¤â´°àú¤Ë¹îÉþ¤¹¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤¬»ÄÇ°¡£
-²ÝÂê1¤ò¥¯¥ê¥¢¤Ç¤¤Ê¤«¤Ã¤¿¤³¤È¤¬¤È¤Æ¤â»ÄÇ°¤À¤Ã¤¿¡£¤±¤É¡¢º£²ó¤Î²ÝÂê1¤«¤é³Ø¤Ö¤³¤È¤¬¤Ç¤¤¿¤³¤È¤â¿¡¹¤¢¤Ã¤¿¤Î¤Ç¼¡²ó¤Î²ÝÂê2¤Ï¥°¥ë¡¼¥×¤Î¿Í¤¿¤Á¤È¶¨ÎϤ·¤Æ¥¯¥ê¥¢¤·¤¿¤¤¤Ç¤¹¡£¥×¥í¥°¥é¥à¡¦¥í¥Ü¥Ã¥È¤ÎºîÀ®¤Ç¤Ç¤¿º£²ó¤Î²ÝÂê¤ò¼¡²ó¤Ë³è¤«¤·¤Æ¤¤¤¤¿¤¤¤È»×¤¤¤Þ¤¹¡£
-ͧã¤ÎÎϤò¼Ú¤ê¤Æ¥×¥í¥°¥é¥à¤òºî¤ë¤³¤È¤¬Â¿¤«¤Ã¤¿¤Î¤Ç¼¡²ó¤Ï¤Ê¤ë¤Ù¤¯¼«Ê¬¤À¤±¤Ç¥×¥í¥°¥é¥à¤òºî¤ê¡¢À®¸ù¤·¤¿¤¤¤Ç¤¹¡£