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#define RIGHT_H OnFwd(OUT_A); OnRev(OUT_C);//±¦Àû²ó
#define RIGHT_L OnFwd(OUT_A); Off(OUT_C);//±¦²óž
#define LEFT_H OnFwd(OUT_C); OnRev(OUT_A);//º¸Àû²ó
#define LEFT_L OnFwd(OUT_C); Off(OUT_A);//º¸²óž
#define GO OnFwd(OUT_AC);//Á°¿Ê
#define THRESHOLD 44//¤·¤¤¤ÃÍ
#define P SetPower(OUT_AC,1);//¥Ñ¥ï¡¼¤ò£±¤ËÀßÄꤹ¤ë
THRESHOLD¤Ï¸÷¥»¥ó¥µ¡¼¤ÎÃͤǸ÷¥»¥ó¥µ¡¼¤ÎÃæ¿´Ãͤò£´£´¤ËÀßÄꤹ¤ë¡£¥¿¥¤¥ä¤Î¥Ñ¥ï¡¼¤¬¶¯¤¤¡Ê®¤¤¡Ë¤È¥¬¥¿¥¬¥¿¤È˽¤ì¤Æ¤·¤Þ¤¦¤Î¤Ç¥Ñ¥ï¡¼¡Ê®Å١ˤò£±¡Ê¼å¤¯ÃÙ¤¤¡Ë¤ËÀßÄꤹ¤ë¡£
sub line_trace(){
if(SENSOR_1 < THRESHOLD - 5){
P;RIGHT_H;
}else if(SENSOR_1 < THRESHOLD -2){
P;RIGHT_L;
} //¤³¤³¤Þ¤Ç¹õȽÄê
else{ //¤³¤³¤«¤éÇòȽÄê¤Îelse
if(SENSOR_1 < THRESHOLD +2){
P;LEFT_L;
}else{
P;LEFT_H;
}ClearTimer(0); //ClearTime(0)¤ÏÇòȽÄê¤Îelse¤ÎÃæ¤Ë¤·¤«¤Ê¤¤¤¿¤á¹õ¤ÎȽÄê¤Î»þ¤Ï¥¿¥¤¥Þ¡¼¤Ï¥ê¥»¥Ã¥È¤µ¤ì¤Ê¤¤
}Wait(1); //ÇòȽÄê¤Îelse¤Î¥é¥¹¥È
}
»ä¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï¸÷¥»¥ó¥µ¡¼¤ÎÃͤˤè¤Ã¤Æ±¦Àû²ó¡¢±¦²óž¡¢º¸²óž¡¢º¸Àû²ó¤ò¤¹¤ë¤è¤¦£´Ãʳ¬¤ÇÀßÄꤷ¤¿¡£Ä¾¿Ê¤òÆþ¤ì¤ë¤È¥³¡¼¥¹¥¢¥¦¥ÈΨ¤¬¾å¤¬¤Ã¤Æ¤·¤Þ¤Ã¤¿°Ù»È¤ï¤Ê¤¤¤³¤È¤Ë¤·¤¿¡£¸÷¥»¥ó¥µ¡¼¤¬¹õȽÄê¤Î»þ¤Ï¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È¤»¤º¡¢ÇòȽÄ꤬½Ð¤¿¤È¤¤Î¤ß¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È¤¹¤ë¤è¤¦¤Ë¤·¤¿¡£¤³¤¦¤¹¤ë¤³¤È¤Ë¤è¤ê²¿ÉôֹõȽÄ꤬³¤¤¤¿¤«¤¬¤ï¤«¤ë¤è¤¦¤Ë¤Ê¤ë¡£»ä¤Î¥³¡¼¥¹¤Ç¤Ï±¦²ó¤ê¤Î¥«¡¼¥Ö¤¬Â¿¤¤¤¿¤á¡¢Æ±¤¸¿§¤¬²¿ÉôÖ³¤¤¤¿¤«¤Ç¥×¥í¥°¥é¥à¤òÁȤà¤È¥«¡¼¥Ö¤Ê¤É¤ÇÇò¤¬Â³¤¯»þ´Ö¤¬Ä¹¤¤Éôʬ¤¬¤¢¤ê¤ä¤ä¤³¤·¤¤¤¿¤á¤½¤ì¤òËɤ°¤¿¤á¤Ë¹õ¤Î¤ß¤ò¿ô¤¨¤ë¥×¥í¥°¥é¥à¤Ë¤·¤¿¡£º£²ó´ðËÜŪ¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï¤³¤ì¤Ç¹Ô¤¦¡£
sub shoot(){
OnRev(OUT_B);Wait(30);Off(OUT_B);
GO;Wait(50);
OnRev(OUT_AC);Wait(50);
Off(OUT_AC);
}
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task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
ClearTimer(0);//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¸òº¹ÅÀȽÄêÍѤΥ¿¥¤¥Þ¡¼
ClearTimer(1);//C¤«¤é£Ñ¤Î´Ö¤Ë¤¢¤ëµÞ¤Ê¥«¡¼¥Ö¤ò¶Ê¤¬¤ë¤È¤¤Ë»È¤¦¥¿¥¤¥Þ¡¼
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while(FastTimer(1) < 1000){ //CQ´Ö¤Î¥«¡¼¥Ö
if(SENSOR_1<THRESHOLD -1){
P;RIGHT_H;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦²óž¤ò¾Ã¤·¡¢±¦Àû²ó¤Î¤ß¤È¤¹¤ë
}else if(SENSOR_1<THRESHOLD +5){
P;LEFT_L;
}else{
P;LEFT_H;
}ClearTimer(0);
}
ºÇ½é¤Î£Ã£Ñ´Ö¤Ç¤ÎµÞ¥«¡¼¥Ö¡¤Ï±¦²óž¤Ç¤Ï¶Ê¤¬¤êÀڤ줺¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢±¦²óž¤ò¾Ã¤·±¦Àû²ó¤Î¤ß¤È¤·¤¿¥×¥í¥°¥é¥à¤òÊ̤ÇÍÑ°Õ¤·¤¿¡£¤·¤«¤·¡¢±¦²óž¤ò¾Ã¤¹¤³¤È¤Ë¤è¤Ã¤Æ¼Ö¤¬±¦Àû²ó¤Èº¸Àû²ó¤ò·«¤êÊÖ¤·¤¢¤Þ¤ê¿Ê¤Þ¤Ê¤¯¤Ê¤ë¤¿¤á¡¢º¸²óž¤Î¥»¥ó¥µ¡¼¤ÎÃͤÎÈϰϤò¾¯¤·Â礤¯¤¹¤ë¤³¤È¤Ë¤è¤ê¥¹¥Ô¡¼¥É¤ò²þÁ±¤·¤¿¡£¤½¤·¤Æ¡¤Î¥«¡¼¥Ö¤òÆÍÇˤ¹¤ë¤Î¤ËÌó£±£°É䫤«¤ë¤³¤È¤¬Ê¬¤«¤Ã¤¿¤Î¤Ç¡¢¥¿¥¤¥Þ¡¼£±¤ò»È¤¤¡¢½é¤á¤Î£±£°Éô֤À¤±Æüì¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤è¤¦¤Ë¤·¤¿¡£
while(FastTimer(0) < 31){ //CQ´Ö
line_trace();
}
£Ã£Ñ´Ö¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡£¥¿¥¤¥Þ¡¼£°¤ò»È¤¤¡¢¹õ¤¬°ìÄê»þ´Ö°Ê¾å³¤¯¤Þ¤Ç¤ÏÉáÄ̤Υ饤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¤è¤¦¤Ëwhileʸ¤Ç¤¯¤¯¤Ã¤¿¡£¤½¤·¤Æ¹õ¤¬°ìÄê¤Î»þ´Ö°Ê¾å³¤¯¤È£±¤ÄÌܤθòº¹ÅÀ¡Ê½½»úÏ©¡Ë¤À¤ÈȽÃǤ·°Ê²¼¤Ë³¤¯¡£
PlayTone(440,10);//¸òº¹ÅÀȽÄ꤬¤ï¤«¤ë¤è¤¦¤Ë²»¤òÌĤ餹
Off(OUT_AC);Wait(200);//¥ë¡¼¥ë¤Ë½¾¤¤£²ÉÃÄä»ß
OnFwd(OUT_B);Wait(50);Off(OUT_B);//Á°Êý¤Ë¤¢¤ë¥Ü¡¼¥ë¤òÄϤà
GO;Wait(25);Off(OUT_AC);
ClearTimer(0);
£²ÉôÖÄä»ß¤·¡¢¥Ü¡¼¥ë¤òÄϤࡣ£Â¤Ï¥¢¡¼¥à¤òÆ°¤«¤¹¥Á¥ã¥ó¥Í¥ë¤Ç¤¢¤ë¡£
while(FastTimer(0) < 30){ //PQ´Ö
line_trace();
}
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PlayTone(220,10);
Off(OUT_AC);Wait(200);//¥ë¡¼¥ë¤Ç£Ð¤Ç£²ÉôÖÄä»ß¤¹¤ë¡£
RIGHT_H;Wait(50);//±¦ÀÞ¤¹¤ë
GO;Wait(20);
ClearTimer(0);
PÃÏÅÀ¤ÎT»úÏ©¤ÈȽÃǤ·¤¿¤é£²Éôֻߤޤ롣¤½¤Î¸å±¦¤Ë¶Ê¤¬¤ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤¹¤ë¡£
while(FastTimer(0) < 32){ //PA´Ö
line_trace();
}
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PlayTone(880,10);//²»¤òÌĤ餷¤Æ¸òº¹ÅÀȽÄ꤬¤Ç¤ë¤È²»¤¬ÌĤë¤è¤¦¤Ë¤¹¤ë¡£
Off(OUT_AC);Wait(200);
LEFT_H;Wait(15);//¼Ð¤á¤Ë¤Ê¤Ã¤Æ¤¤¤ë¼ÖÂΤò¥´¡¼¥ë¤Ë¿âľ¤Ë¤¹¤ë¡£
Off(OUT_AC);
shoot();//¥·¥å¡¼¥È¤òÂǤÄ
}
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