#contents *¥á¥ó¥Ð¡¼¾Ò²ð [#cbcf1856] -鮡¡Ä¾´õ¡¦¡¦¡¦¥Ñ¥½¥³¥ó¶ì¼ê¡¢LEGOÆÀ°Õ¤Ê¸µµ¤¤ÊÃË¤Î»Ò -·ª¸¶¡¡Íµµ®¡¦¡¦¡¦¥Ñ¥½¥³¥óÆÀ°Õ¡¢LEGO¤¬¶ì¼ê¤ÊÀÄǯ¡ÊÈà½÷Ê罸Ãæ¡Ë *¥í¥Ü¥Ã¥ÈÀâÌÀ [#u519e46e] ¡¡²æ¡¹¤Ï¥í¥Ü¥Ã¥È¤ò£²ÅÙÁȤßľ¤·¤¿¡£¤½¤ì¤¾¤ì¤ò¡Ø½éÂå¡Ù¡ØÆõÂåÌܡ١ػ²ÂåÌÜ¡Ù¤È̾ÉÕ¤±¤è¤¦¡£½éÂå¡¢ÆõÂåÌܤ«¤é²þÎɤ·¤ÆºÇ½ªÅª¤Ë»²ÂåÌܤòºÎÍѤ¹¤ë¤³¤È¤Ë¤·¤¿¡£ **½éÂå [#n2e2ab0a] &ref(1-z.jpg);&ref(1-x.jpg); ¡¡¥¢¡¼¥à¤òº¸±¦¤«¤é½Ð¤¹¤³¤È¤Ç´Ì¤ò¤Ä¤«¤ß¤ä¤¹¤¯¤Ê¤Ã¤Æ¤¤¤ë¡£¤À¤¬¡¢¥¢¡¼¥à¤Îµ¡¹½¤¬Â礤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤¿¤áɬÁ³Åª¤Ë¥Ü¥Ç¥£¤¬Â礤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£»õ¼Ö¤Î¿ô¤¬Â¿¤¤¤¿¤á¤¦¤Þ¤¯¤«¤ß¹ç¤ï¤Ê¤¤»þ¤Î¿¡¹¤¢¤Ã¤¿¡£¤µ¤é¤ËNXT¤ò¾åÉô¤ËÀßÃÖ¤·¤Æ¤·¤Þ¤Ã¤¿¤¿¤á¡¢½Å¿´¤¬¹â¤¯¥Ð¥é¥ó¥¹¤Î°¤¤¥í¥Ü¥Ã¥È¤È¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤¤¤¦¤Ê¤ì¤Ð¡¢¥Ï¥¦¥ë¤ÎÆ°¤¯¾ë¤Î¤è¤¦¤Ê¥Ð¥é¥ó¥¹¤À¡£ ¡¡¤½¤·¤Æ¡¢ÌµÂ̤ʥѡ¼¥Ä¤¬Â¿¤¤¤¿¤á½Å¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤Î¤¿¤á¼«¿È¤Î½Å¤ß¤È¥Ð¥é¥ó¥¹¤Î°¤µ¤æ¤¨¤ËÁ°¿Ê¤Ç¤¤Ê¤¤»þ¤¬¤¢¤ë¤È¤¤¤¦Ã×̿Ū¤Ê¼åÅÀ¤ò»ý¤Ã¤Æ¤¤¤¿¡£ ¡¡¤³¤³¤Ç½éÂå¤ÎÌäÂêÅÀ¤ò¤¢¤²¤Æ¤ß¤è¤¦¡£ ¡¥¢¡¼¥à¤Îµ¡¹½¤¬Â礤¤¡£ ¢»õ¼Ö¤¬¤¦¤Þ¤¯¤«¤ß¹ç¤ï¤Ê¤¤»þ¤¬¤¢¤ë¡£ £½Å¤¤ ¤¥Ð¥é¥ó¥¹¤¬°¤¤¡£ ¥¿Ê¤Þ¤Ê¤¤¢«Ã×̿Ū **ÆõÂåÌÜ [#h6aaf102] &ref(2-b.JPG);&ref(2-d.JPG); ¡¡¤Ê¤ó¤È¡¢¶ìÏ«¤·¤Æºî¤Ã¤¿½éÂå¤Î¤Ç¤¤¬°¤«¤Ã¤¿¤¿¤á»×¤¤Àڤäƥϥ¦¥ë¤ÎÆ°¤¯¾ë¤òÊø²õ¤µ¤»¤¿¡£ ¡¡½éÂå¤è¤ê¤â¥Ð¥é¥ó¥¹¤ò¤è¤¯¤¹¤ë¤¿¤á¤ËNXT¤Î°ÌÃÖ¤òÄ㤯¤·¡¢Ëä¤á¹þ¤à·Á¤Ë¤·¤¿¡£¤³¤ì¤Ë¤è¤Ã¤Æ¥Ï¥¦¥ë¤ÎÆ°¤¯¾ë¤Î¾õÂÖ¤Ï椷¤¿¡£¥Ü¥Ç¥£¼«ÂΤΥХé¥ó¥¹¤Ï¤è¤¯¤Ê¤Ã¤¿¡£¤À¤¬¡¢¥¢¡¼¥à¤òÊÒÏӤˤ·¤Æ´Ì¤ò¤·¤Ã¤«¤ê¤Ä¤«¤á¤ë¤è¤¦¤Ë¤¿¤é¤½¤ì¤ÇÁ´ÂΤΥХé¥ó¥¹¤¬Êø¤ì¤Æ¤·¤Þ¤Ã¤¿¡£¼ê¤¬Â礤¯¤Ê¤ê¤¹¤®¤¿¤Î¤À¡£½Å¤ß¤Ç»ß¤Þ¤ë¤³¤È¤Ï¤Ê¤¯¤Ê¤Ã¤¿¤¬¡¢¤¿¤Þ¤Ë¥¢¡¼¥à¤¬ÃÏÌ̤ˤĤư¤¤¬Æߤ¯¤Ê¤ë¤È¤¤¤¦¡¢µ¡Æ°ÎϤμåÅÀ¤¬¤Þ¤¿¤Þ¤¿¸«¤Ä¤«¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Î¤À¡£ ¡¡¥¢¡¼¥à¤¬½Å¤¤¤¿¤áÂ礤¯Íɤì¤Æ¤·¤Þ¤¤¡¢¤µ¤é¤Ë²»ÇÈ¥»¥ó¥µ¡¼¤¬¼Ð¤á²¼¤ò¸þ¤¤¤Æ¤¤¤¿¤¿¤á¡¢´Ì¤è¤êÁ°¤ËÍɤ줿¥¢¡¼¥à¤ËÈ¿±þ¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤Ã¤¿¡£ ¡¡°ì±þ¤³¤ÎÆõÂåÌܤDzÝÂê¤ò¥¯¥ê¥¢¤¹¤ë¤³¤È¤¬¤Ç¤¤¿¡£¤À¤¬¡¢¤Þ¤À¤Þ¤À²þÎɤÎ;ÃϤ¬¤¢¤Ã¤¿¤¿¤áºî¤ê¤«¤¨¤¿¡£ ¡¡¤³¤³¤ÇÆõÂåÌܤÎÌäÂêÅÀ¤ò¤¢¤²¤è¤¦¡£ ¡¥¢¡¼¥à¤ÎÏÓ¤¬Â礤¯¡¢½Å¤¤ ¢²»ÇÈ¥»¥ó¥µ¡¼¤¬¼Ð¤á²¼¤ò¸þ¤¤¤Æ¤¤¤ë £Í¾Ê¬¤ÊÉôʬ¤¬Â¿¤¤ **»²ÂåÌÜ [#u6ffb35b] &ref(3-a.JPG);&ref(3-d.JPG); 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PlaySound(SOUND_DOWN); Wait(500); ***¶è´Ö£± [#b0794ba7] ¡¡¶è´Ö1¤Ç¤Ï¡¢Ä¾³Ñ¤Î¶Ê¤¬¤ê³Ñ¤¬2¤Ä¤¢¤ë¤Î¤Ç¤½¤³¤ò¶Ê¤¬¤ì¤Æ¤µ¤é¤Ë¡¢³ê¤é¤«¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬¤Ç¤¤ë¤è¤¦¤ËÄ´Àᤷ¤¿¡£ 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¤·¤¿¡£ ¡¡¤³¤ì¤Ï¤Á¤ç¤Ã¤È¤·¤¿´ñÀפȤ¤¤Ã¤Æ¤â¤¤¤¤¤À¤í¤¦‼¤ª¤«¤²¤Ç¡¢¥«¥¦¥ó¥¿¡¼¤ä¥¿¥¤¥Þ¡¼¤ò;ʬ¤Ë»È¤¦¤³¤È¤Ê¤¯¶è´Ö2¤òÁö¤ê¤¤ì¤¿¡£ 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]