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*¥×¥í¥°¥é¥ß¥ó¥° [#d1959d63]
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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]


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