Ìܼ¡ #contents * ¥á¥ó¥Ð¡¼ [#ibb85475] kiyomizu : ¥¹¥¿¡¼¥È¢ª¥´¡¼¥ë¤òôÅö suiden : ¥´¡¼¥ë¢ª¥¹¥¿¡¼¥È¤òôÅö * ²ÝÂê¤ÎÆâÍÆ [#w222b816] ¿Þ¤Î¤è¤¦¤Ê¥³¡¼¥¹¤ò³Æ¼«¤ÇºîÀ®¤·¤¿¾å¤Ç¡¢¼¡¤Î¤è¤¦¤ÊÆ°ºî¤ò¤¹¤ë¥í¥Ü¥Ã¥È¤òºîÀ®¤»¤è¡£ ¥³¡¼¥¹¤Î¾ÜºÙ¤Ë¤Ä¤¤¤Æ¤Ï¼ø¶ÈÃæÀâÌÀ¤¹¤ë¡Ê²¼¤Î¿Þ¤Ë¤ª¤¤¤Æ¡¢¹õ¤¤Àþ¤ÎÂÀ¤µ¤Ï20mm¤Ç¡¢Àþ¤ÎÃæ±û¤Þ¤Ç¤Îµ÷Î¥¤¬cmɽ¼¨¤µ¤ì¤Æ¤¤¤ë¡Ë¡£ + ¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é½Ðȯ¤·¡¢¹õ¤¤Àþ¤Ë¤½¤Ã¤ÆÆ°¤¯¡£ + °ì¤ÄÌܤν½»ú¤Î¸òº¹ÅÀ¤ÈÆó¤Ä¤á¤Î½½»ú¤Î¸òº¹ÅÀ¤Î´Ö¤ËÃÖ¤«¤ì¤¿¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à¡£ + ¤µ¤é¤Ë¹õÀþ¤Ë±è¤Ã¤ÆÆ°¤¤¤Æ¥´¡¼¥ëÃÏÅÀ¤òÌܻؤ¹¡£ + ¥´¡¼¥ë¤Ë¸þ¤±¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È¤¹¤ë¡£ ¤¿¤À¤·T»úÏ©¤Ç¤Ï¡¢Ä¾¿Ê¡¢±¦ÀÞ¡¢º¸ÀÞ¤òÀµ¤·¤¯È½ÃǤµ¤»¤ë¤³¤È¡£¤Þ¤¿Æó¿Í°ìÁȤÇƱ¤¸¥í¥Ü¥Ã¥È¤ò»ÈÍѤ·¡¢¸ß¤¤¤Ë¥¹¥¿¡¼¥ÈÃÏÅÀ¤È¥´¡¼¥ëÃÏÅÀ¤òÆþ¤ìÂؤ¨¤ë¤³¤È¡£¥í¥Ü¥Ã¥ÈËÜÂΤ϶¦Ä̤Τâ¤Î¤ò»È¤¦¤È¤¹¤ë¡£ ¤µ¤é¤Ë°Ê²¼¤Î¤è¤¦¤ÊÆ°ºî¤ËÄ©À魯¤ë¤³¤È¤¬Ë¾¤Þ¤·¤¤¡£ + ¥´¡¼¥ë¥¨¥ê¥¢³°¤«¤é¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È¤¹¤ë¡£ + ¶ÊÀþÉôÃæ±û¤Î¾ã³²Êª¤ËÀÜ¿¨¤·¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤³¤È¡£ &ref(2014a-mission1.png); * ¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#qd0e48a4] ** ¥í¥Ü¥Ã¥È¤Î³°´Ñ [#e9cd888b] &ref(robo2.jpg); &ref(robo1.jpg); &ref(robo3.jpg); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò¾å¤²¤¿¾õÂ֤Υí¥Ü¥Ã¥È¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò²¼¤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¡£ ** ¥¢¡¼¥à [#d4f186e7] &ref(robo8.jpg); &ref(robo9.jpg); ¥¢¡¼¥à¤ÏÎؤΤ褦¤Ê¹½Â¤¤Ë¤Ê¤Ã¤Æ¤ª¤ê¡¢¥â¡¼¥¿¡¼¤ò²óž¤µ¤»¡¢¥í¥Ü¥Ã¥È¤«¤é¸«¤Æ¼êÁ°¤ÎËÀ¤È¥Ð¥ó¥Ñ¡¼¤Ç¥Ü¡¼¥ë¤ò¶´¤ß¡¢¥Ü¡¼¥ë¤Î²¼¤ËËÀ¤òÄ̤·¡¢³ÎÊݤ¹¤ë»ÅÁȤߤˤʤäƤ¤¤ë¡£ ÎؤÎÃæ¤Ë¥Ü¡¼¥ë¤¬Æþ¤ì¤Ð¡¢³Î¼Â¤Ë¥´¡¼¥ë¤Þ¤Ç»ý¤Ã¤Æ¤¤¤¥·¥å¡¼¥È¤òÂǤĤ³¤È¤¬¤Ç¤¤ë¤Î¤Ç¡¢¤³¤Î»ÅÁȤߤòºÎÍѤ·¤¿¡£ ¤·¤«¤·¡¢ÎؤÎÃæ¤Ë¥Ü¡¼¥ë¤¬Æþ¤é¤Ê¤¤¤³¤È¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢L»ú·Á¤Î¥Ñ¡¼¥Ä¤ÇÊÖ¤·¤ò¤Ä¤±¡¢¥Ü¡¼¥ë¤ò¼è¤ê¤³¤Ü¤µ¤Ê¤¤¤è¤¦¤Ë¹©Éפ·¤¿¡£ ** ¥Ü¡¼¥ë¤ÎÊá¤êÊý¡¦¥·¥å¡¼¥È¤ÎÂǤÁÊý [#s1fd127d] &ref(robo5.jpg); &ref(robo6.jpg); &ref(robo7.jpg); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò²¼¤²¤Æ¥Ü¡¼¥ë¤òÊá¤ë¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò³ÎÊÝ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥¢¡¼¥à¤ò¾å¤²¤Æ¥·¥å¡¼¥È¤òÂÇ¤Ä * ¥×¥í¥°¥é¥à¤ÎÆâÍÆ [#n91931a1] &ref(2014a-mission1-kouryaku.png); ¥×¥í¥°¥é¥à¤ÎÆâÍƤò¾å¿Þ¤Ç¼¨¤µ¤ì¤¿Part¤´¤È¤Ëʬ¤±¤ÆÀâÌÀ¤¹¤ë¡£ ** Part0:ÄêµÁ [#c2c9cc66] #define THRESHOLD 50 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤·¤¤¤Ãͤò50¤ËÀßÄê #define turn_left0 OnFwd(OUT_B,30); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // º¸ÀÞ #define turn_left1 OnFwd(OUT_B,20);OnFwd(OUT_C,-20); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// º¸Àû²ó #define turn_right0 OnFwd(OUT_C,30); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ±¦ÀÞ #define turn_right1 OnFwd(OUT_C,20);OnFwd(OUT_B,-20); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// ±¦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,30);Wait(300);short_break;PlaySound(SOUND_UP); // ¸òº¹ÅÀ¤òÅϤë ** Part1 [#u87a2841] task main() { 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);¡¡¡¡¡¡¡¡¡¡ // 0.7ÉôÖľ¿Ê Wait(700); Part1¤Ï¡¢¥¹¥¿¡¼¥È¤ÎÏÈÆ⤫¤é½Ð¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ ** Part2 [#q3248486] while (CurrentTick() - t0 < 10000) { // ³«»Ï¤«¤é10ÉÃ̤Ëþ¤Î¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô if (SENSOR_1 < THRESHOLD -10) { // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó turn_left1; } else { if (SENSOR_1 < THRESHOLD -5) { // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ turn_left0; } else if (SENSOR_1 < THRESHOLD +2) { // ¹õ¤ÈÇò¤Î¶³¦¤Ç¤Ïľ¿Ê OnFwd(OUT_BC,30); } else if (SENSOR_1 < THRESHOLD +15) { // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ turn_right0; } else { // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó turn_right1; } Wait(STEP); // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦ } } Part2¤Ï¡¢³«»Ï¤«¤é10ÉÃ̤Ëþ¤Î¤È¤¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ ** Part3 [#c5040110] while (nPoint == 0) { // nPoint=0(½é´ü¾õÂÖ)¤Î¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô while (nOnline < nMAX){ // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô if (SENSOR_1 < THRESHOLD -10) { // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó turn_left1; nOnline++; // nOnline¤Ë¡Ü1¤¹¤ë } else { if (SENSOR_1 < THRESHOLD -5) { // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ turn_left0; } else if (SENSOR_1 < THRESHOLD +2) { // ¹õ¤ÈÇò¤Î¶³¦¤Î¾å¤Ç¤Ïľ¿Ê OnFwd(OUT_BC,30); } else if (SENSOR_1 < THRESHOLD +15) { // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ turn_right0; } else { // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó turn_right1; } nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È } Wait(STEP); // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦ } // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô short_break; // ¾®µÙ»ß turn_right1; Wait(nMAX*STEP); // Êý¸þ½¤Àµ cross_line; // ¸òº¹ÅÀ¤òÅϤë nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È nPoint++; // nPoint¤Ë¡Ü1¤¹¤ë(nPoint=1¤Ë¤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¡£ ** Part4 [#x2bdc966] long t1 = CurrentTick(); // ¥¿¥¤¥Þ¡¼¢¤òÍÑ°Õ while (nPoint == 1) { // nPoint=1¤Î¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô if (CurrentTick() - t1 == 5000) { // 5É÷вᤷ¤¿¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô Off(OUT_BC); // ¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë RotateMotor(OUT_A,85,210); // ¥¢¡¼¥à¤ò²¼¤²¤ë nPoint++; // nPoint¤Ë¡Ü1¤¹¤ë PlaySound(SOUND_UP); // ²»¤òÌĤ餹 } else { if (SENSOR_1 < THRESHOLD -10) { // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó turn_left1; } else if (SENSOR_1 < THRESHOLD -5) { // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ turn_left0; } else if (SENSOR_1 < THRESHOLD +15) { // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ turn_right0; } else { // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó turn_right1; } Wait(STEP); // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦ } } 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¤êľ¿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) { // nPoint=2¤Î¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô while (nOnline < nMAX -100){ // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô if (SENSOR_1 < THRESHOLD -10) { // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó turn_left1; nOnline++; // nOnline¤Ë¡Ü1¤¹¤ë } else { if (SENSOR_1 < THRESHOLD -5) { // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ turn_left0; } else if (SENSOR_1 < THRESHOLD +2) { // ¹õ¤ÈÇò¤Î¶³¦¤Ç¤Ïľ¿Ê OnFwd(OUT_BC,30); } else if (SENSOR_1 < THRESHOLD +15) { // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ turn_right0; } else { // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó turn_right1; } nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È } Wait(STEP); // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦ } // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô short_break; // ¾®µÙ»ß turn_right1; Wait(nMAX*STEP); // Êý¸þ½¤Àµ cross_line; // ¸òº¹ÅÀ¤òÅϤë nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È nPoint++; // nPoint¤Ë¡Ü1¤¹¤ë(nPoint=3¤Ë¤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¤¯¥«¡¼¥Ö¤È¸íǧ¼±¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬Â¿¤«¤Ã¤¿¤¿¤á¡¢"nMAX"¤ò"nMAX -100"¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢¸òº¹ÅÀ¤ÈȽÃǤ·¤ä¤¹¤¯¤·¤Æ¤ª¤ê¡¢¸íǧ¼±¤ò¸º¤é¤·¤Æ¤¤¤ë¡£ ¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ¡¢nPoint¤ò¡Ü1¤·¤ÆPart6¤Ë°Ü¹Ô¤¹¤ë¡£ ** Part6 [#oa31f38f] while (nPoint == 3) { // nPoint=3¤Î¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô while (nOnline < nMAX){ // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô if (SENSOR_1 < THRESHOLD -10) { // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó turn_left1; nOnline++; // nOnline¤Ë¡Ü1¤¹¤ë } else { if (SENSOR_1 < THRESHOLD -5) { // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ turn_left0; } else if (SENSOR_1 < THRESHOLD +2) { // ¹õ¤ÈÇò¤Î¶³¦¤Ç¤Ïľ¿Ê OnFwd(OUT_BC,50); } else if (SENSOR_1 < THRESHOLD +15) { // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ turn_right0; } else { // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó turn_right1; } nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È } Wait(STEP); // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦ } // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô short_break; // ¾®µÙ»ß turn_left1; Wait(nMAX*STEP -50); // Êý¸þ½¤Àµ cross_line; // ¸òº¹ÅÀ¤òÅϤë nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È nPoint++; // nPoint¡Ü1¤¹¤ë(nPoint=4¤Ë¤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¡¢Êý¸þ½¤Àµ¤Î"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) { // nPoint=4¤Î¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô while (nOnline < nMAX){ // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô if (SENSOR_1 < THRESHOLD -10) { // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó turn_left1; nOnline++; // nOnline¤Ë¡Ü1¤¹¤ë } else { if (SENSOR_1 < THRESHOLD -5) { // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ turn_left0; } else if (SENSOR_1 < THRESHOLD +2) { // ¹õ¤ÈÇò¤Î¶³¦¤Ç¤Ïľ¿Ê OnFwd(OUT_BC,30); } else if (SENSOR_1 < THRESHOLD +15) { // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ turn_right0; } else { // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó turn_right1; } nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È } Wait(STEP); // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦ } // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô short_break; // ¾®µÙ»ß turn_right1; Wait(nMAX*STEP +100); // Êý¸þ½¤Àµ OnFwd(OUT_BC,-50); Wait(500); // 0.5ÉôָåÂह¤ë nOnline=0; // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È nPoint++; // nPoint¡Ü1¤¹¤ë(nPoint=5¤Ë¤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¸åÂà"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) { // nPoint=5¤Î¤È¤°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô Off(OUT_BC); // ¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë RotateMotor(OUT_A,-100,90); // ¥¢¡¼¥à¤ò¾å¤²¤ë PlaySound(SOUND_UP); // ²»¤òÌĤ餹 Off(OUT_A); // ¥¢¡¼¥à¤ò»ß¤á¤ë nPoint++; // nPoint¤Ë¡Ü1¤¹¤ë(nPoint=6¤Ë¤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] Íý²ò¤·¤ä¤¹¤¯¤¹¤ë¤¿¤á¤ËPart¤´¤È¤Ë¶èÀڤäÆÀâÌÀ¤·¤¿¤¬¡¢¼ÂºÝ¤Î¥×¥í¥°¥é¥à¤ÏPart0¡§ÄêµÁ¡ÁPart8¤Þ¤Ç¤ò¤Ä¤Ê¤²¤¿¤â¤Î¤Ç¤¢¤ë¡£ ¤Þ¤¿¡¢¼¡¤Î¤³¤È¤ËÃí°Õ¤¬É¬ÍפǤ¢¤ë¡£ + ÅÅÃÓ»ÄÎ̤¬100¡ó¤Î¤È¤¤òÁÛÄꤷ¤Æ¥×¥í¥°¥é¥à¤òÁȤó¤À¤¿¤á¡¢ÅÅÃÓ»ÄÎ̤¬¾¯¤Ê¤¤¤ÈÀµ¾ï¤ËÆ°ºî¤·¤Ê¤¤¾ì¹ç¤¬¤¢¤ë¡£ + ¤·¤¤¤Ãͤ¬Æü¤ä»þ´Ö¤Ë¤è¤Ã¤ÆÊѤï¤ë¤³¤È¤¬¤¢¤ë¤¿¤á¡¢¤·¤¤¤ÃͤÎÊѹ¹¤¬É¬Íפʾì¹ç¤¬¤¢¤ë¡£ * ´¶ÁÛ¡¦È¿¾Ê [#y966b4ba] ¥í¥Ü¥Ã¥È¤Ï¡¢»î¹Ôºø¸í¤ò·«¤êÊÖ¤·¤¿¤À¤±¤¢¤Ã¤Æ¥Ù¥¹¥È¤Ë¶á¤¤¤â¤Î¤òºî¤ê¾å¤²¤é¤ì¤¿¤È»×¤¦¡£ÍýÁÛ¤ò¸À¤¦¤Ê¤é¤Ð¡¢¤â¤Ã¤È¾®²ó¤ê¤ÎÍø¤¯¤è¤ê¾®·¿¤Ê¥í¥Ü¥Ã¥È¤òºî¤ê¤¿¤«¤Ã¤¿¡£ ¥×¥í¥°¥é¥à¤Ï¡¢À®¸ùΨ10³ä¤òÌܻؤ¹Ãæ¤ÇƱ¤¸¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ç¤âºÙ¤«¤¤¿ôÃÍÄ´À°¤äÊѹ¹¤¬É¬ÍפÀ¤Ã¤¿¤¿¤á¡¢Á´ÂΤÇ173¹Ô¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£173¹Ô¤È¤¤¤¦¤Î¤¬Â¿¤¤¤Î¤«¾¯¤Ê¤¤¤Î¤«¤Ïʬ¤«¤é¤Ê¤¤¤¬¡¢¤â¤Ã¤ÈÍÆÎ̤¬¾¯¤Ê¤¯ºÑ¤à¤è¤¦¤Ê¡¢¸úΨŪ¤Ê¥×¥í¥°¥é¥à¤¬ºî¤ì¤¿¤È»×¤¦¤Î¤Ç¡¢¤³¤ì¤«¤é¤âÊÙ¶¯¤ò³¤±¤Æ¤¤¤¤¿¤¤¡£ ¤Þ¤¿¡¢Åö½é¤ÏĶ²»ÇÈ¥»¥ó¥µ¡¼¤òÍøÍѤ·¤Æ¥Ü¡¼¥ë¤ò³ÎÊݤ¹¤ëͽÄê¤Ç¤¢¤Ã¤¿¤¬¡¢¤¦¤Þ¤¯¥×¥í¥°¥é¥à¤òÁȤळ¤È¤¬¤Ç¤¤º¡¢´Êñ¤ËÁȤळ¤È¤¬¤Ç¤¤ë¥¿¥¤¥Þ¡¼¤òÍøÍѤ¹¤ë¥×¥í¥°¥é¥à¤ËÊѹ¹¤·¤¿¤¿¤á¡¢À®¸ùΨ¤¬²¼¤¬¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£ ºÇ½ªÅª¤ÊÀ®¸ùΨ¤Ï¡¢Àµ³Î¤Ë¿ô¤¨¤Æ·×»»¤·¤¿¤ï¤±¤Ç¤Ï¤Ê¤¤¤¬¡¢£¸¡Á£¹³ä¤Ï¤¢¤Ã¤¿¤È»×¤¦¡£ÌÜɸ¤Ç¤¢¤ë10³ä¤Ë¤ÏÆϤ«¤Ê¤«¤Ã¤¿¤¬Ëþ¤ΤǤ¤ë·ë²Ì¤È¤Ê¤Ã¤¿¡£ ¼¡¤Î²ÝÂê¤Ç¤Ï¡¢ÂŶ¨¤¹¤ë¤³¤È¤Ê¤¯¡¢¥Ù¥¹¥È¤Ê¥×¥í¥°¥é¥à¤òÁȤá¤ë¤è¤¦¤Ë¤·¤¿¤¤¡£