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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#k6a65151]
**ÄêµÁʸ [#z7109aec]
#define movetime1 200//»þ´Ö
#define movetime2 5//»þ´Ö
#define movetime3 110//»þ´Ö
#define movetime4 40//»þ´Ö
#define movetime5 55//»þ´Ö
#define movetime6 90//»þ´Ö
#define movetime7 70//»þ´Ö
#define movetime8 92//»þ´Ö
#define movetime9 30//»þ´Ö
#define THRESHOLD 42
#define go_forward OnFwd(OUT_A);OnFwd(OUT_C); // ľ¿Ê
#define turn_left OnFwd(OUT_C);OnRev(OUT_A); // º¸Àû²ó
#define turn_right OnFwd(OUT_A);OnRev(OUT_C); // ±¦Àû²ó
#define STEP 1 // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
#define down OnFwd(OUT_B);Wait(15);Off(OUT_B);//¥¢¡¼¥à¤ò²¼¤²¤ë
#define up OnRev(OUT_B);Wait(15);Off(OUT_B);//¥¢¡¼¥à¤ò¾å¤²¤ë
#define turntime1 110//»þ´Ö
#define turntime2 111//»þ´Ö
#define turn_left OnFwd(OUT_A);OnRev(OUT_C);Wait(turntime1);//º¸¤Ë¶Ê¤¬¤ë
#define turn_right OnFwd(OUT_C);OnRev(OUT_A);Wait(turntime2);//±¦¤Ë¶Ê¤¬¤ë
#define straight1 OnFwd(OUT_AC);Wait(movetime1);//¤Þ¤Ã¤¹¤°¿Ê¤à
#define straight2 OnFwd(OUT_AC);Wait(movetime3);//¤Þ¤Ã¤¹¤°¿Ê¤à
#define straight3 OnFwd(OUT_AC);Wait(movetime4);//¤Þ¤Ã¤¹¤°¿Ê¤à
#define straight4 OnFwd(OUT_AC);Wait(movetime8);//¤Þ¤Ã¤¹¤°¿Ê¤à
#define straight5 OnFwd(OUT_AC);Wait(movetime9);//¤Þ¤Ã¤¹¤°¿Ê¤à
#define straight6 OnFwd(OUT_AC);Wait(movetime5);//¤Þ¤Ã¤¹¤°¿Ê¤à
#define up OnFwd(OUT_B);Wait(movetime2);Off(OUT_ABC);//¥Ú¥ó¤ò¾å¤²¤ë
#define down OnRev(OUT_B);Wait(movetime2);Off(OUT_ABC);//¥Ú¥ó¤ò²¼¤²¤ë
#define back OnRev(OUT_AC);Wait(movetime5);//²¼¤¬¤ë
#define chousei1 OnRev(OUT_AC);Wait(movetime6);//¾¯¤·²¼¤¬¤ë
#define chousei2 OnFwd(OUT_AC);Wait(movetime7);//¾¯¤·¾å¤¬¤ë
#define chousei3 OnRev(OUT_AC);Wait(movetime7);//¾¯¤·²¼¤¬¤ë
#define chousei4 OnRev(OUT_AC);Wait(movetime5);//¾¯¤·²¼¤¬¤ë
#define chousei5 OnRev(OUT_AC);Wait(movetime4);//¾¯¤·²¼¤¬¤ë
chousei¤ò»È¤¦Íýͳ¤Ï¥í¥Ü¥Ã¥È¤Î¿Ê¤à¸þ¤¤òÊѤ¨¤¿»þ¤ËÀ¸¤¸¤¿¸íº¹¤òËä¤á¤ë¤¿¤á¤Ç¤¹¡£
**ºîÀ®¤·¤¿¥×¥í¥°¥é¥à [#k4843e31]
task main ()
task main()
{
¡¡straight1;// ¡°ì²èÌÜ
¡¡ up;
¡¡chousei2;
¡¡turn_right;
¡¡ chousei1;
¡¡down;//¡¡¡¡¡¡¡¡¡¡¢Æó²èÌÜ
¡¡straight2;
¡¡ up;
¡¡chousei2;
¡¡turn_right;
¡¡ chousei1;
¡¡down;// £»°²èÌÜ
¡¡straight3;
¡¡up;
¡¡chousei2;
¡¡ turn_right;
¡¡ chousei1;
¡¡ down;// ¤»Í²èÌÜ
¡¡ straight2;
¡¡ up;
¡¡ back;
¡¡ chousei2;
¡¡ turn_left;
¡¡ straight3;
¡¡ chousei3;
¡¡ down;// ¡¡¥¸Þ²èÌÜ
¡¡ straight2;
¡¡ up;
¡¡ chousei2;
¡¡ turn_left;
¡¡ chousei3;
¡¡ down;// ¦Ï»³ÑÌÜ
¡¡ straight4;
¡¡ up;
¡¡ chousei2;
¡¡ turn_left;
¡¡ chousei3;
¡¡ down;// §¼·²èÌÜ
¡¡ straight3;
¡¡ up;
¡¡ chousei2;
¡¡turn_left;
¡¡ straight3;
¡¡ chousei1;
¡¡ down;// ¡¡¨È¬²èÌÜ
¡¡ straight2;
¡¡ up;
¡¡ chousei2;
¡¡ turn_right;
¡¡ straight6;
¡¡ chousei5;
¡¡ turn_right;
¡¡ chousei1;
¡¡ down;// ©¶å²èÌÜ
¡¡ straight2;
¡¡ up;
¡¡ chousei2;
¡¡ turn_left;
¡¡straight5;
¡¡ chousei2;
¡¡ turn_left;
¡¡ chousei1;
¡¡ down;//¡¡¡¡¡¡¡¡¡¡ª½½²èÌÜ
¡¡ straight2;
¡¡ up;
¡¡ Off(OUT_ABC);
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while (FastTimer(0)<1600){
if (SENSOR_2 < THRESHOLD-3) {
turn_left;
} else {
if (SENSOR_2 < THRESHOLD+3) {
go_forward;
} else {
turn_right;
}
}
}
ClearTimer(0);
while (FastTimer(0)< 17) {
if (SENSOR_2 < THRESHOLD-3) {
turn_left;
} else {
if (SENSOR_2 < THRESHOLD+3) {
go_forward;
} else {
turn_right;
}
ClearTimer(0);// ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
PlaySound(SOUND_DOWN);
Off(OUT_AC);Wait(200);
turn_right;Wait(25); // ¿Ê¹ÔÊý¸þ½¤Àµ
go_forward;Wait(18);
down;
ClearTimer(0);
while (FastTimer(0)<1100){
if (SENSOR_2 < THRESHOLD-3) {
turn_left;
} else {
if (SENSOR_2 < THRESHOLD+3) {
go_forward;
} else {
turn_right;
}
}
}
ClearTimer(0);
while (FastTimer(0)< 20) {
if (SENSOR_2 < THRESHOLD-3) {
turn_left;
} else {
if (SENSOR_2 < THRESHOLD+3) {
go_forward;
} else {
turn_right;
}
ClearTimer(0);// ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
PlaySound(SOUND_DOWN);
Off(OUT_AC);Wait(200);
turn_right;Wait(20); // ¿Ê¹ÔÊý¸þ½¤Àµ
go_forward;Wait(15);
ClearTimer(0);
while (FastTimer(0)<700){
if (SENSOR_2 < THRESHOLD-3) {
turn_left;
} else {
if (SENSOR_2 < THRESHOLD+3) {
go_forward;
} else {
turn_right;
}
}
}
turn_right;Wait(20);
up;
go_forward;Wait(100);
Off(OUT_AC);
}
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