目次 #contents *課題の説明 [#w9d35255] 詳しい説明は[[2014a/Mission1]] *ロボット本体 [#m8994562] **プログラム #define THRESHOLD 40 #define HIPOWER 7 #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); #define turn_left1 set_power_L; OnFwd(OUT_C); OnRev(OUT_A); #define turn_left0 set_power_L; OnFwd(OUT_C); Off(OUT_A); #define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C); #define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C); #define STEP 1 #define Max 50 #define short_break Off(OUT_AC); Wait(500) #define cross_time 200 #define cross_line set_power_L; Wait(cross_time) task main() { SetSensor(SENSOR_2,SENSOR_LIGHT); int n; n=0; while(true) { while( n < Max ) { if (SENSOR_2 < THRESHOLD-15) { turn_left1; n++; } else { if(SENSOR_2 < THRESHOLD-8) { turn_left1; } else if (SENSOR_2 < THRESHOLD-3) { turn_left0; } else if (SENSOR_2 < THRESHOLD+3) { go_forward; } else if (SENSOR_2 < THRESHOLD+8) { turn_right0; } else { turn_right1; } n=0; } Wait(STEP); } short_break; turn_right1; Wait(Max*STEP); cross_line; n=0; } } **画像