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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#z5869422]
#define BLACK 42 //°Ê²¼¤Ï¹õ
#define WHITE 50 //°Ê¾å¤ÏÇò
#define go_forward OnFwd(OUT_AC); //¿¿¤Ãľ¤°
#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 30 // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
#define cross_line go_forward;Wait(CROSS_TIME);short_break; //¸òº¹ÅÀ¤òÅϤë
#define FIX_TIME 25
#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¥¿)
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
short_break; //¾®µÙ·Æ
clip_on; //Êáµå
turn_right;Wait(45); //Êý¸þ±¦½¤Àµ
go_forward;Wait(CROSS_TIME); //Á°¿Ê
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
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
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
shoot; //¥·¥å¡¼¥È
Off(OUT_AC); //Ää»ß
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
**ÄêµÁ¤·¤¿´Ø¿ô [#qfd02688]
#define BLACK 42 //°Ê²¼¤Ï¹õ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
#define WHITE 50 //°Ê¾å¤ÏÇò¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢
#define go_forward OnFwd(OUT_AC); //¿¿¤Ãľ¤°¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡£
#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 30 // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ©
#define cross_line go_forward;Wait(CROSS_TIME);short_break; //¸òº¹ÅÀ¤òÅϤ롡ª
#define FIX_TIME 25¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ «
#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¡¡¡¡¡¡¯
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**AÃÏÅÀ¢ªPÃÏÅÀ [#hfc7ba8f]
task main()
{
SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡
int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¢
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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§¤¡Á¦¤Îºî¶È¤òSTEP/100É䴤Ȥ˹Ԥ¦¡£
**PÃÏÅÀ¢ªQÃÏÅÀ [#t1cbd6e4]
short_break; //¾®µÙ·Æ
turn_left;Wait(FIX_TIME); //Êý¸þº¸½¤Àµ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡
short_break; //¾®µÙ·Æ
clip_on; //Êáµå
turn_right;Wait(45); //Êý¸þ±¦½¤Àµ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡¡¡¢
go_forward;Wait(CROSS_TIME); //Á°¿Ê
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
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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**QÃÏÅÀ¢ªBÃÏÅÀ [#rf7b7491]
short_break; //¾®µÙ·Æ
turn_right;Wait(FIX_TIME); //Êý¸þ½¤Àµ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡
cross_line; //¸òº¹ÅÀ¤òÅϤ롡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡ ¢
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
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¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡ ¡¡¨
shoot; //¥·¥å¡¼¥È
Off(OUT_AC); //Ää»ß
nOnline=0; //¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
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