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***¿ôÃͤÎÄêµÁ¤Å¤± [#u298e3c4]
int light_max = 0; //¸÷¤Î°ìÈÖÂ礤¤¿ôÃÍ
int turn_time = 500; //¸÷¤òõ¤¹¤¿¤á¤ËÀû²ó¤¹¤ë»þ´Ö
int time_max = 0; //²ó¤ê»Ï¤á¤Æ¤«¤éºÇÂç¤ÎÌÀ¤ë¤µ¤ÎÃͤò¸«¤Ä¤±¤ë¤Þ¤Ç¤Î»þ´Ö
int t = 0;
int s = 0;
***¸÷¤ÎÊý¸þ¤Ë¸þ¤¯¥µ¥Ö¥ë¡¼¥Á¥ó [#cd0c2ced]
sub light(){
/* ¥»¥ó¥µ¡¼£±¡¤£²¤ò¸÷¥»¥ó¥µ¡¼¤ËÀßÄê */
SetSensor(SENSOR_1, SENSOR_LIGHT);
SetSensor(SENSOR_2, SENSOR_LIGHT);
/* »þ´Ö¤ò¤Ï¤«¤ê¤Ê¤¬¤éÀû²ó */
ClearTimer(0);
OnFwd(OUT_A);OnRev(OUT_C);
/* ¸÷¥»¥ó¥µ¡¼¤¬ºÇ¤âÌÀ¤ë¤¤Ãͤò¼¨¤·¤¿»þ¤ÎÀû²ó¤·¤¿»þ´Ö¤òµá¤á¤ë */
while(FastTimer(0) < turn_time){
if(SENSOR_2 > light_max){
light_max = SENSOR_2;
time_max = FastTimer(0);
}
}
Off(OUT_AC);Wait(100);
/* ¸÷¤Î¤Û¤¦¤Ø¤à¤±¤ë */
OnFwd(OUT_C);OnRev(OUT_A);Wait(turn_time - time_max);
Off(OUT_AC);Wait(100);
}
***¥á¥¤¥ó¥×¥í¥°¥é¥à [#j887c224]
¤Þ¤º¤Ï£±¤ÄÌܤΥܡ¼¥ë¤Ë¤Ä¤¤¤Æ¤Î¥×¥í¥°¥é¥à
¤Þ¤º¤Ï£±¤ÄÌܤΥܡ¼¥ë
task main(){
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50); //¥¢¡¼¥à¤Î»ý¤Á¾å¤²
/* £±¤ÄÌܤΥܡ¼¥ë¤ò¤Ä¤«¤ß¤Ë¹Ô¤¯ */
OnRev(OUT_AC);Wait(200);
OnRev(OUT_A);OnFwd(OUT_C);Wait(100);
OnRev(OUT_AC);Wait(200);
Off(OUT_AC);Wait(100);
SetPower(OUT_B, 1);OnRev(OUT_B);Wait(100);
OnRev(OUT_C);OnFwd(OUT_A);Wait(150);
OnRev(OUT_AC);Wait(300);
/* ¸÷¤ÎºÇÂçÃͤ¬£¶£µ°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç¸÷¸»¤Ë¶á¤Å¤¯ */
while(light_max < 65){
OnRev(OUT_AC);Wait(50);Off(OUT_AC);
light();
}
PlaySound(SOUND_CLICK);
light(); //ºÇ¸å¤Ë¤â¤¦£±²ó¸÷¤ÎÊý¸þ¤ò³Îǧ¤¹¤ë
SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50); //¥Ü¡¼¥ë¤òÅꤲ¤ë
¡¡
¼¡¤Ë£²¤ÄÌܤΥܡ¼¥ë¤Ë¤Ä¤¤¤Æ¤Î¥×¥í¥°¥é¥à
¼¡¤Ë£²¤ÄÌܤΥܡ¼¥ë
/* £²¤ÄÌܤΥܡ¼¥ë¤ò¤Ä¤«¤ß¤Ë¹Ô¤¯ */
OnFwd(OUT_C);OnRev(OUT_A);Wait(150);
Off(OUT_AC);Wait(100);
OnRev(OUT_AC);Wait(200);
OnRev(OUT_AC);until(SENSOR_1 < 41);
Off(OUT_AC);PlaySound(SOUND_CLICK);Wait(100); //¹õÀþ¤Þ¤Ç¿Ê¤à
/* ³Ñ¤òǧ¼±¤·¤Æ¥Ü¡¼¥ë¤Ø¶á¤Å¤¯ */
ClearTimer(1);
while(FastTimer(1) < 50){
if(SENSOR_1 > 49){
OnRev(OUT_A);OnFwd(OUT_C);
} else if(SENSOR_1 > 46){
OnRev(OUT_A);Off(OUT_C);
} else if(SENSOR_1 > 40){
OnRev(OUT_AC);ClearTimer(1);
} else if(SENSOR_1 > 37){
OnRev(OUT_C);Off(OUT_A);ClearTimer(1);
} else{
OnRev(OUT_C);OnFwd(OUT_A);ClearTimer(1);
}
}
OnRev(OUT_A);OnFwd(OUT_C);Wait(80);
OnRev(OUT_AC);Wait(150);
Off(OUT_AC);Wait(100);
/* ¥Ü¡¼¥ë¤ò¤Ä¤«¤à */
SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50);
SetPower(OUT_B,1);OnRev(OUT_B);Wait(100);Off(OUT_B);
/* ¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬£µ£°°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç¶á¤Å¤¯ */
OnFwd(OUT_A);OnRev(OUT_C);Wait(350);
OnRev(OUT_AC);Wait(200);
while(SENSOR_2 < 50){
OnRev(OUT_AC);Wait(50);Off(OUT_AC);
light();
}
PlaySound(SOUND_CLICK);
light();
OnRev(OUT_A);OnFwd(OUT_C);Wait(35); //Åꤲ¤ëÊý¸þ¤ÎÈùÄ´À°
Off(OUT_AC);Wait(100);
SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50);
OnFwd(OUT_AC);Wait(100);
Off(OUT_AC);
}
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