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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#d3859879]
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#define zone1 37
#define zone2 45
#define zone3 60
#define zone4 65
#define zensin OnFwd(OUT_BC,40) //Á°¿Ê¤·¤Þ¤¹
#define sasetu OnFwd(OUT_B,40);Off(OUT_C) //º¸ÀÞ¤·¤Þ¤¹
#define kyuusasetu OnFwd(OUT_B,40);OnRev(OUT_C,35) //º¸Àû²ó¤·¤Þ¤¹
#define usetu OnFwd(OUT_C,40);Off(OUT_B) //±¦ÀÞ¤·¤Þ¤¹
#define kyuuusetu OnFwd(OUT_C,40);OnRev(OUT_B,35) //±¦Àû²ó¤·¤Þ¤¹
#define STEP 1
#define nMAX 200
#define short_break Off(OUT_BC);Wait(1000);
task main ()
{
SetSensorLight(S3);
int nOnline=0;
long t0 = CurrentTick();
int n=0;
-¢¬Á°¿Ê¤¹¤ë¤È¤¤Ïzensin±¦ÀÞ¤Ïusetu¤Ê¤É¤ï¤«¤ê¤ä¤¹¤¯ÄêµÁ¤·¤Þ¤·¤¿¡£
while (CurrentTick()-t0 <= 6000) { //ºÇ½é¤Î£¶Éô֤Ϲõ¤Ê¤é±¦¡¢Çò¤Ê¤éº¸¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
if (SENSOR_3 < zone1) {
kyuuusetu;
} else if (SENSOR_3 < zone2) {
usetu;
} else if (SENSOR_3 < zone3) {
zensin;
} else if (SENSOR_3 < zone4) {
sasetu;
} else {
kyuusasetu;
}
Wait(STEP);
}
OnRev(OUT_A,50);Wait(500);Off(OUT_A);¡¡//´Ì¤òÄϤߤޤ¹
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while (CurrentTick()-t0 <= 18000) {
while(nOnline < nMAX && CurrentTick()-t0 <= 18000) {¡¡//nOnline¤¬nMAX¤òĶ¤¨¤ë¡¢¤â¤·¤¯¤Ï18Éðʾ夿¤Ã¤¿¤é¤³¤ÎwhileÀá¤ò¤ä¤á¤ë¡£
if (SENSOR_3 < zone1) {
kyuuusetu;
nOnline++;
} else {
if (SENSOR_3 < zone2) {
usetu;
} else if (SENSOR_3 < zone3) {
zensin;
} else if (SENSOR_3 < zone4) {
sasetu;
} else {
kyuusasetu;
}
nOnline=0;
}
Wait(STEP);
}
kyuusasetu;Wait(nMAX*STEP);
OnFwd(OUT_BC,40);Wait(200);
nOnline=0;
}sasetu;Wait(100);
-¢¬18Éøå¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Îº¸±¦ÀÚ¤êÂؤ¨¡¢¤Ä¤Þ¤ê¡Ö¥×¥í¥°¥é¥à¤ÎÀâÌÀ¡×¤Î¡¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£&&(ÏÀÍýÀÑ)¤ò»È¤¦È¯ÁÛ¤ËÃ桹µ¤¤Å¤±¤º¶ìǺ¤·¤Þ¤·¤¿¡£18Éäϲ¿Å٤⬤äÆÀßÄꤷ¤Þ¤·¤¿¡£
while (CurrentTick()-t0 <= 34000) {
while(nOnline < nMAX && CurrentTick()-t0 <= 34000) {
if (SENSOR_3 < zone1) {
kyuusasetu;
nOnline++;
} else {
if (SENSOR_3 < zone2) {
sasetu;
} else if (SENSOR_3 < zone3) {
zensin;
} else if (SENSOR_3 < zone4) {
usetu;
} else {
kyuuusetu;
}
nOnline=0;
}
Wait(STEP);
}
kyuuusetu;Wait(nMAX*STEP);
OnFwd(OUT_BC,40);Wait(200);
nOnline=0;
}usetu;Wait(200);
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while (CurrentTick()-t0 <= 40000) {
while(nOnline < nMAX && CurrentTick()-t0 <= 40000) {
if (SENSOR_3 < zone1) {
kyuuusetu;
nOnline++;
} else {
if (SENSOR_3 < zone2) {
usetu;
} else if (SENSOR_3 < zone3) {
zensin;
} else if (SENSOR_3 < zone4) {
sasetu;
} else {
kyuusasetu;
}
nOnline=0;
}
Wait(STEP);
}
kyuusasetu;Wait(nMAX*STEP);
OnFwd(OUT_BC,40);Wait(200);
nOnline=0;
}
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while (n<2) {
while(nOnline < nMAX && n<2) {
if (SENSOR_3 < zone1) {
kyuuusetu;
nOnline++;
} else {
if (SENSOR_3 < zone2) {
usetu;
} else if (SENSOR_3 < zone3) {
zensin;
} else if (SENSOR_3 < zone4) {
sasetu;
} else {
kyuusasetu;
}
nOnline=0;
}
Wait(STEP);
}
kyuusasetu;Wait(nMAX*STEP);
OnFwd(OUT_BC,40);Wait(200);
nOnline=0;n++;
}
-¢¬ÀÖ°õ¤«¤éÀĤ¤±ß¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ç¡¢¸«¤Æ¤ÎÄ̤ꥫ¥¦¥ó¥¿¤ò»È¤Ã¤ÆÀĤ¤±ß(T»úÏ©)¤ò¥«¥¦¥ó¥È¤µ¤»¤Æ¤¤¤Þ¤¹¡£¥«¥¦¥ó¥È¤¹¤ë¤È´Ì¤òÃÖ¤¯°ÌÃ֤˰ÜÆ°¤¹¤ë¥×¥í¥°¥é¥à¤¬ºîÆ°¤·¤Þ¤¹¡£
OnRev(OUT_BC,50);Wait(500);
OnFwd(OUT_C,50);OnRev(OUT_B,50);Wait(300);
OnFwd(OUT_C,50);OnRev(OUT_B,50);until(SENSOR_3 < 50);
long t1 = CurrentTick();
-¢¬¤³¤³¤Ï180¡ëÀû²ó¤µ¤»¤ë¤À¤±¤Î¥×¥í¥°¥é¥à¤Ê¤Î¤Ç¡¢¾å¤Î¹Ô¤«¤é¤¶¤Ã¤¯¤ê¤ÈÀâÌÀ¤·¤Þ¤¹¡£¤Á¤ç¤Ã¤È¸å¤í¤Ë²¼¤¬¤ë¢ªÇò¤¤Éôʬ¤Þ¤Ç»þ·×²ó¤ê¤Ë²óž¤µ¤»¤ë(90¡ë¤°¤é¤¤¤Þ¤Ç)¢ªÀÖ³°Àþ¥»¥ó¥µ¡¼¤ò»È¤Ã¤Æ¹õÀþ¤Þ¤Ç¤½¤Î¤Þ¤Þ»þ·×²ó¤ê¤Î²óž(Àµ³Î¤Ë180¡ë²óž¤µ¤»¤ë¤¿¤á)
while (CurrentTick()-t1 <= 1800) {
if (SENSOR_3 < zone1) {
kyuusasetu;
} else if (SENSOR_3 < zone2) {
sasetu;
} else if (SENSOR_3 < zone3) {
zensin;
} else if (SENSOR_3 < zone4) {
usetu;
} else {
kyuuusetu;
}
Wait(STEP);
}
-¢¬´Ì¤òÃÖ¤¯¾ì½ê¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹(»þ´Ö¤ò¬¤ê¤Þ¤¯¤Ã¤¿·ë²Ì¡¢¤À¤¤¤¿¤¤1.8ÉÃ)
usetu;Wait(270);Off(OUT_BC);
OnFwd(OUT_A,50);Wait(300);Off(OUT_A);
OnRev(OUT_BC,50);Wait(400);
OnFwd(OUT_B,50);OnRev(OUT_C,50);Wait(300);
OnFwd(OUT_B,50);OnRev(OUT_C,50);until(SENSOR_3 < 50);
long t2 = CurrentTick();
-¢¬¤³¤³¤â´Ì¤ò¤ª¤¤¤¿¸å´Ì¤òÅݤµ¤Ê¤¤¤è¤¦¤Ë180¡ëÀû²ó¤µ¤»¤ë¤À¤±¤Ç¤¹¡£¾å¤Î¹Ô¤«¤é¡¢¾¯¤·¡Öusetu¡×¤µ¤»¤Æ¥í¥Ü¥Ã¥È¤ò¤Þ¤Ã¤¹¤°¤Ë¤µ¤»¤ë¢ª¥¢¡¼¥à¤ò³«¤¤¤Æ´Ì¤òÃÖ¤¯¢ª¾¯¤·¥Ð¥Ã¥¯¢ª¤µ¤Ã¤¤ÈƱÍͤË180¡ëÀû²ó
while (CurrentTick()-t2 <= 3900) {
if (SENSOR_3 < zone1) {
kyuuusetu;
} else if (SENSOR_3 < zone2) {
usetu;
} else if (SENSOR_3 < zone3) {
zensin;
} else if (SENSOR_3 < zone4) {
sasetu;
} else {
kyuusasetu;
}
Wait(STEP);
}
Off(OUT_BC);
}
-¢¬ÉáÄ̤˥饤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ½Ð¸ý¤«¤é½Ð¤Æ¤Ã¤Æ¤â¤é¤Ã¤Æ¤Þ¤¹¡£
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