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**»²ÂåÌÜ [#u6ffb35b]
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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]
¡¡²»¤ò½Ð¤·¤Æ¡¢¶è´Ö¤´¤È¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬ÀÚ¤êÂؤï¤Ã¤Æ¤¤¤ë¤«¤ò¤ï¤«¤ê¤ä¤¹¤¯¤·¤¿¡£
task line()
{
long t0=CurrentTick();
PlaySound(SOUND_DOWN);
Wait(500);
***¶è´Ö£± [#b0794ba7]
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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]
¡¡¶è´Ö2¤Ç¤Ï¡¢±ß¤Ë¤Ê¤Ã¤Æ¤¤¤ë¥é¥¤¥ó¤È¸òº¹ÅÀ¤¬¤¢¤Ã¤¿¡£¿Ê¤ßÊý¤ò³ê¤é¤«¤Ë¤·¤¿¤«¤Ã¤¿¤¿¤á¡¢Àû²ó¤ò´Ë¤ä¤«¤Ë¹Ô¤¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤·¤¿¡£¤½¤·¤Æ¤Ê¤¼¤«¡¢¸÷¥»¥ó¥µ¡¼¤Î°ÌÃ֤ȥ饤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Ç¸òº¹ÅÀ¤¬¤¦¤Þ¤¯¤¤¤Ã¤¿¤Î¤Ç¡¢ºÎÍѤ¹¤ë¤³¤È¤Ë¤·¤¿¡£
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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]
¡¡¥¢¡¼¥à¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Ï¡¢¤Ï¤¸¤á¤Ïtask¤Ç¹Ô¤Ã¤Æ¤¤¤¿¤Î¤À¤¬Â¾¤Îtask¤Èº®Àþ¤·¤Æ¤·¤Þ¤¤¡¢¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£¤½¤³¤ÇÀèÀ¸¤Ë¥¢¥É¥Ð¥¤¥¹¤ò¤¤¤¿¤À¤¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¹Ô¤¦¤³¤È¤Ë¤·¤¿¡£¤¹¤ë¤È¡¢¤¦¤Þ¤¯¤¤¤Ã¤¿¡£
¡¡¥¢¡¼¥à¤ò³«¤¤¤¿¤Þ¤ÞÁö¤ë¤Î¤Ï¥«¥Ã¥³°¤¤¤È»×¤Ã¤¿¤Î¤¿¡£¤Ê¤Î¤Ç¥¢¡¼¥à¤òÊĤ¸¤¿¾õÂÖ¤ÇÁö¤ê¡¢´Ì¤¬¶á¤Å¤¤¤¿¤é³«¤¤¤Æ¡¢¤â¤¦°ìÅٿʤó¤Ç¤«¤é´Ì¤ò¤Ä¤«¤à·Á¤ò¤È¤Ã¤¿¡£
¡¡¥¢¡¼¥à¤ò³«ÊĤ¹¤ë¤È¤¡¢¤Ï¤¸¤á¤Ï»þ´Ö¤ò·è¤á¤Æ³«ÊĤ·¤Æ¤¤¤¿¤¬¡¢ÅÅÃӤλÄÎ̤ʤɤ¬¸¶°ø¤ÇÈùÄ´À°¤ò¤·¤Ê¤±¤ì¤Ð¤¤¤±¤Ê¤«¤Ã¤¿¡£¤½¤ì¤ËǺ¤ó¤Ç¤¤¤ë¤È¤¡¢·ª¸¶¤¬¡Ö³ÑÅÙ¤ò»ØÄꤹ¤ì¤Ð¤¤¤¤¤¸¤ã¤ó¡ª¡×¤È¸À¤¤½Ð¤·¤Æ¡¢»ä¤Ï°ÕÌ£¤¬Ê¬¤«¤é¤Ê¤«¤Ã¤¿¡£¤Ê¤Î¤Ç¡¢Ç¤¤»¤Æ¤ß¤ë¤È¡¢¤Ê¤ó¤È¡ª90¡ë¤·¤«¥¢¡¼¥à¤¬³«ÊĤ·¤Ê¤«¤Ã¤¿¤Î¤Ç¤¹¡ª¤³¤ì¤ÏÁÇÀ²¤é¤·¤¤¡ª¤ÈºÎÍÑ¡£
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]
¡¡²»ÇÈ¥»¥ó¥µ¡¼¤Ï´Ì¤Þ¤Ç»Ä¤ê20cm¤ËÀ®¤Ã¤¿¤é¡¢È¿±þ¤¹¤ë¤è¤¦¤Ë¤·¤¿¡£¤³¤ì¤À¤±±ó¤¤Íýͳ¤È¤·¤Æ¤Ï¡¢´Ì¤Ë¶á¤Å¤¤¤¿¤é1²ó¥¢¡¼¥à¤ò³«¤«¤Ê¤¤¤È¤¤¤±¤Ê¤¤¤«¤é¤Ç¤¢¤ë¡£
task sonic()
{
while(true){
if(SensorUS(S1)<20){
stop line;
arm();
start line;
}
}
}
**¥á¥¤¥ó [#oe321e79]
¡¡main¤Ï¤´Í÷¤Î¤è¤¦¤Ë¤³¤³¤Þ¤Ç´Êñ¤À¡£
task main()
{
SetSensorLowspeed(S1);
SetSensorLight(S2);
start sonic;
start line;
}
*´¶ÁÛ [#y8dbb9b0]
¡¡»ä¤Ï¥Ñ¥½¥³¥ó¤ò»È¤¦¤Î¤¬¶ì¼ê¤ÇÃ챤â¤Ê¤¤¤¿¤á¡¢¥×¥í¥°¥é¥ß¥ó¥°¤ÎÌ̤ǤϷª¸¶¤ÎÎϤòÂ礤¤Ë¼Ú¤ê¤¿¡£¤½¤ÎÂå¤ï¤ê¤È¤¤¤Ã¤Æ¤Ï¤Ê¤ó¤À¤¬¡¢»ä¤Ï¥ì¥´¤¬ÆÀ°Õ¤Ê¤Î¤Ç¤³¤Ã¤Á¤ÇÎϤòȯ´ø¤Ç¤¤ë¤è¤¦¤¬¤ó¤Ð¤Ã¤¿¡£¥í¥Ü¥Ã¥È¤ÎÁȤßΩ¤Æ¤ÏÂçÂλ䤬¤ä¤Ã¤¿¤Î¤À¤¬¡¢ÀèÀ¸¤Ë¥Ñ¡¼¥Ä¤ò¸º¤é¤¹¤è¤¦¤Ë¸À¤ï¤ì¤ë¤Þ¤Ç¡¢¸º¤é¤½¤¦¤È¹Í¤¨¤Ê¤«¤Ã¤¿¤È¤³¤í¤ÏÀ½ºî¼Ô¤È¤·¤Æ¤¤¤±¤Ê¤«¤Ã¤¿¤È»×¤¦¡£¼¡¤Î¥í¥Ü¥Ã¥È¤Ç¤Ï¡¢ºÇ½é¤«¤é̵Â̤ʥѡ¼¥Ä¤òÉÕ¤±¤º¤Ë¡¢ºÇ·ÚÎ̤ǺǹâΨ¤Î»Å»ö¤ò¤¹¤ë¥í¥Ü¥Ã¥È¤òºî¤ê¤¿¤¤¡£