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*¥×¥í¥°¥é¥àÀâÌÀ [#xc44d957]
#define RIGHT_H OnFwd(OUT_A); OnRev(OUT_C);
#define RIGHT_L OnFwd(OUT_A); Off(OUT_C);
#define LEFT_H OnFwd(OUT_C); OnRev(OUT_A);
#define LEFT_L OnFwd(OUT_C); Off(OUT_A);
#define GO OnFwd(OUT_AC);
#define THRESHOLD 44
#define P SetPower(OUT_AC,1);
¸÷¥»¥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;
}else{
if(SENSOR_1 < THRESHOLD +2){
P;LEFT_L;
}else{
P;LEFT_H;
}ClearTimer(0);}Wait(1);
}
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task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
ClearTimer(0);
ClearTimer(1);
¥¿¥¤¥Þ¡¼¤ò2¤Ä¥»¥Ã¥È¤¹¤ë¡£¥¿¥¤¥Þ¡¼£±¤ÏºÇ½é¤ÎµÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ë¤¿¤á¤Ë»È¤¦¡£
while(FastTimer(1) < 1000)
{
if(SENSOR_1 < THRESHOLD -6){
P;RIGHT_H;
}else if(SENSOR_1<THRESHOLD -1){
P;RIGHT_H;
}else if(SENSOR_1<THRESHOLD +5){
P;LEFT_L;
}else{
P;LEFT_H;
}ClearTimer(0);
}
ºÇ½é¤ÎµÞ¥«¡¼¥Ö¡¤Ï±¦²óž¤Ç¤Ï¶Ê¤¬¤êÀڤ줺¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢±¦²óž¤ò¾Ã¤·±¦Àû²ó¤Î¤ß¤È¤·¤¿¡£¤·¤«¤·¡¢±¦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¡¢½é¤á¤Î£±£°Éô֤À¤±Æüì¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤è¤¦¤Ë¤·¤¿¡£
while(FastTimer(0) < 31)
{
line_trace();
}
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);
Off(OUT_AC);Wait(200);
OnFwd(OUT_B);Wait(50);Off(OUT_B);
GO;Wait(25);Off(OUT_AC);
ClearTimer(0);
£²ÉôÖÄä»ß¤·¡¢¥Ü¡¼¥ë¤òÄϤà
while(FastTimer(0) < 30)
{
line_trace();
}
¤½¤Î¸å¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¡¢¤Þ¤¿¹õ¤ÎÉÿô¤ò¬¤ë¡£
PlayTone(220,10);
Off(OUT_AC);Wait(200);
RIGHT_H;Wait(50);
GO;Wait(20);
ClearTimer(0);
T»úÏ©¤ÈȽÃǤ·¤¿¤é£²Éôֻߤޤ롣¤½¤Î¸å±¦¤Ë¶Ê¤¬¤ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤¹¤ë¡£
while(FastTimer(0) < 32)
{
line_trace();
}
¤Þ¤¿¹õ¤ÎÉÿô¤ò¬¤ë
PlayTone(880,10);
Off(OUT_AC);Wait(200);
LEFT_H;Wait(15);
GO;Wait(50);
Off(OUT_AC);
OnRev(OUT_B);Wait(30);Off(OUT_B);
OnRev(OUT_AC);Wait(50);
Off(OUT_AC);
}
T»úÏ©¤ÈȽÃǤ·¤¿¤é¥·¥å¡¼¥È¤ò¤¦¤Ä¡£
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