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¡¡¡¡//ÏÓ¤ò¾å¤²¤ë ¡¡#define LIFT_down OnFwd(OUT_C,20);Wait(550);Off(OUT_BC); //ÏÓ¤ò²¼¤í¤¹ ¡¡#define CATCH OnFwd(OUT_B,60);Wait(2000);Off(OUT_B);¡¡¡¡¡¡ //»æ¥³¥Ã¥×¤ò»ý¤Ä ¡¡#define RELEASE OnFwd(OUT_B,50);Wait(1500);Off(OUT_B);¡¡¡¡ //»æ¥³¥Ã¥×¤òÎ¥¤¹ ¡¡#define CONN 0¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Þ¥¹¥¿¡¼¤È¤Ä¤Ê¤¬¤Ã¤Æ¤¤¤ë ¡¡#define SIGNALON2 31 ¡¡#define SIGNALOFF2 32 ¡¡¡¡void ude() //¥µ¥Ö¥ë¡¼¥Á¥ó { LIFT_down; CATCH; LIFT_up; CATCH; Off(OUT_B); } ¡¡¡¡task main () ¡Ð ¡¡¡¡int msg; ¡¡while (true) { ¡¡ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡¡¡¡¡¡¡//msg¤ò¼õ¤±¤Æ¤¤¤ë´Ö ¡¡ if (msg == SIGNALON) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¤é»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë ¡¡ ude(); ¡¡ SendResponseNumber(MAILBOX2,SIGNALOFF);¡¡¡¡¡¡¡¡//ËÜÂΤ˼¡¤Î¹ÔÆ°¤ò¤¹¤ë¤è¤¦¤Ë¿®¹æ¤òÁ÷¤ë ¡¡ } ¡¡¡¡¡¡ if (msg == SIGNALON2) { //¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¤é»æ¥³¥Ã¥×¤òÎ¥¤¹ ¡¡ RELEASE; ¡¡ SendResponseNumber(MAILBOX2,SIGNALOFF2);¡¡¡¡¡¡//ËÜÂΤ˼¡¤Î¹ÔÆ°¤ò¤¹¤ë¤è¤¦¤Ë¿®¹æ¤òÁ÷¤ë ¡¡ } else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤É¤Á¤é¤Ç¤â¤Ê¤«¤Ã¤¿¤éÆ°¤«¤Ê¤¤ ¡¡ Off(OUT_BC); ¡¡ ¡¡ } ¡¡} ¡¡} **¥Þ¥¹¥¿¡¼(ÅÚÂæ)¦ [#cc3bbdc4] ¡¡#define SPEED 50 //¥¹¥Ô¡¼¥É50 ¡¡#define go_forward OnFwd(OUT_BC,SPEED); //Á°¿Ê ¡¡#define CONN 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¤òɽ¤·¤Æ¤¤¤ë ¡¡#define SIGNALON 21¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÏÓ¤òÆ°¤«¤¹¤¿¤á¤Ë¥Þ¥¹¥¿¡¼¤¬¥¹¥ì¡¼¥Ö¤ËÁ÷¤ë¿®¹æ ¡¡#define SIGNALOFF 22 //ÏÓ¤òÆ°¤«¤·½ª¤ï¤Ã¤¿¤³¤È¤ò¥¹¥ì¡¼¥Ö¤¬¥Þ¥¹¥¿¡¼¤ËÁ÷¤ë¿®¹æ ¡¡#define SIGNALON2 31 ¡¡#define SIGNALOFF2 32 ¡¡#define turn_leftC OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);¡¡¡¡//º¸Àû²ó ¡¡#define turn_rightC OnFwd(OUT_C,SPEED);OnRev(OUT_B,SPEED);¡¡¡¡//±¦ÀÞ ¡¡¡¡task main() ¡¡¡¡{ int msg¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//MAILBOX¤ËÍè¤ë¿®¹æ¤òmsg¤ÈÄêµÁ¤¹¤ë SetSensorLowspeed(S1); //ü»Ò1¤ËĶ²»ÇÈ¥»¥ó¥µ go_forward;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê until(SensorUS(S1) <= 9);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¤ÎȾ·Â9cm¤Ë»æ¥³¥Ã¥×¤¬Æþ¤Ã¤¿¤éÄä»ß ¡¡ Off(OUT_BC); SendRemoteNumber(CONN,MAILBOX1,SIGNALON );¡¡¡¡¡¡ //¿®¹æ¤òÁ÷¤ë ¡¡ while (true){ ReceiveRemoteNumber(MAILBOX2,true,msg);¡¡//msg¤ò¼õ¤±¼è¤Ã¤Æ¤¤¤ë´Ö if (msg == SIGNALOFF ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¤éº¸Àû²ó¤¹¤ë turn_leftC; 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