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[[2015b/Member]]
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#contents
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*¥í¥Ü¥Ã¥ÈA¤Î¥×¥í¥°¥é¥à [#y3e4370d]
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**¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ [#c6430f7d]
#define shiki 48//ïçÃÍ
#define tomaru(t) Off(OUT_AC);Wait(t);//£ôÉôÖÄä»ß
#define FWD OnFwd(OUT_AC);//ľ¿Ê
#define BACK OnRev(OUT_AC);//¸åÂà
#define LEFT_t OnRev(OUT_A); OnFwd(OUT_C);//º¸Àû²ó
#define LEFT Off(OUT_A); OnFwd(OUT_C);//º¸²óž
#define RIGHT_t OnRev(OUT_C); OnFwd(OUT_A); //±¦Àû²ó
#define RIGHT Off(OUT_C); OnFwd(OUT_A);//±¦²óž
#define power(s) SetPower(OUT_A+OUT_C,s);//½ÐÎÏÀ©¸æ
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#define open(t) OnFwd(OUT_B);Wait(t);//ÄÞ¤ò£ôÉôֳ«¤¯²óžưºî¤ò¹Ô¤¦
#define close(t) OnRev(OUT_B);Wait(t);Off(OUT_B);//ÄÞ¤ò£ôÉôÖÊĤ¸¤ë²óžưºî¤ò¹Ô¤¦
#define stop_B Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë
#define SUN 50//¥é¥ó¥¿¥ó¤Îµ±ÅÙ¤òɽ¤¹Äê¿ô
#define shoot power(2);open(15);Wait(10);close(15);//µå¤ò¤±¤ê¤À¤¹Æ°ºî
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**trace_0 ¡Ê¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤éÀÖ¤¤µå¤ò¸«¤Ä¤±¤ëËø¡Ë [#c27a6586]
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sub trace_0()
{
power(2);//½ÐÎϤò£²¤Ë¤¹¤ë
ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È¤¹¤ë
/*¥é¥¤¥ó¥È¥ì¡¼¥¹*/
while(1){
if (SENSOR_2 < shiki -7){
LEFT_t;
} else if (SENSOR_2 < shiki -4){
LEFT;
} else if (SENSOR_2 < shiki){
FWD;
} else if(SENSOR_2 < shiki +4){
RIGHT;
} else {
RIGHT_t;
}
¤³¤³¤Þ¤Ç¤Ï²ÝÂê2¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈÂçÂÎƱ¤¸¤Ç¤¢¤ë¡£¤·¤¿¤¬¤Ã¤Æ¡¢¾Ü¤·¤¤ÀâÌÀ¤Ï¾Êά¤¹¤ë¡£
if(SENSOR_1 > 335){//²óž¥»¥ó¥µ¤¬335¤ò±Û¤¨¤¿¤é
power(3);
close(50);//0.5ÉäÀ¤±ÄÞ¤òÊĤ¸¤ë
ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È
break;//trace_0½ªÎ»
}
}
}
¤³¤ì¤¬trace_0Æȼ«¤Î¥×¥í¥°¥é¥à¤È¤Ê¤ëÉôʬ¤Ç¤¢¤ë¡£²óž¥»¥ó¥µ¤Ë¤è¤ê°ìÄê¤Î²óž¤¬¹Ô¤ï¤ì¤¿¤ÈȽÃǤµ¤ì¤¿¤éµå¤ò¤Ä¤«¤àÆ°ºî¤ò¨ºÂ¤Ë¹Ô¤¦¡£Äޤβóž¿ô¤Ï¿¤á¤ËÀßÄꤷ¤Æ¤¢¤ê¡¢¥â¡¼¥¿¤È¥®¥¢¤ËÉé²Ù¤ò¤«¤±¤Æ¤·¤Þ¤¦¤â¤Î¤Î¡¢³Î¼Â¤Ë¤Ä¤«¤ßÎ¥¤µ¤Ê¤¤¤³¤È¤¬¤µ¤»¤¿¡£
**tarace_1(Àֶ̤òÊü¤¹Ëø) [#a64fdbb7]
sub trace_1()
{
ClearSensor(SENSOR_1);
close(10);//0.1Éõå¤òÄù¤á¤ë
Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë
power(2);
¡¡¡¡¡¡¡¡/*¥é¥¤¥ó¥È¥ì¡¼¥¹*/
while(1){
if (SENSOR_2 < shiki -7){
LEFT_t;
} else if (SENSOR_2 < shiki -4){
LEFT;
} else if (SENSOR_2 < shiki){
FWD;
} else if(SENSOR_2 < shiki +4){
RIGHT;
} else {
RIGHT_t;
}
if(SENSOR_1 > 62){//²óž¥»¥ó¥µ¤¬62°Ê¾å¤Î»þºîÆ°
tomaru(10);//Ää»ß¤µ¤»¤ë
break;//¥È¥ì¡¼¥¹½ªÎ»
}
}
}
trace_0¤È¤Î°ã¤¤¤Ï¡¢SENSOR_1¤Î¾å¸Â¤È¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ëÁ°¤ËÇ°¤Î¤¿¤á¤â¤¦°ìÅÙÄÞ¤òÄù¤á¤Ê¤ª¤¹¤³¤È¤¯¤é¤¤¤Ç¤¢¤ë¡£¤½¤Î¾¤Ïtrace_0¤ÈƱ¤¸¤Ç¤¢¤ë¡£
**tarace_2,trace_3 [#j58e53fc]
sub trace_2()
{
power(1);
ClearSensor(SENSOR_1);
while(1){
if (SENSOR_2 < shiki -7){
RIGHT_t;
} else if (SENSOR_2 < shiki -4){
RIGHT;
} else if (SENSOR_2 < shiki){
FWD;
} else if(SENSOR_2 < shiki +4){
LEFT;
} else {
LEFT_t;
}
if(SENSOR_1 > 44){
power(3);
close(50);
ClearSensor(SENSOR_1);
break;
}
}
}
sub trace_3()
{
power(2);
ClearSensor(SENSOR_1);
while(1){
close(1);
Off(OUT_B);
if (SENSOR_2 < shiki -7){
RIGHT_t;
} else if (SENSOR_2 < shiki -4){
RIGHT;
} else if (SENSOR_2 < shiki){
FWD;
} else if(SENSOR_2 < shiki +4){
LEFT;
} else {
LEFT_t;
}
if(SENSOR_1 > 110){
power(3);
close(50);
ClearSensor(SENSOR_1);
break;
}
}
}
tarace_2,trace_3¤Ï²óž¥»¥ó¥µ¤Î¾å¸Â¤¬¤½¤ì¤¾¤ì62.110¤Ç¤¢¤ë¤³¤È°Ê³°Æ±¤¸¤Ç¤¢¤ë¡£
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