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* ¥á¥ó¥Ð¡¼ [#ibb85475]
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* ²ÝÂê¤ÎÆâÍÆ [#w222b816]
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* ¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#qd0e48a4]
** ¥í¥Ü¥Ã¥È¤Î³°´Ñ [#e9cd888b]
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&ref(robo2.jpg);
&ref(robo3.jpg);
¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò²¼¤²¤¿¾õÂ֤Υí¥Ü¥Ã¥È¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò¾å¤²¤¿¾õÂ֤Υí¥Ü¥Ã¥È¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¸å¤í¤«¤é¸«¤¿¥í¥Ü¥Ã¥È
** ¸÷¥»¥ó¥µ¡¼¡¦¥Ð¥ó¥Ñ¡¼[#ld0a546a]
&ref(robo4.jpg);
Ãæ±û¤Ë¤¢¤ë¤Î¤¬¸÷¥»¥ó¥µ¡¼¤Ç¤¢¤ê¡¢¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤¹¤ë¤È¤¤Ë»ÈÍѤ¹¤ë¡£
ξ¥µ¥¤¥É¤Ë¤¢¤ë¤Î¤¬¥Ð¥ó¥Ñ¡¼¤Ç¤¢¤ê¡¢¤è¤ê³Î¼Â¤Ë¥Ü¡¼¥ë¤ò³ÎÊݤǤ¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
** ¥Ü¡¼¥ë¤ÎÊá¤êÊý¡¦¥·¥å¡¼¥È¤ÎÂǤÁÊý [#s1fd127d]
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¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò²¼¤²¤Æ¥Ü¡¼¥ë¤òÊá¤ë¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò³ÎÊÝ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò¾å¤²¤Æ¥·¥å¡¼¥È¤òÂǤÄ
* ¥×¥í¥°¥é¥à¤ÎÆâÍÆ [#n91931a1]
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¥×¥í¥°¥é¥à¤ÎÆâÍƤò¾å¤Î¿Þ¤Ç¼¨¤µ¤ì¤¿Part¤´¤È¤Ëʬ¤±¤ÆÀâÌÀ¤¹¤ë¡£
** Part0:ÄêµÁ [#c2c9cc66]
#define THRESHOLD 50 // ¤·¤¤¤Ãͤò50¤ËÀßÄê
#define turn_left0 OnFwd(OUT_B,50); // º¸ÀÞ
#define turn_left1 OnFwd(OUT_B,30);OnFwd(OUT_C,-30); // º¸Àû²ó
#define turn_right0 OnFwd(OUT_C,50); // ±¦ÀÞ
#define turn_right1 OnFwd(OUT_C,30);OnFwd(OUT_B,-30); // ±¦Àû²ó
#define STEP 1 // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
#define nMAX 250 // Ä̾ï¤Î¥«¡¼¥Ö¤È¤·¤ÆµöÍƤǤ¤ë·«¤êÊÖ¤·»þ´Ö¤ÎºÇÂçÃÍ
#define short_break Off(OUT_BC);Wait(1000); // ¾®µÙ»ß
#define cross_line¡¡OnFwd(OUT_BC,50);Wait(250);short_break;PlaySound(SOUND_UP); // ¥é¥¤¥ó¤ò²£ÃÇ
#define THRESHOLD 50 // ¤·¤¤¤Ãͤò50¤ËÀßÄê
#define turn_left0 OnFwd(OUT_B,50); // º¸ÀÞ
#define turn_left1 OnFwd(OUT_B,30);OnFwd(OUT_C,-30); // º¸Àû²ó
#define turn_right0 OnFwd(OUT_C,50); // ±¦ÀÞ
#define turn_right1 OnFwd(OUT_C,30);OnFwd(OUT_B,-30); // ±¦Àû²ó
#define STEP 1 // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
#define nMAX 250 // Ϣ³¤·¤Æ¥é¥¤¥ó¤òǧ¼±¤¹¤ë²ó¿ô¤Î¸ÂÅÙ
#define short_break Off(OUT_BC);Wait(1000); // ¾®µÙ»ß
#define cross_line¡¡OnFwd(OUT_BC,50);Wait(250);short_break;PlaySound(SOUND_UP); // ¸òº¹ÅÀ¤ò²£ÃÇ
** Part1 [#u87a2841]
task main()
{
SetSensorLight(S1);
long t0 = CurrentTick();
int nOnline = 0;
int nPoint = 0;
SetSensorLight(S1); // ¸÷¥»¥ó¥µ¡¼¤ò¥Ý¡¼¥È1¤ËÀܳ
long t0 = CurrentTick(); // ¥¿¥¤¥Þ¡¼¡¤òÍÑ°Õ
int nOnline = 0; // ¥é¥¤¥ó¾å¤Ë¸ºß¤·¤¿²ó¿ô¤ò¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ô¤òÍÑ°Õ
int nPoint = 0; // ¼¡¤ÎPart¤Ë°Ü¹Ô¤¹¤ë¤¿¤á¤ÎÊÑ¿ô¤òÍÑ°Õ
OnFwd(OUT_BC,30);
Wait(700);
Part1¤Ï¡¢¥¹¥¿¡¼¥È¤ÎÏÈÆ⤫¤é½Ð¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
** Part2 [#q3248486]
while (CurrentTick() - t0 < 10000) {
if (SENSOR_1 < THRESHOLD -7) {
turn_left1;
} else {
if (SENSOR_1 < THRESHOLD -5) {
turn_left0;
} else if (SENSOR_1 < THRESHOLD +2) {
OnFwd(OUT_BC,50);
} else if (SENSOR_1 < THRESHOLD +7) {
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
}
Part2¤Ï¡¢³«»Ï10ÉÃ̤Ëþ¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
** Part3 [#c5040110]
while (nPoint == 0) {
while (nOnline < nMAX){
if (SENSOR_1 < THRESHOLD -7) {
turn_left1;
nOnline++;
} else {
if (SENSOR_1 < THRESHOLD -5) {
turn_left0;
} else if (SENSOR_1 < THRESHOLD +2) {
OnFwd(OUT_BC,50);
} else if (SENSOR_1 < THRESHOLD +7) {
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1; Wait(nMAX*STEP);
cross_line;
nPoint++;
nOnline=0;
}
Part3¤Ï¡¢"nPoint=0"¤Î¤È¤(½é´ü¾õÂÖ)¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ¡¢nPoint¤ò¡Ü1¤·¤ÆPart4¤Ë°Ü¹Ô¤¹¤ë¡£
Part3¤Ï¡¢"nPoint=0"¤Î¤È¤(½é´ü¾õÂÖ)¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ¡¢nPoint¤ò¡Ü1¤·¤ÆPart4¤Ë°Ü¹Ô¤¹¤ë¡£
¤³¤ÎPart3¤¬¡¢¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤·¡¢¸òº¹ÅÀ¤òÅϤ뤿¤á¤Î´ðËܤȤʤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
** Part4 [#t9300c7c]
long t1 = CurrentTick();
long t1 = CurrentTick(); // ¥¿¥¤¥Þ¡¼¢¤òÍÑ°Õ
while (nPoint == 1) {
if (CurrentTick() - t1 == 5000) {
if (CurrentTick() - t1 == 5000) { // 5É÷вᤷ¤¿¤È¤¥¢¡¼¥à¤ò²¼¤²¤ë
Off(OUT_BC);
RotateMotor(OUT_A,85,210);
nPoint++;
PlaySound(SOUND_UP);
} else {
if (SENSOR_1 < THRESHOLD -10) {
turn_left1;
} else if (SENSOR_1 < THRESHOLD -5) {
turn_left0;
} else if (SENSOR_1 < THRESHOLD +10) {
} else if (SENSOR_1 < THRESHOLD +10) {
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
}
Part4¤Ï¡¢"nPoint=1"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢Part4³«»Ï¤«¤é5É䬷вᤷ¤¿¤È¤¡¢¥¢¡¼¥à¤ò²¼¤í¤·¥Ü¡¼¥ë¤ò³ÎÊݤ¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¥Ü¡¼¥ë¤ò³ÎÊݤ·¤¿¤È¤¡¢nPoint¤ò¡Ü1¤·¤ÆPart5¤Ë°Ü¹Ô¤¹¤ë¡£
Part4¤Ï¡¢"nPoint=1"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢Part4³«»Ï¤«¤é5É䬷вᤷ¤¿¤È¤¡¢¥¢¡¼¥à¤ò²¼¤í¤·¥Ü¡¼¥ë¤ò³ÎÊݤ¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
¥¿¥¤¥Þ¡¼¤òÍøÍѤ·¤Æ¥Ü¡¼¥ë¤ò³ÎÊݤ¹¤ë¤¿¤á¤Ë°ÂÄꤷ¤¿Æ°¤¤¬É¬ÍפǤ¢¤ë¤¿¤á¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ë¸Â¤ê"OnFwd(OUT_BC,50)"¤òÆþ¤ì¤Æ¤¤¤Ê¤¤¡£
¤Þ¤¿¡¢¥Ü¡¼¥ë¤ò³ÎÊݤ·¤¿¤È¤¡¢nPoint¤ò¡Ü1¤·¤ÆPart5¤Ë°Ü¹Ô¤¹¤ë¡£
** Part5 [#m89b5795]
while (nPoint == 2) {
while (nOnline < nMAX - 100){
if (SENSOR_1 < THRESHOLD -7) {
turn_left1;
nOnline++;
} else {
if (SENSOR_1 < THRESHOLD -5) {
turn_left0;
} else if (SENSOR_1 < THRESHOLD +2) {
OnFwd(OUT_BC,50);
} else if (SENSOR_1 < THRESHOLD +7) {
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1; Wait(nMAX*STEP);
cross_line;
nOnline=0;
nCross++;
}
Part5¤Ï¡¢"nPoint=2"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ¡¢nPoint¤ò¡Ü1¤·¤ÆPart6¤Ë°Ü¹Ô¤¹¤ë¡£
Part5¤Ï¡¢"nPoint=2"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
Ãæ±û¤Î¸òº¹ÅÀ¤òÅϤë¤È¤¡¢¸òº¹ÅÀ¤Ç¤Ï¤Ê¤¯Ä̾ï¤Î¥«¡¼¥Ö¤È¸íǧ¼±¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬Â¿¤«¤Ã¤¿¤¿¤á¡¢"nMAX"¤ò"nMAX - 100"¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢¸íǧ¼±¤ò¸º¤é¤·¤Æ¤¤¤ë¡£
¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ¡¢nPoint¤ò¡Ü1¤·¤ÆPart6¤Ë°Ü¹Ô¤¹¤ë¡£
** Part6 [#oa31f38f]
while (nPoint == 3) {
while (nOnline < nMAX){
if (SENSOR_1 < THRESHOLD -7) {
turn_left1;
nOnline++;
} else {
if (SENSOR_1 < THRESHOLD -5) {
turn_left0;
} else if (SENSOR_1 < THRESHOLD +2) {
OnFwd(OUT_BC,50);
} else if (SENSOR_1 < THRESHOLD +7) {
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_left1; Wait(nMAX*STEP -50);
cross_line;
nOnline=0;
nPoint++;
}
Part6¤Ï¡¢"nPoint=3"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ¡¢nPoint¤ò¡Ü1¤·¤ÆPart7¤Ë°Ü¹Ô¤¹¤ë¡£
Part6¤Ï¡¢"nPoint=3"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
¾åÉô¤Î¸òº¹ÅÀ¤òÅϤë¤È¤¡¢¼Ð¤á¤Ë²£ÃǤ·¤Æ¤·¤Þ¤¤¥é¥¤¥ó¤Î±¦Â¦¤Ë½Ð¤Æ¤·¤Þ¤¦¤³¤È¤¬Â¿¤«¤Ã¤¿¤¿¤á¡¢"turn_right1"¤ò"turn_left1"¤Ë¡¢"nMAX*STEP"¤ò"nMAX*STEP -50"Êѹ¹¤¹¤ë¤³¤È¤Ç¡¢Å¬Åö¤Ê»þ´Ö¤Çº¸¤Ë¶Ê¤¬¤ê¤Ê¤¬¤é¸òº¹ÅÀ¤òÅϤꡢ¥é¥¤¥ó¤Îº¸Â¦¤Ë½Ð¤é¤ì¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ¡¢nPoint¤ò¡Ü1¤·¤ÆPart7¤Ë°Ü¹Ô¤¹¤ë¡£
** Part7 [#ibc0bdc7]
while (nPoint == 4) {
while (nOnline < nMAX){
if (SENSOR_1 < THRESHOLD -7) {
turn_left1;
nOnline++;
} else {
if (SENSOR_1 < THRESHOLD -5) {
turn_left0;
} else if (SENSOR_1 < THRESHOLD +2) {
OnFwd(OUT_BC,50);
} else if (SENSOR_1 < THRESHOLD +7) {
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1; Wait(nMAX*STEP +100);
turn_right1; Wait(nMAX*STEP + 100);
OnFwd(OUT_BC,-50); Wait(500);
nOnline=0;
nPoint++;
}
Part7¤Ï¡¢"nPoint=4"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¥´¡¼¥ëÁ°¤Îľ³Ñ¥«¡¼¥Ö¤ò¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë¤¬¡¢"cross_line"¤ò"OnFwd(OUT_BC,-50); Wait(500)"¤Ë¡¢nMAX*STEP"¤ò"nMAX*STEP +100"¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢Àµ³Î¤Ë¥´¡¼¥ë¤ËÀµÂФ·¤¿¸å¡¢¸åÂह¤ë¡£¤½¤·¤Æ¡¢nPoint¤ò¡Ü1¤·¤ÆPart7¤Ë°Ü¹Ô¤¹¤ë¡£
Part7¤Ï¡¢"nPoint=4"¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
¥´¡¼¥ëÁ°¤Îľ³Ñ¥«¡¼¥Ö¤ò¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë¤¬¡¢"cross_line"¤ò"OnFwd(OUT_BC,-50); Wait(500)"¤Ë¡¢nMAX*STEP"¤ò"nMAX*STEP + 100"¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢Àµ³Î¤Ë¥´¡¼¥ë¤ËÀµÂФ·¤¿¸å¡¢¸åÂह¤ë¡£
¤Þ¤¿¡¢nPoint¤ò¡Ü1¤·¤ÆPart8¤Ë°Ü¹Ô¤¹¤ë¡£
** Part8 [#d79427ce]
while (nPoint == 5) {
RotateMotor(OUT_A,-100,90);
PlaySound(SOUND_UP);
Off(OUT_ABC);
nPoint++;
}
}
Part8¤Ï¡¢"nPoint=5"¤Î¤È¤¡¢¥¢¡¼¥à¤ò¾å¤²¡¢¥·¥å¡¼¥È¤òÂÇ¤Ä¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¥·¥å¡¼¥È¤òÂǤ俸塢nPoint¤ò¡Ü1¤·¤Æ"nPoint=6"¤Ë¤¹¤ë¤³¤È¤Ç¾ò·ï¤«¤é³°¤·¡¢¥×¥í¥°¥é¥à¤ò½ªÎ»¤¹¤ë¡£
Part8¤Ï¡¢"nPoint=5"¤Î¤È¤¡¢¥¢¡¼¥à¤ò¾å¤²¡¢¥·¥å¡¼¥È¤òÂÇ¤Ä¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
¤Þ¤¿¡¢¥·¥å¡¼¥È¤òÂǤ俸塢nPoint¤ò¡Ü1¤·¤Æ"nPoint=6"¤Ë¤¹¤ë¤³¤È¤Ç¾ò·ï¤«¤é³°¤·¡¢¥×¥í¥°¥é¥à¤ò½ªÎ»¤¹¤ë¡£
** ¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#g3c01e9c]
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* ´¶ÁÛ¡¦È¿¾Ê [#y966b4ba]
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¼¡¤Î²ÝÂê¤Ç¤Ï¡¢ÂŶ¨¤¹¤ë¤³¤È¤Ê¤¯¡¢¥Ù¥¹¥È¤Ê¥×¥í¥°¥é¥à¤òÁȤá¤ë¤è¤¦¤Ë¤·¤¿¤¤¡£