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*¥×¥í¥°¥é¥à³µÍ× [#o6b63913]
**¼ÂºÝ¤Ë»ÈÍÑ [#a89898c4]
~¡ü¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÃæ±ûÃÍ
#define Middle 45
~¡ü¥»¥ó¥µ¡¼¡¢¥Ñ¥ï¡¼¤Î½é´üÀßÄê
sub setting();
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_LIGHT);
SetPower(OUT_AC,4);
SetPower(OUT_B,7);
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥â¡¼¥¿£Â¤ÎÄä»ßÍÑ
SetSensor(SENSOR_3,SENSOR_LIGHT); //»æ¥³¥Ã¥×³ÎǧÍÑ
SetPower(OUT_AC,4);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥¿¥¤¥äÍÑ
SetPower(OUT_B,7);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤Î¾å²¼¡¢³«ÊÄÍÑ
}
~¡ü¥¹¥¿¡¼¥È¤Î£ÁÃÏÅÀ¤Î»Í³ÑÏȤ«¤éæ½Ð¤¹¤ëÆ°ºî
sub STARTING_OPERATION()
{
while(SENSOR_1<Middle)
{
OnRev(OUT_AC);
}
while(SENSOR_1>Middle)
{
OnRev(OUT_AC);
}
OnRev(OUT_AC);
Wait(50);
Off(OUT_C);
OnRev(OUT_A);
Wait(40);
while(SENSOR_1<Middle)
{
OnRev(OUT_AC);
}
Off(OUT_AC);
}
~¡ü²óžưºî
~¡Ê¢¨180¡ë²óž¤·¤Æ¡¢¼¡¤Ë¹õÀþ¤òǧ¼±¤·¤¿¤éÄä»ß¤¹¤ë¡Ë
~¡Ê¢¨¥í¥Ü¥Ã¥È¤ÎŤµ¤ò¹Í¤¨¤Æ¡¢¸÷¥»¥ó¥µ¡¼¤¬²óž¤ÎÁ°¸å¤ÇƱ¤¸°ÌÃ֤ǥ¹¥¿¡¼¥È¤¹¤ë¤è¤¦¤Ëµ¡ÂΤò¾¯¤·¿Ê¤Þ¤»¤ë¡Ë
sub TURN_180();
{
OnFwd(OUT_AC);
Wait(80);
Off(OUT_AC);
OnRev(OUT_A);
Wait(130);
while(SENSOR_1>40)
{
OnFwd(OUT_C);
OnRev(OUT_A);
}
Off(OUT_AC);
}
~¡ü¥¢¡¼¥à¤ò²¼¤²¤ëÆ°ºî
sub down();
{
OnRev(OUT_B);
Wait(200);
}
**̤»ÈÍÑ [#fbae4797]
~¡ü»æ¥³¥Ã¥×¤Îǧ¼±
¡Ê¢¨¥³¥Ã¥×¤ÎÁ°¤ËÍè¤ë¤Þ¤ÇÁ°¿Ê¡Ë
sub copjugde()
{
while(SENSOR_3 < 46)
OnRev(OUT_AC);
Off(OUT_AC);
Wait(100);
}
~¡ü»æ¥³¥Ã¥×¤ÎÊÝ»ý
~¡Ê¢¨¾å¤Ë»ý¤Á¾å¤²¤Æ¥¡¼¥×¤¹¤ë¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈʹÔÆ°ºî¤¹¤ë¤¿¤átask¤ÇÄêµÁ¡Ë
task keep()
{
while(1)
{
OnRev(OUT_B);
Wait(1);
OnFwd(OUT_B);
Wait(1);
}
}
**̤»ÈÍÑ [#fbae4797]
~¡ü»æ¥³¥Ã¥×¤Îǧ¼±
sub copjugde()
{
while(SENSOR_3 < 46)
OnRev(OUT_AC);
Off(OUT_AC);
Wait(100);
}
*¼ÂºÝ¤ÎÆ°ºî [#r7e08f93]
task main()
{
setting();
STARTING_OPERATION();
repeat(2)
¡Ê¢¨»æ¥³¥Ã¥×1¤Ä¤À¤±¤ò±¿¤Ö¥×¥í¥°¥é¥à¡Ë
task main()
{
TRACE();
zensin();
}
setting();
STARTING_OPERATION();
repeat(2)
{
TRACE();
zensin();
}
//¸òº¹ÅÀ¤«¤éDÃÏÅÀ¤Ø¸þ¤«¤¦
TRACE();
TRACE();
OnRev(OUT_C);
Wait(25);
TRACE();
//¸íº¹½¤Àµ
OnRev(OUT_A);
OnRev(OUT_A);
Wait(95);
Off(OUT_AC);
//£ÄÃÏÅÀ¤ËÅþÃå
OnFwd(OUT_B);//¥³¥Ã¥×¤Ä¤«¤à
Wait(250);
start keep;
TURN_180();//180¡ë²óž
OnFwd(OUT_A);//Q¤ÎÊý¸þ¤ò¸þ¤¯
OnRev(OUT_C);
Wait(200);
Off(OUT_AC);
OnRev(OUT_AC);//¿Ê¤à
Wait(100);
Off(OUT_AC);
//¥»¥ó¥µ¡¼»È¤Ã¤Æ¿Ê¤à
while(SENSOR_1 > Middle-4)
OnRev(OUT_AC);
stop keep;
//Êü¤¹
Off(OUT_AC);
down();
}
sub setting()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);//¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ
SetSensor(SENSOR_2,SENSOR_TOUCH);//¥â¡¼¥¿B»ß¤á¤ëÍÑ
SetSensor(SENSOR_3,SENSOR_LIGHT);//»æ¥³¥Ã¥×¤ò³Îǧ¤¹¤ëÍÑ
SetPower(OUT_AC,4);//¥¿¥¤¥ä
SetPower(OUT_B,7);//¥¢¡¼¥à¤Î¾å²¼¡¢³«¤
}
sub zensin()
{
OnRev(OUT_A);
Wait(106);
Off(OUT_A);
}
sub copjugde()*»È¤Ã¤Æ¤Ê¤¤
{
while(SENSOR_3 < 46)
OnRev(OUT_AC);
Off(OUT_AC);
Wait(100);
}
task keep()*¡Ê»æ¥³¥Ã¥×¤ÎÊÝ»ý¡Ë
{
while(1)
{
OnRev(OUT_B);
Wait(1);
OnFwd(OUT_B);
Wait(1);
}
}
sub TRACE()
//¥é¥¤¥ó¥È¥ì¡¼¥¹Íѥ᥽¥Ã¥É
{
ClearTimer(0);
while(FastTimer(0)<=42){
if(SENSOR_1>Middle+4)//Çò¡¡º¸Àû²ó
{
OnFwd(OUT_C);
OnRev(OUT_A);
ClearTimer(0);
}
else if(SENSOR_1>Middle+2)//¤ä¤äÇò¡¡º¸ÀÞ
{
Off(OUT_C);
OnRev(OUT_A);
ClearTimer(0);
}
else if(SENSOR_1>Middle)//ľ¿Ê
{
OnRev(OUT_AC);
ClearTimer(0);
}
else if(SENSOR_1>Middle-2)//¤ä¤ä¹õ¡¡±¦ÀÞ
{
Off(OUT_A);
OnRev(OUT_C);
}
else //¹õ¡¡±¦Àû²ó
{
OnFwd(OUT_A);
OnRev(OUT_C);
}
}
Off(OUT_AC);
PlaySound(SOUND_FAST_UP);//¥È¥ì¡¼¥¹½ªÎ»¡¢¸òº¹ÅÀǧ¼±
}
sub down()
{
OnRev(OUT_B);
Wait(200);
}
sub STARTING_OPERATION()
{
while(SENSOR_1<Middle)
{
OnRev(OUT_AC);
}
while(SENSOR_1>Middle)
{
OnRev(OUT_AC);
}
OnRev(OUT_AC);
Wait(50);
Off(OUT_C);
OnRev(OUT_A);
Wait(40);
while(SENSOR_1<Middle)
{
OnRev(OUT_AC);
}
Off(OUT_AC);
}
sub TURN_180()
{
OnFwd(OUT_AC);
Wait(80);
Off(OUT_AC);
OnRev(OUT_A);
Wait(130);
while(SENSOR_1>40)
{
OnFwd(OUT_C);
OnRev(OUT_A);
}
Off(OUT_AC);
}
*º£²ó¤Î²ÝÂê¤ÎÈ¿¾ÊÅÀ¤È´¶ÁÛ [#d57c808d]
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*¥¼¥ßÁ´ÂΤò¤Õ¤Þ¤¨¤Æ¤Î´¶ÁÛ [#ae3da6ac]
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