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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#a563890b]
**¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#h99af015]
#define BLACK 42 //°Ê²¼¤Ï¹õ
#define WHITE 50 //°Ê¾å¤ÏÇò
#define go_forward OnFwd(OUT_AC); //Á°¤Ø
#define go_back OnRev(OUT_AC); //¸å¤í¤Ø
#define turn_right OnRev(OUT_C); OnFwd(OUT_A); //±¦Àû²ó
#define turn_left OnFwd(OUT_C); OnRev(OUT_A); //º¸Àû²ó
#define STEP 1 // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
#define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
#define CROSS_TIME 20 // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
#define cross_line go_forward;Wait(CROSS_TIME);short_break; //¸òº¹ÅÀ¤òÅϤë
#define FIX_TIME 18
#define nMAX 8
#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off; //¥·¥å¡¼¥È
task main()
{
SetSensor(SENSOR_2, SENSOR_LIGHT);
int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
if (true) { //¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
while (nOnline <nMAX) {
if (SENSOR_2 < BLACK){ // Àþ¾å¤Ê¤é
turn_left; // º¸¤Ø
nOnline++; //¥«¥¦¥ó¥¿Áý¤ä¤¹
} else {
if (SENSOR_2 < WHITE){ // ¶³¦ÉÕ¶á¤Ê¤é
go_forward; // ľ¿Ê
} else { //Àþ¤«¤é³°¤ì¤ì¤Ð
turn_right; //±¦¤Ø
}
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
short_break; //¾®µÙ·Æ
turn_left;Wait(FIX_TIME); //Êý¸þº¸½¤Àµ
clip_on; //Êáµå
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
if (true) { //¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
while (nOnline <nMAX) {
if (SENSOR_2 < BLACK){ // Àþ¾å¤Ê¤é
turn_left; // º¸¤Ø
nOnline++; //¥«¥¦¥ó¥¿Áý¤ä¤¹
} else {
if (SENSOR_2 < WHITE){ // ¶³¦ÉÕ¶á¤Ê¤é
go_forward; // ľ¿Ê
} else { //Àþ¤«¤é³°¤ì¤ì¤Ð
turn_right; //±¦¤Ø
}
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
short_break; //¾®µÙ·Æ
turn_right;Wait(FIX_TIME); //Êý¸þ½¤Àµ
cross_line; //¸òº¹ÅÀ¤òÅϤë
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
if (true) { //¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
while (nOnline <nMAX) {
if (SENSOR_2 < BLACK){ // Àþ¾å¤Ê¤é
turn_left; // º¸¤Ø
nOnline++; //¥«¥¦¥ó¥¿Áý¤ä¤¹
} else {
if (SENSOR_2 < WHITE){ // ¶³¦ÉÕ¶á¤Ê¤é
go_forward; // ľ¿Ê
} else { //Àþ¤«¤é³°¤ì¤ì¤Ð
turn_right; //±¦¤Ø
}
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
short_break; //¾®µÙ·Æ
go_forward;Wait(100); //¥´¡¼¥ëÁ°¤Ø
turn_right;Wait(80); //Êý¸þ½¤Àµ
shoot; //¥·¥å¡¼¥È
Off(OUT_AC); //Ää»ß
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
}
**»ÈÍѤ·¤¿´Ø¿ô [#ma76d432]
¡#define BLACK 42 //°Ê²¼¤Ï¹õ
¢#define WHITE 50 //°Ê¾å¤ÏÇò
£#define go_forward OnFwd(OUT_AC); //Á°¤Ø
¤#define go_back OnRev(OUT_AC); //¸å¤í¤Ø
¥#define turn_right OnRev(OUT_C); OnFwd(OUT_A); //±¦Àû²ó
¦#define turn_left OnFwd(OUT_C); OnRev(OUT_A); //º¸Àû²ó
§#define STEP 1 // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
¨#define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
©#define CROSS_TIME 20 // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
ª#define cross_line go_forward;Wait(CROSS_TIME);short_break; //¸òº¹ÅÀ¤òÅϤë
«#define FIX_TIME 18
¬#define nMAX 8
#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
®#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
¯#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off; //¥·¥å¡¼¥È
***²òÀâ [#h6bcc6d4]
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**BÃÏÅÀ➡¶Ê¤¬¤ê³Ñ [#i97421fe]
task main()
{
¡SetSensor(SENSOR_2, SENSOR_LIGHT);
¢int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
£if (true) { //¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
¤while (nOnline <nMAX) {
¥if (SENSOR_2 < BLACK){ // Àþ¾å¤Ê¤é
¡¡turn_left; // º¸¤Ø
¡¡nOnline++; //¥«¥¦¥ó¥¿Áý¤ä¤¹
} else {
¦if (SENSOR_2 < WHITE){ // ¶³¦ÉÕ¶á¤Ê¤é
¡¡go_forward; // ľ¿Ê
} else { //Àþ¤«¤é³°¤ì¤ì¤Ð
§turn_right; //±¦¤Ø
}
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
¨Wait(STEP);
}
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**¶Ê¤¬¤ê³Ñ [#w0dea0c0]
short_break; //¾®µÙ·Æ
¡turn_left;Wait(FIX_TIME); //Êý¸þº¸½¤Àµ
¢clip_on; //Êáµå
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
***²òÀâ [#k007d8ac]
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**¶Ê¤¬¤ê³Ñ➡¸òº¹ÅÀQ [#b091a242]
if (true) { //¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
while (nOnline <nMAX) {
if (SENSOR_2 < BLACK){ // Àþ¾å¤Ê¤é
turn_left; // º¸¤Ø
nOnline++; //¥«¥¦¥ó¥¿Áý¤ä¤¹
} else {
if (SENSOR_2 < WHITE){ // ¶³¦ÉÕ¶á¤Ê¤é
go_forward; // ľ¿Ê
} else { //Àþ¤«¤é³°¤ì¤ì¤Ð
turn_right; //±¦¤Ø
}
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
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**¸òº¹ÅÀQ [#y68389dc]
short_break; //¾®µÙ·Æ
¡turn_right;Wait(FIX_TIME); //Êý¸þ½¤Àµ
¢cross_line; //¸òº¹ÅÀ¤òÅϤë
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
***²òÀâ [#bef05d71]
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**¸òº¹ÅÀQ➡AÃÏÅÀ [#i2f08f15]
if (true) { //¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
while (nOnline <nMAX) {
if (SENSOR_2 < BLACK){ // Àþ¾å¤Ê¤é
turn_left; // º¸¤Ø
nOnline++; //¥«¥¦¥ó¥¿Áý¤ä¤¹
} else {
if (SENSOR_2 < WHITE){ // ¶³¦ÉÕ¶á¤Ê¤é
go_forward; // ľ¿Ê
} else { //Àþ¤«¤é³°¤ì¤ì¤Ð
turn_right; //±¦¤Ø
}
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
***²òÀâ [#sddfa79d]
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***AÃÏÅÀ➡¥·¥å¡¼¥È [#sab8905f]
short_break; //¾®µÙ·Æ
¡go_forward;Wait(100); //¥´¡¼¥ëÁ°¤Ø
¢turn_right;Wait(80); //Êý¸þ½¤Àµ
shoot; //¥·¥å¡¼¥È
Off(OUT_AC); //Ää»ß
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
}
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