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http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2014a%2FMission1&src=2014a-mission1.png



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*¥×¥í¥°¥é¥à [#lf70b930]

#define HIPOWER 4 ¡¡//ľÀþÍѤΥѥ
#define LOWPOWER 2¡¡//¥«¡¼¥ÖÍѤΥѥ
#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); OnRev(OUT_A);¡¡¡¡//º¸Àû²ó
#define turn_left0 set_power_L;\
OnFwd(OUT_C); Off(OUT_A);¡¡¡¡//º¸ÀÞ
#define turn_right0 set_power_L;\
OnFwd(OUT_A); Off(OUT_C);¡¡¡¡//±¦Àû²ó
#define turn_right1 set_power_L;\
OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦ÀÞ
#define cross set_power_H; OnFwd(OUT_AC);Wait(20);¡¡//¸òº¹ÅÀ¤òÅϤë
**ÄêµÁ [#j3e56972]
 #define HIPOWER 4 ¡¡//ľÀþÍѤΥѥ
 #define LOWPOWER 2¡¡//¥«¡¼¥ÖÍѤΥѥ
 #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); OnRev(OUT_A);¡¡¡¡//º¸Àû²ó
 #define turn_left0 set_power_L;\
 OnFwd(OUT_C); Off(OUT_A);¡¡¡¡//º¸ÀÞ
 #define turn_right0 set_power_L;\
 OnFwd(OUT_A); Off(OUT_C);¡¡¡¡//±¦Àû²ó
 #define turn_right1 set_power_L;\
 OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦ÀÞ
 #define cross set_power_H; OnFwd(OUT_AC);Wait(20);¡¡//¸òº¹ÅÀ¤òÅϤë
 
task main()
{
**ÀßÄê [#eb1073b1]
  SetSensor(SENSOR_2,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¥»¥Ã¥È
  int nl=0;¡¡¡¡//¸òº¹ÅÀ¤ò´¶ÃΤ¹¤ë¤¿¤á¤ÎÊÑ¿ô
  int cc=0;¡¡¡¡//¸òº¹ÅÀ¤òÅϤä¿¿ô
  int hc=0;
  int hc=0;  //¿§¡¹¤Êµ¡Ç½¤ò¼Â¹Ô¤¹¤ë¤¿¤á¤ÎÊÑ¿ô
  go_forward;¡¡//¥¹¥¿¡¼¥È¤ÎÏȤ«¤é½Ð¤ë¤¿¤á¤Îľ¿Ê
  Wait(100);
  ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥»¥Ã¥È
  OnRev(OUT_B);¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤¬Î¥¤ì¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Î¥¿¥¤¥ä¤ò²ó¤¹

  while (true) {  
**¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à [#ab6e2d4f]
  while ((nl < 5)||(FastTimer(0)<500)||(FastTimer(1)<680)){
    if (SENSOR_2 < 37) {
      turn_left1;
       nl++;
    } else if (SENSOR_2 < 39) {
      turn_left0;   
 nl=0;
    } else if (SENSOR_2 < 45) {
      go_forward;   
 nl=0;
    } else if (SENSOR_2 < 47) {
      turn_right0;  
    } else {
       turn_right1; 
 nl=0;
**¥é¥¤¥ó¥È¥ì¡¼¥¹ [#ab6e2d4f]
  while ((nl < 5)||(FastTimer(0)<500)||(FastTimer(1)<680)){¡¡//nl¤¬5¤è¤ê¾®¤µ¤¤Ëô¤Ï¥¹¥¿¡¼¥È¤«¤é5ÉðÊÆâ¤Î»þËô¤Ï2¸ÄÌܤÈ3¸ÄÌܤθòº¹ÅÀ¤ò²á¤®¤Æ6.8ÉðÊÆâ¤Î»þ
    if (SENSOR_2 < 37) {¡¡¡¡//Ç»¤¤¹õ¤ò´¶ÃΤ·¤¿¤é
      turn_left1;¡¡¡¡¡¡¡¡¡¡//º¸Àû²ó
       nl++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//nl¤Ë1¤ò­¤¹
    } else if (SENSOR_2 < 39) {¡¡//Çö¤¤¹õ¤ò´¶ÃΤ·¤¿¤é
      turn_left0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸ÀÞ   ¡¡¡¡¡¡
 nl=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//nl¤ò0¤Ë¤¹¤ë
    } else if (SENSOR_2 < 45) {¡¡//³¥¿§¤ò´¶ÃΤ·¤¿¤é
      go_forward;   ¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê
 nl=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//nl¤ò0¤Ë¤¹¤ë
    } else if (SENSOR_2 < 47) {¡¡//Çö¤¤Çò¤ò´¶ÃΤ·¤¿¤é
      turn_right0;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦ÀÞ
    } else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ç»¤¤Çò¤ò´¶ÃΤ·¤¿¤é
       turn_right1; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦Àû²ó
    }      
    Wait(1);
  }¡¡
**¸òº¹ÅÀ¤Î¥×¥í¥°¥é¥à [#sf572cb3]
**¸òº¹ÅÀ [#sf572cb3]
  turn_right1; Wait(35);¡¡//¸òº¹ÅÀ¤ò´¶ÃΤ¹¤ë¤È¤­¤Ë¤º¤ì¤¿¤Î¤òÄ´À°
  cross;¡¡¡¡//¸òº¹ÅÀ¤òÅϤë
  nl=0;
  cc++;
  hc++;
**¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à [#m87d58d3]
 while(hc==1){
  nl=0;¡¡//nl¤ò0¤Ë¤¹¤ë
  cc++;¡¡//­Õ¤Ë1¤ò­¤¹
  hc++;¡¡//hc¤Ë1¤ò­¤¹
**¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à [#m87d58d3]
 while(hc==1){¡¡¡¡//°ì²óÌܤθòº¹ÅÀ¤òÅϤ俤é
  turn_right1;  
  Wait(70);
  go_forward;¡¡//¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á
  Wait(80);
  turn_left0; ¡¡//¥Ü¡¼¥ë¤ò¸ÇÄê
  Wait(100);  
  hc++;
 }
**¸òº¹ÅÀ¤È´ª°ã¤¤¤·¤Ê¤¤¤¿¤á¤Î¥×¥í¥°¥é¥à [#mbbcc9c9]
 while((hc==3)||(hc==5)){
**¸òº¹ÅÀ¤È´ª°ã¤¤¤·¤Ê¤¤¤¿¤á¤Ë [#mbbcc9c9]
 while((hc==3)||(hc==5)){ 
  ClearTimer(1);¡¡¡¡//2¸ÄÌܤÈ3¸ÄÌܤθòº¹ÅÀ¤òÅϤ俤饿¥¤¥Þ¡¼1¤ò¥»¥Ã¥È¤¹¤ë¡£
  hc++;
 }
**¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È¤¹¤ë¥×¥í¥°¥é¥à [#k76e02b9]
**¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È¤¹¤ë [#k76e02b9]
 while (cc==4) {
  turn_right1; //³ÑÅÙ¤òÈùÄ´À°
  Wait(5);
  OnRev(OUT_AC);¡¡//¥´¡¼¥ë¤Î³°¤Ë½Ð¤ë
  Wait(100);
  Off(OUT_ABC);
  OnFwd(OUT_B);¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È
  Wait(150);
  cc++;
 }
**»ß¤Þ¤ë¥×¥í¥°¥é¥à [#p5a0a237]
**»ß¤Þ¤ë [#p5a0a237]
 while(cc==5){
  Off(OUT_ABC);¡¡//»ß¤Þ¤ë
 }

}

}

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