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*¥×¥í¥°¥é¥à [#k9e1adf3]
**ÄêµÁʸ [#ec25770d]
#define THRESHOLD 40¡¡¡¡//¤·¤¤¤Ãͤò40¤ËÀßÄê
#define SPEED_H 38¡¡¡¡//¥Ï¥¤¥¹¥Ô¡¼¥É¤Ï38%
#define SPEED_L 25¡¡¡¡//¥í¥¦¥¹¥Ô¡¼¥É¤Ï25%
#define THRESHOLD 40¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤·¤¤¤Ãͤò40¤ËÀßÄê
#define SPEED_H 38¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ï¥¤¥¹¥Ô¡¼¥É¤Ï38%
#define SPEED_L 25¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥í¥¦¥¹¥Ô¡¼¥É¤Ï25%
#define OnRL(speedR,speedL) OnFwd(OUT_A,speedR);OnFwd(OUT_C,speedL);
#define go_forward OnRL(SPEED_H,SPEED_H);¡¡¡¡//Á°¿Ê
#define spin_left OnRL(SPEED_H,-SPEED_H);¡¡¡¡//º¸Àû²ó
#define turn_left OnRL(SPEED_H,0);¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë
#define turn_right OnRL(0,SPEED_H);¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë
#define spin_right OnRL(-SPEED_H,SPEED_H);¡¡¡¡//±¦Àû²ó
#define nMAX2 350¡¡¡¡nOnline¤Î¾å¸ÂÃÍ¡ÊÀâÌÀ¸å½Ò¡Ë
#define CROSS_TIME 400¡¡¡¡//¸òº¹ÅÀÄ̲á»þ¤ÎÁ°¿Ê¤¹¤ë»þ´Ö
#define cross_line OnRL(SPEED_H,SPEED_H);Wait(CROSS_TIME);¡¡¡¡//¸òº¹ÅÀÄ̲á
#define STEP 1¡¡¡¡//³ÆÆ°ºî¤Ë¤«¤±¤ë»þ´Ö
#define go_back OnRL(-SPEED_L,-SPEED_L);¡¡¡¡//¸å¿Ê
#define go_back2 OnRL(-SPEED_H -5,-SPEED_L);¡¡¡¡//¸å¿Ê
#define shoot_ball go_back;Wait(400);Off(OUT_AC);\¡¡¡¡¡¡¡¡//ºÇ¸å¤Ë¥¢¡¼¥à¤ò
RotateMotor(OUT_B,25,-90);Off(OUT_AC);¡¡ ¾å¤²¤Æ¥Ü¡¼¥ë¤òÊü¤Ä
#define go_forward OnRL(SPEED_H,SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Á°¿Ê
#define spin_left OnRL(SPEED_H,-SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //º¸Àû²ó
#define turn_left OnRL(SPEED_H,0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //º¸¤Ë¶Ê¤¬¤ë
#define turn_right OnRL(0,SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //±¦¤Ë¶Ê¤¬¤ë
#define spin_right OnRL(-SPEED_H,SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦Àû²ó
#define nMAX2 350¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //nOnline¤Î¾å¸ÂÃÍ¡ÊÀâÌÀ¸å½Ò¡Ë
#define CROSS_TIME 400¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀÄ̲á»þ¤ÎÁ°¿Ê¤¹¤ë»þ´Ö
#define cross_line OnRL(SPEED_H,SPEED_H);Wait(CROSS_TIME);¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀÄ̲á
#define STEP 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÆÆ°ºî¤Ë¤«¤±¤ë»þ´Ö
#define go_back OnRL(-SPEED_L,-SPEED_L);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¿Ê
#define go_back2 OnRL(-SPEED_H -5,-SPEED_L);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¿Ê
#define shoot_ball go_back;Wait(400);Off(OUT_AC);\¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ºÇ¸å¤Ë¥¢¡¼¥à¤ò
RotateMotor(OUT_B,25,-90);Off(OUT_AC);¡¡ ¡¡¡¡¡¡¡¡¡¡¾å¤²¤Æ¥Ü¡¼¥ë¤òÊü¤Ä
**¥é¥¤¥ó¥È¥ì¡¼¥¹ [#ea62200c]
task main()
{
SetSensorLight(S3);¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
SetSensorLight(S3);¡¡¡¡ //¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
_
int nOnline = 0;¡¡¡¡//"nOnline"¤È¤¤¤¦Ì¾Á°¤Î¥«¥¦¥ó¥¿¡¼¤ò¥»¥Ã¥È¡£±¦Àû²ó¤Î²ó¿ô¤ò·×¤ë
int nCorner = 0;¡¡¡¡//"nCorner"¤È¤¤¤¦Ì¾Á°¤Î¥«¥¦¥ó¥¿¡¼¤ò¥»¥Ã¥È¡£Ä¾³Ñ¥«¡¼¥Ö¤Î¿ô¤ò·×¤ë
int nOnline = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡¡¡//"nOnline"¤È¤¤¤¦Ì¾Á°¤Î¥«¥¦¥ó¥¿¡¼¤ò¥»¥Ã¥È¡£±¦Àû²ó¤Î²ó¿ô¤ò·×¤ë
int nCorner = 0;¡¡¡¡ //"nCorner"¤È¤¤¤¦Ì¾Á°¤Î¥«¥¦¥ó¥¿¡¼¤ò¥»¥Ã¥È¡£Ä¾³Ñ¥«¡¼¥Ö¤Î¿ô¤ò·×¤ë
_
go_forward;until(SENSOR_3 < THRESHOLD -8)¡¡¡¡//START¤Î°ÌÃÖ¤«¤é¥³¡¼¥¹¤Î
go_forward;Wait(200);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¹õÀþ¤Ë¾è¤ë¤Þ¤ÇÁ°¿Ê¤¹¤ë
go_forward;until(SENSOR_3 < THRESHOLD -8)¡¡¡¡ //START¤Î°ÌÃÖ¤«¤é¥³¡¼¥¹¤Î
go_forward;Wait(200);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¹õÀþ¤Ë¾è¤ë¤Þ¤ÇÁ°¿Ê¤¹¤ë
_
while(nCorner <= 6) {¡¡¡¡//nCorner¤¬£¶°Ê²¼¤Î´Ö¤Ï¡Ð¡ÑÆâ¤ÎÌ¿Îá¤ò·«¤êÊÖ¤·¼Â¹Ô¤¹¤ë
if(nOnline < nMAX2) {¡¡¡¡//nOnline¤ÎÃͤ¬nMAX2°Ê²¼¤Î»þ¤Ï°Ê²¼¤ÎÆ°ºî¤ò¤¹¤ë
if(SENSOR_3 < THRESHOLD -5) {¡¡¡¡//¼ÖÂΤ¬¹õÀþ¾å¤Ë¤¤¤ë¤È¤
spin_right;¡¡¡¡//±¦Àû²ó¤¹¤ë*
nOnline++;¡¡¡¡//nOnline¤ò£±²Ã»»
while(nCorner <= 6) {¡¡¡¡ //nCorner¤¬£¶°Ê²¼¤Î´Ö¤Ï¡Ð¡ÑÆâ¤ÎÌ¿Îá¤ò·«¤êÊÖ¤·¼Â¹Ô¤¹¤ë
if(nOnline < nMAX2) {¡¡¡¡ //nOnline¤ÎÃͤ¬nMAX2°Ê²¼¤Î»þ¤Ï°Ê²¼¤ÎÆ°ºî¤ò¤¹¤ë
if(SENSOR_3 < THRESHOLD -5) {¡¡¡¡ //¼ÖÂΤ¬¹õÀþ¾å¤Ë¤¤¤ë¤È¤
spin_right;¡¡¡¡ //±¦Àû²ó¤¹¤ë*
nOnline++;¡¡¡¡ //nOnline¤ò£±²Ã»»
} else {
if(SENSOR_3 < THRESHOLD +5) {¡¡¡¡//¼ÖÂΤ¬¹õÀþ¾å¤Î¶³¦Àþ¤è¤ê¤Ë¤¤¤ë¤È¤
turn_right;¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë*
} else if(SENSOR_3 < THRESHOLD +10) {¡¡¡¡//¼ÖÂΤ¬¶³¦Àþ¾å¤Ë¤¤¤ë¤È¤
go_forward;¡¡¡¡//Á°¿Ê¤¹¤ë*
} else if(SENSOR_3 < THRESHOLD +14) {¡¡¡¡//¼ÖÂΤ¬¹õÀþ³°¤Î¶³¦Àþ¤è¤ê¤Ë¤¤¤ë¤È¤
turn_left;¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë*
} else {¡¡¡¡//¼ÖÂΤ¬¹õÀþ³°¤Ë¤¤¤ë¤È¤
spin_left;¡¡¡¡//º¸Àû²ó¤¹¤ë*
if(SENSOR_3 < THRESHOLD +5) {¡¡ //¼ÖÂΤ¬¹õÀþ¾å¤Î¶³¦Àþ¤è¤ê¤Ë¤¤¤ë¤È¤
turn_right;¡¡¡¡ //±¦¤Ë¶Ê¤¬¤ë*
} else if(SENSOR_3 < THRESHOLD +10) {¡¡ //¼ÖÂΤ¬¶³¦Àþ¾å¤Ë¤¤¤ë¤È¤
go_forward;¡¡¡¡ //Á°¿Ê¤¹¤ë*
} else if(SENSOR_3 < THRESHOLD +14) {¡¡ //¼ÖÂΤ¬¹õÀþ³°¤Î¶³¦Àþ¤è¤ê¤Ë¤¤¤ë¤È¤
turn_left;¡¡¡¡ //º¸¤Ë¶Ê¤¬¤ë*
} else {¡¡ //¼ÖÂΤ¬¹õÀþ³°¤Ë¤¤¤ë¤È¤
spin_left;¡¡ //º¸Àû²ó¤¹¤ë*
}
nOnline=0;¡¡¡¡//±¦Àû²ó°Ê³°¤ÎÆ°ºî¤ò¤·¤¿¤È¤nOnline¤ò¥ê¥»¥Ã¥È¤¹¤ë
nOnline=0;¡¡¡¡ //±¦Àû²ó°Ê³°¤ÎÆ°ºî¤ò¤·¤¿¤È¤nOnline¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
Wait(STEP);¡¡¡¡//³ÆÆ°ºî¤Ï°ì²óÅö¤¿¤ê1/1000ÉôֹԤ¦
Wait(STEP);¡¡¡¡ //³ÆÆ°ºî¤Ï°ì²óÅö¤¿¤ê1/1000ÉôֹԤ¦
¡¡¡¡¡¡¡¡¡Ê¡ù¤Ë³¤¯¡Ë
´ðËÜŪ¤Ë¤Ï¡¢¸÷¥»¥ó¥µ¡¼¤Ë¤è¤êÌÀ¤ë¤µ¤ò¬¤Ã¤Æ¡¢ÌÀÅÙ¤ÎÃͤˤè¤êº¸±¦¤Ë¶Ê¤¬¤é¤»¤Æ¥é¥¤¥ó¾å¤ò¿Ê¤ß¤Þ¤¹¡£
¡¡Ä¾³Ñ¥«¡¼¥Ö¤Ï±¦Àû²ó¤Î²ó¿ô¤ò·×¤ë¤³¤È¤ÇȽÊ̤·¤Þ¤¹¡£±¦Àû²ó¤Î²ó¿ô¤ÏnOnline¤È¤¤¤¦¥«¥¦¥ó¥¿¡¼¤Ç
·×¤ê¤Þ¤¹¡£¾åµ¤Î*¤ÎÆ°ºî¤Ï°ì²ó¤¢¤¿¤ê1/1000ÉôֹԤï¤ì¤Þ¤¹¡£¤Ä¤Þ¤êϢ³¤Ç±¦Àû²ó¤¬¹Ô¤ï¤ì¤Æ
nOnline¤¬²Ã»»¤µ¤ì¤Æ¤¤¤Ã¤¿¾ì¹ç¡¢(nOnline¤Î²ó¿ô)/1000ÉäȤ·¤Æ¹Í¤¨¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡£nOnline¤Î
ÃÍ¡ÊϢ³¤Ç±¦Àû²ó¤·¤¿²ó¿ô¡Ë¤òN¡¢Ï¢Â³¤ÇN²ó±¦Àû²ó¤¹¤ë¤Î¤Ë¤Ã¤«¤ë»þ´Ö¤òt¤È¤¹¤ë¤È¡¢
nOnline¤¬²Ã»»¤µ¤ì¤Æ¤¤¤Ã¤¿¾ì¹ç¡¢¤«¤«¤ë»þ´Ö¤Ï(nOnline¤Î²ó¿ô)/1000ÉäȤ·¤Æ¹Í¤¨¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡£nOnline¤ÎÃÍ¡ÊϢ³¤Ç±¦Àû²ó¤·¤¿²ó¿ô¡Ë¤òN¡¢Ï¢Â³¤ÇN²ó±¦Àû²ó¤¹¤ë¤Î¤Ë¤«¤«¤ë»þ´Ö¤òt¤È¤¹¤ë¤È¡¢
£ô¡á£Î/1000¡ÊÉáˤȤ¤¤¦¼°¤¬¤Ç¤¤Þ¤¹¡£
¡¡Î㤨¤Ð¡¢100²óϢ³¤Ç±¦Àû²ó¤·¤¿¾ì¹ç¤«¤«¤ë»þ´Ö¤Ï100/1000Éáá0.1ÉäȤʤê¤Þ¤¹¡£¾åµ¤Î¥×¥í¥°¥é
¥à¤Ç¤Ï¡¢nOnline¤Î¾å¸ÂÃͤònMAX2=350¤È¤·¤Æ¤¤¤ë¤Î¤Ç350²ó°Ê¾åϢ³¤Ç¡¢¸À¤¤´¹¤¨¤ì¤Ð0.35ÉðʾåÏ¢
³¤Ç±¦Àû²ó¤ò¤¹¤ë¤Èľ³Ñ¥«¡¼¥Ö¤ÈȽÃǤ·¤Þ¤¹¡£µÕ¤Ë¡¢±¦Àû²ó¤¬0.35Éðʾå¹Ô¤ï¤ì¤Ê¤¤¸Â¤ê¤ÏÄ̾ï¤Ç¤¢
¤ë¤ÈȽÃǤ·¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤Þ¤¹¡£
**¸òº¹ÅÀ¤òÅϤ롦ľ³Ñ¥«¡¼¥Ö¤ò¶Ê¤¬¤ë¡¦¥Ü¡¼¥ë¤òÊü¤Ä [#ud4897d3]
**¸òº¹ÅÀ¤òÅϤ롦ľ³Ñ,¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤ò¶Ê¤¬¤ë¡¦¥Ü¡¼¥ë¤òÊü¤Ä [#ud4897d3]
¡¡¡¡¡Ê¡ù¡Ë
} else { //nOnline¤¬nMAX2°Ê¾å¤Ë¤Ê¤Ã¤¿¤È¤¤Ï°Ê²¼¤ÎÆ°ºî¤ò¤¹¤ë
} else { //nOnline¤¬nMAX2°Ê¾å¤Ë¤Ê¤Ã¤¿¤È¤¤Ï°Ê²¼¤ÎÆ°ºî¤ò¤¹¤ë
PlayTone(440,100);¡¡¡¡//¹ç¿Þ¤Î¤¿¤á"¥é"¤Î²»¤òÌĤ餹
Off(OUT_AC);Wait(1000);¡¡¡¡//°ì»þÄä»ß
if((nCorner == 0)||(nCorner == 5)) {¡¡¡¡//¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¤È¤
spin_right;until(SENSOR_3 > THRESHOLD +11)¡¡¡¡//¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤¤ë¤Þ¤Ç±¦Àû²ó
} else if((nCorner == 1)||(nCorner == 3)||(nCorner == 4)) {¡¡¡¡//¸òº¹ÅÀ¤Î»þ
PlaySound(SOUND_UP);¡¡¡¡//¹ç¿Þ¤Î¤¿¤á²»¤òÌĤ餹
if(nCorner == 1) {¡¡¡¡//°ì¤ÄÌܤθòº¹ÅÀ¤Î»þ
go_forward;Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ËÀܶá
RotateMotor(OUT_B,15,85); //¥¢¡¼¥à¤ò²¼¤í¤¹
Off(OUT_B); //¥¢¡¼¥à¤ò»ß¤á¤ë
go_back2;Wait(300); //
go_back2;until(SENSOR_3 < THRESHOLD -10); //¸µ¤Î¥³¡¼¥¹¤ËÌá¤ë¡¡¡¡
if((nCorner == 0)||(nCorner == 5)) {¡¡¡¡ //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¤È¤
spin_right;until(SENSOR_3 > THRESHOLD +11)¡¡¡¡ //¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤¤ë¤Þ¤Ç±¦Àû²ó
} else if((nCorner == 1)||(nCorner == 3)||(nCorner == 4)) { ¡¡//¸òº¹ÅÀ¤Î»þ
PlaySound(SOUND_UP);¡¡¡¡ //¹ç¿Þ¤Î¤¿¤á²»¤òÌĤ餹
if(nCorner == 1) {¡¡¡¡ //°ì¤ÄÌܤθòº¹ÅÀ¤Î»þ
go_forward;Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//¥Ü¡¼¥ë¤ËÀܶá
RotateMotor(OUT_B,15,85); //¥¢¡¼¥à¤ò²¼¤í¤¹
Off(OUT_B); //¥¢¡¼¥à¤ò»ß¤á¤ë
go_back2;Wait(300); //¸µ¤Î¥³¡¼¥¹¤ËÌá¤ë
go_back2;until(SENSOR_3 < THRESHOLD -10); //¡¡¡¡¡¡¡·¡¡¡¡
}
spin_left; Wait(nMAX2*STEP);¡¡¡¡//µ°Æ»½¤Àµ¤Î¤¿¤áº¸Àû²ó
if(nCorner == 4) {¡¡¡¡//3¤ÄÌܤθòº¹ÅÀ¤Î¤È¤
spin_left;Wait(200);¡¡¡¡//¤µ¤é¤Ëµ°Æ»½¤Àµ¤Î¤¿¤áº¸Àû²ó
spin_left; Wait(nMAX2*STEP);¡¡ ¡¡//µ°Æ»½¤Àµ¤Î¤¿¤áº¸Àû²ó
if(nCorner == 4) {¡¡¡¡ //3¤ÄÌܤθòº¹ÅÀ¤Î¤È¤
spin_left;Wait(200);¡¡ ¡¡//¤µ¤é¤Ëµ°Æ»½¤Àµ¤Î¤¿¤áº¸Àû²ó
}
cross_line;¡¡¡¡//¸òº¹ÅÀ¤òÄ̲á
} else if(nCorner == 2) {¡¡¡¡//ľ³Ñ¥«¡¼¥Ö¤Î»þ
PlaySound(SOUND_LOW_BEEP);¡¡¡¡//¹ç¿Þ¤Î¤¿¤á²»¤òÌĤ餹
spin_right;until(SENSOR_3 > THRESHOLD -2)¡¡¡¡//ľ³Ñ¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤¤ë¤Þ¤Ç±¦Àû²ó
} else if(nCorner == 6) {¡¡¡¡//¥´¡¼¥ëÁ°¤ËÅþÃ夷¤¿¤È¤
spin_left;Wait(nMAX2*STEP);¡¡¡¡//º¸Àû²ó¤·¤Æµ°Æ»½¤Àµ¤·¡¢¥´¡¼¥ë¤ÈÀµÂФ¹¤ë
shoot_ball;¡¡¡¡//¥Ü¡¼¥ë¤òÊü¤Ä
cross_line;¡¡ ¡¡//¸òº¹ÅÀ¤òÄ̲á
} else if(nCorner == 2) {¡¡ ¡¡//ľ³Ñ¥«¡¼¥Ö¤Î»þ
PlaySound(SOUND_LOW_BEEP);¡¡ ¡¡//¹ç¿Þ¤Î¤¿¤á²»¤òÌĤ餹
spin_right;until(SENSOR_3 > THRESHOLD -2)¡¡ ¡¡//ľ³Ñ¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤¤ë¤Þ¤Ç±¦Àû²ó
} else if(nCorner == 6) {¡¡¡¡ //¥´¡¼¥ëÁ°¤ËÅþÃ夷¤¿¤È¤
spin_left;Wait(nMAX2*STEP);¡¡¡¡ //º¸Àû²ó¤·¤Æµ°Æ»½¤Àµ¤·¡¢¥´¡¼¥ë¤ÈÀµÂФ¹¤ë
shoot_ball;¡¡¡¡ //¥Ü¡¼¥ë¤òÊü¤Ä
}
nOnline=0;¡¡¡¡//nOnline¤ò¥ê¥»¥Ã¥È
nCorner++;¡¡¡¡//nCorner¤ò1²Ã»»
nOnline=0;¡¡¡¡ //nOnline¤ò¥ê¥»¥Ã¥È
nCorner++;¡¡¡¡ //nCorner¤ò1²Ã»»
}
}
Off(OUT_AC);¡¡¡¡//nCorner¤ÎÃͤ¬£¶¤òĶ¤¨¤¿¤éÄä»ß¡¢°Ê¾å¤Ç½ªÎ»¡£
Off(OUT_AC);¡¡ ¡¡//nCorner¤ÎÃͤ¬£¶¤òĶ¤¨¤¿¤éÄä»ß¡¢°Ê¾å¤Ç½ªÎ»¡£
}
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