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#define left_kuro 28 //º¸Â¦¤Î¸÷¥»¥ó¥µ¤¬¹õ¤È¤ß¤Ê¤¹ºÇÂç¤ÎÃÍ
#define right_kuro 34 //±¦Â¦¤Î¸÷¥»¥ó¥µ¤¬¹õ¤È¤ß¤Ê¤¹ºÇÂç¤ÎÃÍ
#define left_sen 38 //±¦Â¦¤Î¸÷¥»¥ó¥µ¤¬Àþ¾å¤È¤ß¤Ê¤¹ÃÍ
#define right_sen 43 //º¸Â¦¤Î¸÷¥»¥ó¥µÀþ¾å¤È¤ß¤Ê¤¹ÃÍ
#define sekkin 40 //´Ì¤¬Àܶᤷ¤¿¤È¤¤ÎÃÍ
#define HIPOWER 7 //¶¯¤¤ÎÏ
#define LOWPOWER 5 //¼å¤¤ÎÏ
#define set_power_H SetPower(OUT_AC,HIPOWER); //¥â¡¼¥¿¡¼¤ò¶¯¤¤ÎϤËÀßÄê
#define set_power_L SetPower(OUT_AC,LOWPOWER); //¥â¡¼¥¿¡¼¤ò¼å¤¤ÎϤËÀßÄê
#define senkai_left set_power_L;OnRev(OUT_A);OnFwd(OUT_C); //º¸Àû²ó
#define senkai_right set_power_L;OnRev(OUT_C);OnFwd(OUT_A); //±¦Àû²ó
#define go_forward set_power_H;OnFwd(OUT_AC); //Á°¿Ê
#define back set_power_L;OnRev(OUT_AC); //¸åÂà
#define CROSS(t,p,q) set_power_L;go_forward;Wait(t);senkai_left;Wait(p);senkai_left;Wait(q); //T»úÏ©¤ä¸òº¹ÅÀ¤òÅϤë»þ¤Î¥×¥í¥°¥é¥à
#define STEP 1 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÇȽÃǤµ¤ì¤¿Æ°ºî¤ò10¥ß¥êÉôÖ³¤±¤ë¡£
#define SAIDAI 3 //T»úÏ©¤ä¸òº¹ÅÀÉÕ¶á¤Ç¡¢¤¢¤ë¾õ¶·¤ò£³²ó³¤±¤Æ´¶ÃΤ·¤¿¤éT»úÏ©¡¦¸òº¹ÅÀ¤ÈȽÃÇ
#define short_break Off(OUT_AC);Wait(80); //¾®µÙ·Æ
#define counter3 PlaySound(SOUND_CLICK); //¸òº¹ÅÀ¤òÅϤëÁ°¤Ë3²óÌĤ餹
#define GO 1 //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤«¤é¤³¤Î¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¤³¤ÎRCX¤Î¥×¥í¥°¥é¥à¤¬ºÆ»ÏÆ°¤¹¤ë
#define HOLD 2 //1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
#define TUMU_UP 3 //1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤߤ½¤Î¸å2¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
#define TUMU 4 //1¡¦2Ìܤδ̤ò3¤ÄÌܤδ̤ËÀѤß3¤ÄÌܤδ̤ò¶´¤àÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
#define HASAMI 5 //¥Ï¥µ¥ß¤ò¹¤²¤ëÆ°ºî¤ò¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
sub line_race() //ÉáÄ̤ιõÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
{
if(SENSOR_1<=left_kuro){
if(SENSOR_3<=right_kuro){go_forward;}
else if(SENSOR_3<=right_sen){senkai_left;}
else{senkai_left;}
}
else if(SENSOR_1<=left_sen){
if(SENSOR_3<=right_kuro){senkai_right;}
else if(SENSOR_3<=right_sen){go_forward;}
else{senkai_left;}
}
else{
if(SENSOR_3<=right_kuro){senkai_right;}
else if(SENSOR_3<=right_sen){senkai_right;}
else{go_forward;}
}
Wait(STEP);
}
sub before_cross_line_1() //T»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
{
int nOnline=0;
while (nOnline < SAIDAI){
if(SENSOR_3<=right_kuro){
if(SENSOR_1<=left_kuro){go_forward;}
else if(SENSOR_1<=left_sen){senkai_right;}
else{senkai_right;}
nOnline++;
}
else{
if(SENSOR_3<=right_sen){
if(SENSOR_1<=left_kuro){senkai_left;}
else if(SENSOR_1<=left_sen){go_forward;}
else{senkai_right;}
}
else{
if(SENSOR_1<=left_kuro){senkai_left}
else if(SENSOR_1<=left_sen){senkai_left;}
else{go_forward;}
}
nOnline=0;}
Wait(STEP);
}
}
sub before_cross_line_2() //T»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
{
int nOnline=0;
while (nOnline < SAIDAI){
if(SENSOR_1<=left_kuro){
if(SENSOR_3<=right_kuro){go_forward;}
else if(SENSOR_3<=right_sen){senkai_left;}
else{senkai_left;}
nOnline++;
}
else{
if(SENSOR_1<=left_sen){
if(SENSOR_3<=right_kuro){senkai_right;}
else if(SENSOR_3<=right_sen){go_forward;}
else{senkai_left;}
}
else{
if(SENSOR_3<=right_kuro){senkai_right;}
else if(SENSOR_3<=right_sen){senkai_right;}
else{go_forward;}
}
nOnline=0;}
Wait(STEP);
}
}
sub before_cross_line_3() //T»úÏ©or½½»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
{
int nOnline=0;
while (nOnline < SAIDAI){
if(SENSOR_1<=left_kuro&&SENSOR_3<=right_kuro){go_forward;nOnline++;}
else if(SENSOR_1<=left_sen&&SENSOR_3<=right_sen){go_forward;nOnline++;}
else if(SENSOR_1<=left_kuro){
if(SENSOR_3<=right_sen){senkai_left;}
else{senkai_left;}
nOnline==0;
}
else if(SENSOR_1<=left_sen){
if(SENSOR_3<=right_kuro){senkai_right;}
else{senkai_left;}
nOnline==0;
}
else{
if(SENSOR_3<=right_kuro){senkai_right;}
else if(SENSOR_3<=right_sen){senkai_right;}
else{go_forward;}
nOnline==0;
}
Wait(STEP);
}
}
task main(){
SetSensor(SENSOR_1,SENSOR_LIGHT);//º¸Â¦¤Î¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_2,SENSOR_LIGHT);//´Ì¤ÎȽÃÇÍѸ÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT);//±¦Â¦¤Î¸÷¥»¥ó¥µ¡¼
int nCross=0;
while(nCross<=8){
if(nCross==0){
senkai_right;Wait(50);
go_forward;
until(SENSOR_3<=left_sen);
senkai_left;Wait(60); //¤³¤³¤Ç¥é¥¤¥ó¤Î¾å¤Ë¾è¤Ã¤«¤ë
while(SENSOR_2>=sekkin){line_race();}
Off(OUT_AC);
while(Message() != GO){SendMessage(HOLD);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤ò¤Ä¤«¤à¡õ¾å¤Ë»ý¤Á¾å¤²¤ë
senkai_left;Wait(410);
nCross++;
}
else if(nCross==1){
while(SENSOR_2>=sekkin){line_race();}
Off(OUT_AC);
while(Message() != GO){SendMessage(TUMU_UP);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà¡õ¾å¤Ë»ý¤Á¾å¤²¤ë¡¡
ClearTimer(0);
while(FastTimer(0)<300){line_race();}
before_cross_line_1();
CROSS(50,0,0);
nCross++;
}
else if(nCross==2){
while(SENSOR_2>=sekkin){line_race();}
Off(OUT_AC);
while(Message() != GO){SendMessage(TUMU);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà
ClearTimer(0);
while(FastTimer(0)<830){line_race();}
before_cross_line_3();
CROSS(150,0,0);
senkai_right;Wait(130);
Off(OUT_AC);
while(Message() != GO){SendMessage(HASAMI);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬¥Ï¥µ¥ß¤ò¹¤²¤ë
back;Wait(100);
senkai_right;Wait(235);
go_forward;Wait(150);
nCross++;
}
else if(nCross==3){
ClearTimer(0);
while(FastTimer(0)<1000){line_race();}
before_cross_line_2();
CROSS(50,150,0);
nCross++;
}
else if(nCross==4){
ClearTimer(0);
while(FastTimer(0)<200){line_race();}
before_cross_line_3();
CROSS(50,0,150);
nCross++;
}
else if(nCross==5){
while(SENSOR_2>=sekkin){line_race();}
Off(OUT_AC);
while(Message() != GO){SendMessage(HOLD);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤ò¤Ä¤«¤à¡õ¾å¤Ë»ý¤Á¾å¤²¤ë
ClearTimer(0);
while(FastTimer(0)<1600){line_race();}
before_cross_line_3();
go_forward;Wait(50);
CROSS(50,0,0);
nCross++;
}
else if(nCross==6){
while(SENSOR_2>=sekkin){line_race();}
Off(OUT_AC);
while(Message() != GO){SendMessage(TUMU_UP);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà¡õ¾å¤Ë»ý¤Á¾å¤²¤ë
while(SENSOR_2>=sekkin){line_race();}
Off(OUT_AC);
while(Message() != GO){SendMessage(TUMU);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà
ClearTimer(0);
while(FastTimer(0)<300){line_race();}
before_cross_line_1();
go_forward;Wait(50);
senkai_right;Wait(150);
CROSS(50,0,150);
nCross++;
}
else if(nCross==7){
ClearTimer(0);
while(FastTimer(0)<200){line_race();}
before_cross_line_3();
go_forward;Wait(50);
senkai_right;Wait(150);
CROSS(50,0,150);
nCross++;
}
else if(nCross==8){
ClearTimer(0);
while(FastTimer(0)<1000){line_race();}
before_cross_line_3();
CROSS(50,0,0);
senkai_right;Wait(100);
Off(OUT_AC);
while(Message() != GO){SendMessage(HASAMI);Wait(40);} //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬¥Ï¥µ¥ß¤ò¹¤²¤ë
back;Wait(500);
nCross++;
}
}
stop main; //Æ°ºîÄä»ß
}
**¥â¡¼¥¿¡¼Éô¤Î¥×¥í¥°¥é¥à [#lc2f5974]
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¡1¤ÄÌܤδ̤ò¸«¤Ä¤±¡¢¤Ä¤«¤ß»ý¤Á¾å¤²¤ë¡£¡ÊHOLD¡Ë~
¢2¤ÄÌܤδ̤ò¸«¤Ä¤±¡¢1¤ÄÌܤδ̤ò¾å¤Ë¾è¤»¡¢2¤ÄÌܤδ̤´¤È¤Ä¤«¤ß»ý¤Á¾å¤²¤ë¡ÊTUMU_UP¡Ë~
£3¤ÄÌܤδ̤ò¸«¤Ä¤±¡¢1¡¦2¤ÄÌܤδ̤ò¾å¤Ë¾è¤»¡¢²¼¤Î3¤ÄÌܤδ̤ò¤Ä¤«¤à¡ÊTUMU¡Ë~
¤¥´¡¼¥ë¤ËÅþ㤷¤¿¤é¡¢¤³¤ì¤é¤òÎ¥¤¹¡ÊHASAMI¡Ë~
#define GO 1 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¤È¡¢¤â¤¦°ì¤Ä¤ÎRCX¤¬ºÆ»ÏÆ°¤¹¤ë
#define HOLD 2 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¤¹¤ë
#define TUMU_UP 3 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤó¤Ç2£²¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¤¹¤ë
#define TUMU 4 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¡¦2¤ÄÌܤδ̤ò3¤ÄÌܤδ̤ËÀѤó¤Ç3¤ÄÌܤδ̤ò¶´¤àÆ°ºî¤ò¤¹¤ë
#define HASAMI 5 //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢¥Ï¥µ¥ß¤ò¹¤²¤ëÆ°ºî¤ò¤¹¤ë
#define hasamu OnRev(OUT_A);Wait(50);Off(OUT_A); //¥Ï¥µ¥ß¤òÊĤ¸¤ë
#define hirogeru OnFwd(OUT_A);Wait(50); //¥Ï¥µ¥ß¤ò¹¤²¤ë
#define up OnRev(OUT_C);Wait(150);Off(OUT_C); //¥¨¥ì¥Ù¡¼¥¿¤ò¾å¤²¤ë
#define down(t) OnFwd(OUT_C);Wait(t);Off(OUT_C); //¥¨¥ì¥Ù¡¼¥¿¤ò²¼¤²¤ë
#define go_sin PlaySound(SOUND_UP); //GO¤È¤¤¤¦¥µ¥¤¥ó¤ò½Ð¤·¤¿¤È¤¡¢Ê¬¤«¤ê¤ä¤¹¤¤¤è¤¦²»¤òÌĤ餹
sub send_go(){ //GO¤È¤¤¤¦¥µ¥¤¥ó¤ò½Ð¤¹¥µ¥Ö¥ë¡¼¥Á¥ó
ClearTimer(0);
while(FastTimer(0)<=200){SendMessage(GO);Wait(5);}
}
task main(){
int n=1;
while(true){
ClearMessage();
SetPower(OUT_A,4);
SetPower(OUT_C,5);
if(n==0){ //HOLD,TUMU_UP¤ÎºÝ¤Ë¡¢¼«½Å¤Ç²¼¤¬¤ë¥â¡¼¥¿¡¼Éô¤òÄê´üŪ¤Ë°ú¤¾å¤²¤ë
SetPower(OUT_C,1);OnRev(OUT_C);Wait(100);Off(OUT_C);Wait(100);
}
if(Message() == HOLD){ //1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ë
n=0;
hasamu;
up;
go_sin;
send_go();
}
else if(Message() == TUMU_UP){ //1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤó¤Ç2¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ë
n=0;
down(20);
hirogeru;
down(130);
hasamu;
up;
go_sin;
send_go();
}
else if(Message() == TUMU){ //1¡¦2Ìܤδ̤ò3¤ÄÌܤδ̤ËÀѤó¤Ç3¤ÄÌܤδ̤ò¤Ä¤«¤à
down(20);
hirogeru;
down(130);
hasamu;
go_sin;
send_go();
n=1;
}
else if(Message() == HASAMI){ //¥Ï¥µ¥ß¤ò¹¤²¤ë
hirogeru;
go_sin;
send_go();
n=1;
}
}
}
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