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**ÄêµÁ [#u2f5a89b]
#define right_spin OnFwd(OUT_C,35);OnRev(OUT_B,35);//±¦Àû²ó
#define left_spin OnFwd(OUT_B,35);OnRev(OUT_C,35);//º¸Àû²ó
#define turn_right OnFwd(OUT_B,30);OnRev(OUT_C,30);//±¦¤Ø¡Ê¶è´Ö£±¡Ë
#define turn_left OnRev(OUT_B,30);OnFwd(OUT_C,30);//º¸¤Ø¡Ê¶è´Ö1¡Ë
#define T_right OnFwd(OUT_B,40);OnRev(OUT_C,0);//±¦¤Ø¡Ê¶è´Ö2¡Ë
#define T_left OnRev(OUT_B,0);OnFwd(OUT_C,40);//º¸¤Ø¡Ê¶è´Ö2¡Ë
#define T_R OnFwd(OUT_B,40);OnRev(OUT_C,40);//±¦¤Ø¡Ê¶è´Ö3¡Ë
#define T_L OnRev(OUT_B,40);OnFwd(OUT_C,40);//º¸¤Ø¡Ê¶è´Ö3¡Ë
#define SHIKI 50//¤·¤¤¤ÃÍ
**¥é¥¤¥ó¥È¥ì¡¼¥¹ [#h930dc07]
task line()
{
long t0=CurrentTick();
PlaySound(SOUND_DOWN);
Wait(500);
***¶è´Ö£± [#b0794ba7]
while(CurrentTick()-t0<=13500)
{
if(SENSOR_2<SHIKI-12){
turn_left;
}else if(SENSOR_2<SHIKI){
OnFwd(OUT_BC,30);
}else{
turn_right;
}
Wait(1);
}
PlaySound(SOUND_CLICK);
***¶è´Ö£² [#pfcb0141]
while(CurrentTick()-t0<50000)
{
if(SENSOR_2<SHIKI-12){
T_left;
}else if(SENSOR_2<SHIKI){
OnFwd(OUT_BC,40);
}else{
T_right;
}
Wait(1);
}
PlaySound(SOUND_CLICK);
***¶è´Ö£³ [#p1eb27d1]
while(CurrentTick()-t0<1000000)
{
if(SENSOR_2<SHIKI-12){
T_L;
}else if(SENSOR_2<SHIKI){
OnFwd(OUT_BC,25);
}else{
T_R;
}
Wait(1);
}
PlaySound(SOUND_CLICK);
}
**¥¢¡¼¥à [#f5af50b2]
sub arm()
{
Off(OUT_BC);
PlaySound(SOUND_UP);
Wait(2000);
RotateMotor(OUT_A,-75,90); //¥¢¡¼¥à³«¤¯
Off(OUT_A);
OnFwdSync(OUT_BC,30,0);Wait(1600); //¤Á¤ç¤¤¿Ê¤à
Off(OUT_BC);
RotateMotor(OUT_A,75,90); //¥¢¡¼¥à¤Ç¤Ä¤«¤à
Off(OUT_A);
right_spin;Wait(2800); //±¦Àû²ó
Off(OUT_BC);
OnRevSync(OUT_BC,35,0);Wait(2700); //»ý¤Ã¤¿¤Þ¤Þ¤Á¤ç¤¤²¼¤¬¤ë
Off(OUT_BC);
RotateMotor(OUT_A,-75,90); //¥¢¡¼¥à³«¤¯
OnRevSync(OUT_BC,30,0);Wait(1500); //Î¥¤¹¤¿¤á¤Ë¤Á¤ç¤¤²¼¤¬¤ë
Off(OUT_BC);
left_spin;Wait(2800); //º¸Àû²ó
Off(OUT_BC);
RotateMotor(OUT_A,75,90); //¥¢¡¼¥à¤òÊĤ¸¤ë
OnRevSync(OUT_BC,40,0);Wait(700); //¤â¤È¤Î°ÌÃÖ¤ËÌá¤ë
}
**²»ÇÈ¥»¥ó¥µ¡¼ [#v6158b1a]
task sonic()
{
while(true){
if(SensorUS(S1)<20){
stop line;
arm();
start line;
}
}
}
**¥á¥¤¥ó [#oe321e79]
task main()
{
SetSensorLowspeed(S1);
SetSensorLight(S2);
start sonic;
start line;
}
*´¶ÁÛ [#y8dbb9b0]