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#define THRESHOLD 43¡¡//¤·¤¤¤ÃÍ
#define HIPOWER 4¡¡//¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼
#define LOWPOWER 2
#define set_power_H SetPower(OUT_AC,HIPOWER);¡¡
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define go_forward set_power_H; OnFwd(OUT_AC);¡¡//ľ¿Ê
#define turn_left1 set_power_L; OnFwd(OUT_C); Off(OUT_A);¡¡//º¸ÀÞ
#define turn_left0 set_power_L; OnFwd(OUT_C); OnRev(OUT_A);¡¡//º¸Àû²ó
#define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦ÀÞ
#define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦Àû²ó
#define STEP 1¡¡//1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
#define time0 1700¡¡//¡¤Ë¤«¤«¤ë»þ´Ö
#define time1 300¡¡//¢¤Ë¤«¤«¤ë»þ´Ö
#define time2 900¡¡//£¤Ë¤«¤«¤ë»þ´Ö
#define time3 500¡¡//¤¤Ë¤«¤«¤ë»þ´Ö
#define time4 800¡¡//¥¤Ë¤«¤«¤ë»þ´Ö
#define time5 1000¡¡//¦¤Ë¤«¤«¤ë»þ´Ö
#define time6 10000¡¡//§¤Ë¤«¤«¤ë»þ´Ö
¡¡
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task main()
{
SetSensor(SENSOR_3, SENSOR_TOUCH);¡¡//¥»¥ó¥µ¡¼£³¤Ë¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤Ë¤Ï¸÷¥»¥ó¥µ¡¼
ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(0) <= time0) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡//time0¤¬FastTimer(0)°Ê²¼¤ÎÆ°ºî
if (SENSOR_2 < THRESHOLD -5) { turn_right1; }
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¸òº¹ÅÀ¤Î¤Ê¤¤¾ì¹ç
sub line_race()¡¡//Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
if (SENSOR_2 < THRESHOLD -5) { turn_right1; }
else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +2) { go_forward; }
else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
else { turn_left1; }
}
Wait(STEP);
}
¡¡£²¤Î¥×¥í¥°¥é¥à¡££±¤ÄÌܤθòº¹ÅÀ¤òÅϤê¤Þ¤¹¡£
ClearTimer(1);¡¡//£±ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(1) <= time1) {
if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
¸òº¹ÅÀ¤ÎÉÕ¶á¡õ¸òº¹ÅÀ
sub line_cross()¡¡//¸òº¹ÅÀ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
if (SENSOR_2 < THRESHOLD -3) { turn_right0; }¡¡¡¡//¹õ¿§¤Ë¹Ô¤¯¤È±¦ÀÞ
else if (SENSOR_2 < THRESHOLD +3) { go_forward; }
else { turn_left1; }
}
else { turn_left1; }¡¡ //Çò¿§¤Ë¹Ô¤¯¤Èº¸ÀÞ
}
¡¡£³¤Î¥×¥í¥°¥é¥à¡£È¾·Â£¸¥»¥ó¥Á¤Î¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤Þ¤¹¡£
ClearTimer(2);¡¡//£²ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(2) <= time2) {
if (SENSOR_2 < THRESHOLD -4) { turn_right1; }
else if (SENSOR_2 < THRESHOLD -2) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +2) { go_forward; }
else if (SENSOR_2 < THRESHOLD +5) { turn_left0; }
else { turn_left1; }
}
Wait(STEP);
¸òº¹ÅÀ¤Ç¤Ï¥«¥¦¥ó¥¿¡¼¤ò»È¤ª¤¦¤È¹Í¤¨¤¿¤¬¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£·ë¶É±¦Àû²ó¤Èº¸Àû²ó¤ò¾Ê¤¤¤¿¤À¤±¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£Àû²ó¤ÎÆ°ºî¤ò¾Ê¤¯¤³¤È¤Ç¾®²ó¤ê¤¬¤¤«¤º¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤Ã¤¿»þľÀþ¤Î¥×¥í¥°¥é¥à¤òÆɤ߹þ¤ß¡¢ÅϤ뤳¤È¤¬¤Ç¤¤ë¤ÈͽÁÛ¡£¤³¤Î¾ì¹ç¤Ç¤â¸òº¹ÅÀ¤ÏÅϤ뤳¤È¤¬¤Ç¤¤ë¤¬Àµ³ÎÀ¤¬¤¢¤Þ¤ê¤Ê¤¤¤È¹Í¤¨¤é¤ì¤ë¡£¤Þ¤¿¡¢º£²ó¤Ï¸òº¹ÅÀ¤ÈT»úÏ©¤È¤Î¶èÊ̤ò¤Ä¤±¤ë¤³¤È¤Ï¤Ç¤¤Æ¤¤¤Ê¤¤¤Î¤Ç¡¢¤Þ¤À²þÁ±¤¬É¬ÍפǤ¢¤Ã¤¿¡£
¡¡£´¤Î¥×¥í¥°¥é¥à¡££±¤ÄÌܤθòº¹ÅÀ¤òÅϤꡢ¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç¿Ê¤ß¤Þ¤¹¡£
ClearTimer(3);¡¡//£³ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(3) <= time3) {
if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +3) { go_forward; }
else { turn_left1; }
}
¡¡£µ¡Á£·¤Î¥×¥í¥°¥é¥à¡££¶¤Ï£²¤ÄÌܤθòº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¹¡££·¤Ë´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤òÁȤ߹þ¤ß¤Þ¤·¤¿¡£
ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(0) <= time4) {
if (SENSOR_2 < THRESHOLD -5) { turn_right1; }
else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +2) { go_forward; }
else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
else { turn_left1; }
}
Wait(STEP);
ClearTimer(1);¡¡//£±ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(1) <= time5) {
if (SENSOR_2 < THRESHOLD +3) { go_forward; }
else { turn_left1; }
}
ClearTimer(2);¡¡//£²ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(2) <= time6) {
if (SENSOR_2 < THRESHOLD -5) { turn_right1; }
else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +2) { go_forward; }
else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
else { turn_left1; }
´Ì¤ò°ÜÆ°
sub line_can()
{
OnFwd(OUT_B);¡¡//¥¢¡¼¥à¤Ç¤Ä¤«¤à
Wait(7);
OnFwd(OUT_AC);¡¡//Á°¿Ê
Wait(130);
OnFwd(OUT_C); OnRev(OUT_A); Off(OUT_B);¡¡//º¸Àû²ó
Wait(190);
Off(OUT_AC);¡¡¡¡//Ää»ß
Wait(50);
OnRev(OUT_B); ¡¡//´Ì¤òÎ¥¤¹
Wait(10);
OnRev(OUT_AC);¡¡¡¡//¸å¿Ê
Wait(180);
OnFwd(OUT_A); OnRev(OUT_C); Off(OUT_B); ¡¡//±¦Àû²ó
Wait(50);
OnFwd(OUT_AC);
Wait(150);
Off(OUT_ABC);
}
¡¡´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¡£¤Ê¤ë¤Ù¤¯¥·¥ó¥×¥ë¤Ê¥×¥í¥°¥é¥à¤Ë¤·¤Þ¤·¤¿¡£
if(SENSOR_3 == 1) {¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬È¿±þ¤·¤¿¤é
OnFwd(OUT_B);¡¡//¥¢¡¼¥à¤Ç´Ì¤ò¤Ä¤«¤à(¥â¡¼¥¿¡¼£Â)
Wait(7);¡¡//0.7ÉôÖ
OnFwd(OUT_AC);¡¡//Á°¿Ê
Wait(130);
OnFwd(OUT_C); OnRev(OUT_A); Off(OUT_B);¡¡//º¸Àû²ó
Wait(190);
Off(OUT_AC);¡¡//°ì»þÄä»ß
Wait(50);
OnRev(OUT_B);¡¡//´Ì¤òÎ¥¤¹
Wait(10);
OnRev(OUT_AC);¡¡//¸å¿Ê
Wait(170);
OnFwd(OUT_A); OnRev(OUT_C); Off(OUT_B);¡¡//±¦Àû²ó
Wait(50);
OnFwd(OUT_AC);¡¡//Á°¿Ê
Wait(150);
Off(OUT_ABC);
}
}
Wait(STEP);
´Ì¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¤Ï°ÜÆ°¤Ë·ë¹½¥¹¥Ú¡¼¥¹¤ò¼è¤ë¤¿¤á¡¢¤â¤¦¾¯¤·¾®²ó¤ê¤¬¤Ç¤¤ë¥×¥í¥°¥é¥à¤Ë¤¹¤ì¤Ð¤è¤êÎɤ¯¤Ê¤ë¤È»×¤¦¡£
Á´ÂÎ¤Î¥×¥í¥°¥é¥à
task main()
{
SetSensor(SENSOR_3, SENSOR_TOUCH);¡¡//¥»¥ó¥µ¡¼£³¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤Ï¸÷¥»¥ó¥µ¡¼
ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while (FastTimer(0) <= time0) { line_race(); }¡¡//Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
ClearTimer(0);
while (FastTimer(0) <= time1) { line_cross(); } //¸òº¹ÅÀ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
ClearTimer(0);
while (FastTimer(0) <= time2) { line_race(); }
ClearTimer(0);
while (FastTimer(0) <= time3) { line_cross(); }
ClearTimer(0);
while (FastTimer(0) <= time4) { line_race(); }
ClearTimer(0);
while (FastTimer(0) <= time5) { line_cross(); }
ClearTimer(0);
while (FastTimer(0) <= time6) { line_race(); }
if(SENSOR_3 == 1) { line_can(); }¡¡//´Ì¤òÆ°¤«¤¹¤Î¥×¥í¥°¥é¥à
}
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