[[2017a/Member]]
#contents

* ²ÝÂêÆâÍÆ [#mb855a0c]
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* ¥í¥Ü¥Ã¥ÈËÜÂÎ [#p0da3634]
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* ¥×¥í¥°¥é¥à [#d31854c8]
** Äê¿ô¡¦¥Þ¥¯¥í¡¦¥°¥í¡¼¥Ð¥ëÊÑ¿ô¡¡ÄêµÁ [#z84376a1]
 /*---------- Äê¿ô¡¦¥Þ¥¯¥í ÄêµÁ -----------*/
 /*¡¡ïçÃÍÀßÄê¡¡*/
 #define LINE_BLACK 38					//¹õ
 #define THRESHOLD_LOW 40				//ïçÃͺǾ®¡Ê¹õ¤è¤ê¡Ë
 #define THRESHOLD_HIGH 47				//ïçÃͺÇÂç¡ÊÇò¤è¤ê¡Ë
 #define LINE_WHITE 49					//Çò
 
 /*¡¡Æ°ºî¡¡*/
 #define FOWORD OnFwd(OUT_AC);				//ľ¿Ê
 #define BACK OnRev(OUT_AC);				//¸åÂà
 #define STOP Off(OUT_AC);				//Ää»ß
 #define TURN_LEFT OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
 #define TURN_RIGHT OnFwd(OUT_A); OnRev(OUT_C);		//±¦Àû²ó
 #define CURVE_LEFT OnFwd(OUT_C); Off(OUT_A);		//º¸ÀÞ
 #define CURVE_RIGHT OnFwd(OUT_A); Off(OUT_C);		//±¦ÀÞ
 
 /*¡¡¸òº¹ÅÀȽÄêÍѤλþ´Ö¡¡*/ 
 #define TIME_MAX_N	26				//T¢ªG´Ö°Ê³°¤Ç¤Î¸òº¹ÅÀȽÄê¤Þ¤Ç¤Î»þ´Ö
 #define TIME_MAX_TG	33				//T¢ªG´Ö¤Ç¤Î¸òº¹ÅÀȽÄê¤Þ¤Ç¤Î»þ´Ö
 
 /*----------- ¥°¥í¡¼¥Ð¥ëÊÑ¿ô ÄêµÁ ----------*/
 int timer = 0;						//¹õÈ¿±þ»þ´Ö
 int time_max = 0;					//¸òº¹ÅÀȽÄêÍÑ
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¡¡¤Þ¤¿¡¢"TIME_MAX_N"¤È"TIME_MAX_TG"¡¢"timer"¡¢"timer_max"¤Ï¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤È¤­¤Ë»ÈÍѤ·¤Æ¤¤¤ë¡£¤³¤ì¤é¤Î¾Ü¤·¤¤ÀâÌÀ¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤È¥á¥¤¥ó¥¿¥¹¥¯¤Î¤È¤³¤í¤Ç¤·¤Æ¤¤¤ë¤Î¤Ç¡¢¤³¤³¤Ç¤Ï¾Êά¤¹¤ë¡£
***¡¡ïçÃÍÀßÄê [#v1fd56d9]
¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ëºÝ¤Ë¡¢¹õÀþ¤ÈÇòÀþ¤¬¶­³¦¤Ç¤­¤Ã¤Á¤êʬ¤«¤ì¤Æ¤¤¤ë¤ï¤±¤Ç¤Ï¤Ê¤¯¡¢¤É¤Á¤é¤Ç¤â¤Ê¤¤Ãæ´Ö¤ÎÈϰϤ¬Â¸ºß¤¹¤ë¡£¤½¤³¤Ç¡¢¤É¤³¤«¤é¤¬¹õ¤Ç¤É¤³¤«¤é¤¬Çò¤Ê¤Î¤«¡¢¤Þ¤¿¤½¤Î¶­ÌܤÎÈϰϤÎÃæ¤ÇÃæ±û¤Ï¤É¤³¤Ë¤Ê¤ë¤Î¤«¤ò"LINE_BLACK"¡¢"THRESHOLD_LOW"¡¢"THRESHOLD_HIGH"¡¢"LINE_WHITE"¤È¤¤¤¦£´¤Ä¤òÄêµÁ¤·¡¢¹õ¤«¤éÇò¤Î´Ö¤ò£µ¤Ä¤Ëʬ¤±¤ë¤³¤È¤ÇȽÊ̤·¤Æ¤¤¤ë¡£
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** ¥µ¥Ö¥ë¡¼¥Á¥ó [#ye8c85a8]
¡¡¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï¡¢¹õÀþ¤ò¥È¥ì¡¼¥¹¤¹¤ë¤¿¤á¤Î¤â¤Î¤ò"Follow_Line_R()"¤È"Follow_Line_L()"¤È¤·¤Æº¸±¦¤ÇÀßÄꤷ¤Æ¤¤¤ë¡£¤Þ¤¿¡¢¸òº¹ÅÀ¤ÎȽÃǤ⤳¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¹Ô¤Ã¤Æ¤¤¤ë¡£
¡¡¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï¡¢¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤¹¤ë¤¿¤á¤Î¤â¤Î¤ò"Follow_Line_R()"¤È"Follow_Line_L()"¤È¤·¤Æº¸±¦¤ÇÀßÄꤷ¤Æ¤¤¤ë¡£¤Þ¤¿¡¢¸òº¹ÅÀ¤ÎȽÃǤ⤳¤³¤Ç¹Ô¤Ã¤Æ¤¤¤ë¡£
 /*---------- ¥é¥¤¥ó¤Î±¦Â¦¤òÁö¹Ô ----------*/
 sub Follow_Line_R()
 {
 	while(timer < time_max){
 		if(SENSOR_2 > LINE_WHITE){
 			TURN_LEFT;
 			ClearTimer(0); 
 		}
 		else if(SENSOR_2 > THRESHOLD_HIGH){
 			CURVE_LEFT;
 			ClearTimer(0); 
 		}
 		else if(SENSOR_2 > THRESHOLD_LOW){
 			FOWORD;
 			ClearTimer(0);
 		}
 		else if(SENSOR_2 > LINE_BLACK){
 			CURVE_RIGHT;
 			ClearTimer(0);
 		}
 		else{
  			TURN_RIGHT;
 		}	
 		timer = FastTimer(0);
 	}
 	timer = 0;
 }
 
 /*---------- ¥é¥¤¥óº¸Â¦¤òÁö¹Ô ----------*/
 sub Follow_Line_L()
 {
 	while(timer < time_max){
 		if(SENSOR_2 > LINE_WHITE){
 			TURN_RIGHT;
 			ClearTimer(0); 
 		}
 		else if(SENSOR_2 > THRESHOLD_HIGH){
 			CURVE_RIGHT;
 			ClearTimer(0); 
 		}
 		else if(SENSOR_2 > THRESHOLD_LOW){
 			FOWORD;
 			ClearTimer(0);
 		}
 		else if(SENSOR_2 > LINE_BLACK){
 			CURVE_LEFT;
 			ClearTimer(0);
 		}
 		else{
  			TURN_LEFT;
 		}	
 		timer = FastTimer(0);
 	}
 	timer = 0;
 }
***¡¡¥é¥¤¥ó¤Î¥È¥ì¡¼¥¹ [#xbdf63fa]
¡¡Äê¿ô¡¦¥Þ¥¯¥í¤Î¤È¤³¤í¤ÇÀâÌÀ¤·¤¿¤è¤¦¤Ë¡¢ïçÃͤˤè¤Ã¤Æ¹õ¤ÈÇò¤È¤½¤Î¶­Ìܤò£µ¤Ä¤Ëʬ¤±¤Æ¤¤¤ë¤¿¤á¡¢¤½¤ì¤¾¤ì¤Î¾ì½ê¤Ë±þ¤¸¤ÆÆ°ºî¤òÀßÄꤷ¤Æ¤¤¤ë¡£¸÷¥»¥ó¥µ¤ÎÃͤ¬"THRESHOLD_LOW"¤«¤é"THREHOLD_HIGH"¤Î´Ö¤Ï¡¢¶­ÌܤÎÃæ±û¤Ë¤Ê¤ë¤¿¤áº¸±¦¤É¤Á¤é¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤â¡Öľ¿Ê¡×¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£"THRESHOLD_LOW"¤è¤ê¾®¤µ¤¤¾ì¹ç¤È"THRESHOLD_HIGH"¤è¤êÂ礭¤¤¾ì¹ç¤Ïº¸±¦¤ÇÆ°ºî¤¬µÕ¤Ë¤Ê¤Ã¤Æ¤Ï¤¤¤ë¤¬¡¢"LINE_BLACK"¤ä"LINE_WHITE"¤òĶ¤¨¤ë¤Þ¤Ç¤Ï¡Ö¥¿¥¤¥ä¤òÊÒÊýÄä»ß¤·¤Æ¤Î¥¿¡¼¥ó¡×¡¢Ä¶¤¨¤¿¤é¡ÖÊÒÊý¤ÏÀµÅ¾¡¢È¿ÂЦ¤ÏµÕž¤·¤Æ¤ÎÀû²ó¡×¤ò¹Ô¤¦¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
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***¡¡¸òº¹ÅÀȽÃÇ [#aeb20d7e]
¡¡¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤È¤­¡¢¸÷¥»¥ó¥µ¤ÏŤ¤´Ö¹õ¤òǧ¼±¤·¤Æ¤¤¤ë¤³¤È¤Ë¤Ê¤ë¡£¤½¤³¤Ç¡¢¸÷¥»¥ó¥µ¤ÎÃͤ¬"LINE_BLACK"¤è¤ê¾®¤µ¤¤¡Ê¹õ¿§¤ò¸¡ÃΤ·¤Æ¤¤¤ë¡Ë´Ö¥¿¥¤¥Þ¡¼£°¤Ç»þ´Ö¤ò·×¬¤·¡¢ÊÑ¿ô"timer"¤Ë¤½¤ÎÃͤòÅϤ¹¡£¤³¤Î"timer"¤ÎÃͤò"time_max"¤ÎÃ͡ʥᥤ¥ó¥¿¥¹¥¯¤ÇÀßÄê¡Ë¤ÈÈæ³Ó¤·¡¢Â礭¤¤¾ì¹ç¤Ï¥ë¡¼¥×¤«¤éÈ´¤±¤ë¤³¤È¤Ç¸òº¹ÅÀ¤«¤É¤¦¤«¤òȽÃǤ·¤Æ¤¤¤ë¡£
¡¡¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤È¤­¡¢¸÷¥»¥ó¥µ¤ÏŤ¤´Ö¹õ¤òǧ¼±¤·¤Æ¤¤¤ë¤³¤È¤Ë¤Ê¤ë¡£¤½¤³¤Ç¡¢¸÷¥»¥ó¥µ¤ÎÃͤ¬"LINE_BLACK"¤è¤ê¾®¤µ¤¤¡Ê¹õ¿§¤ò¸¡ÃΤ·¤Æ¤¤¤ë¡Ë´Ö¥¿¥¤¥Þ¡¼¤Ç»þ´Ö¤ò·×¬¤·¡¢ÊÑ¿ô"timer"¤Ë¤½¤ÎÃͤòÅϤ¹¡£¤³¤Î"timer"¤ÎÃͤò"time_max"¤ÎÃ͡ʥᥤ¥ó¥¿¥¹¥¯¤ÇÀßÄê¡Ë¤ÈÈæ³Ó¤·¡¢Â礭¤¤¾ì¹ç¤Ï¥ë¡¼¥×¤«¤éÈ´¤±¤ë¤³¤È¤Ç¸òº¹ÅÀ¤òȽÃǤ·¤Æ¤¤¤ë¡£
** ¥á¥¤¥ó¥¿¥¹¥¯ [#w913d29c]
¡¡¥á¥¤¥ó¥¿¥¹¥¯¤Ï¡¢Â礭¤¯Ê¬¤±¤Æ¸÷¥»¥ó¥µ¤È¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼¤ÎÀßÄê¤È¼ÂºÝ¤Ë¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤¹¤ëÆ°ºîÉôʬ¤Î£²¤Ä¤Ëʬ¤±¤é¤ì¤ë¡£Æ°ºîÉôʬ¤Ë¤Ä¤¤¤Æ¤Ï¥×¥í¥°¥é¥à¤Î²¼¤ÇÀâÌÀ¤¹¤ë¡£
¡¡¥á¥¤¥ó¥¿¥¹¥¯¤Ï¡¢Â礭¤¯Ê¬¤±¤Æ¸÷¥»¥ó¥µ¤È¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼¤ÎÀßÄê¤È¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤¹¤ëÆ°ºîÉôʬ¤Î£²¤Ä¤Ëʬ¤±¤é¤ì¤ë¡£Æ°ºîÉôʬ¤Ë¤Ä¤¤¤Æ¤Ï¥×¥í¥°¥é¥à¤Î²¼¤ÇÀâÌÀ¤¹¤ë¡£
 /*---------- ¥á¥¤¥ó¥¿¥¹¥¯ ----------*/
 task main()
 {
       /*	¸÷¥»¥ó¥µ¡¦¥â¡¼¥¿¥Ñ¥ï¡¼¡¡ÀßÄê	*/ 
 	SetSensor(SENSOR_2 , SENSOR_LIGHT);
  	SetPower(OUT_AC , 3);
 
       /*	Æ°ºîÉôʬ	*/
 // AÃÏÅÀ¢ªEÃÏÅÀ ---------------------------------------- 
 	time_max = TIME_MAX_N;
 
 	Follow_Line_R();
 
 	// EÃÏÅÀ¡¡Åþã
 	// SOUND_UP ¡õ ±¦ÀÞ
 	PlaySound(SOUND_UP);
 	TURN_RIGHT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // EÃÏÅÀ¢ªPÃÏÅÀ ----------------------------------------
 	Follow_Line_R();
 
 	// PÃÏÅÀ¡¡Åþã (°ì»þÄä»ß)
 	// SOUND_DOWN & º¸ÀÞ
 	PlaySound(SOUND_DOWN);
 	STOP;
 	Wait(100);
 	TURN_LEFT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // PÃÏÅÀ¢ªQÃÏÅÀ ----------------------------------------
 	Follow_Line_L();
 
 	// QÃÏÅÀ¡¡Åþã
 	// SOUND_DOWN & ľ¿Ê¡Ê¸úΨ²½¤Î¤¿¤á±¦Àޤˤè¤ë²£ÃÇ¡Ë
 	PlaySound(SOUND_UP);
 	CURVE_RIGHT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // QÃÏÅÀ¢ªRÃÏÅÀ ----------------------------------------
 	Follow_Line_L();
 
 	// RÃÏÅÀ¡¡Åþã
 	// SOUND_UP & º¸ÀÞ
 	PlaySound(SOUND_UP);
 	TURN_LEFT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // RÃÏÅÀ¢ªTÃÏÅÀ ----------------------------------------
 	Follow_Line_L();
 
 	// TÃÏÅÀ¡¡Åþã¡Ê°ì»þÄä»ß¡Ë
 	// SOUND_DOWN & ľ¿Ê
 	PlaySound(SOUND_DOWN);
 	STOP;
 	Wait(100);
 	FOWORD;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // TÃÏÅÀ¢ªTÃÏÅÀ ----------------------------------------
 	time_max = TIME_MAX_TG;
 
 	Follow_Line_L();
 	// TÃÏÅÀ¡¡Åþã¡Ê°ì»þÄä»ß¡Ë
 	// SOUND_DOWN & ľ¿Ê¡Ê¥é¥¤¥ó±¦Â¦¤Ø°ÜÆ°¡Ë
 	PlaySound(SOUND_DOWN);
 	STOP;
 	Wait(100);
 	CURVE_RIGHT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 	until(SENSOR_2 < THRESHOLD_LOW);
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // TÃÏÅÀ¢ªHÃÏÅÀ ----------------------------------------
 	Follow_Line_R();
 
 	// HÃÏÅÀ¡¡Åþã
 	// SOUND_UP & ±¦ÀÞ
 	PlaySound(SOUND_UP);
 	CURVE_RIGHT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // HÃÏÅÀ¢ªÃÏÅÀG ----------------------------------------
 	Follow_Line_R();
 
 	// GÃÏÅÀ¡¡Åþã
 	// SOUND_UP & ľ¿Ê
 	PlaySound(SOUND_UP);
 	FOWORD;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // GÃÏÅÀ¢ªSÃÏÅÀ ----------------------------------------
 	time_max = TIME_MAX_N;
 
 	Follow_Line_L();
 
 	// SÃÏÅÀ¡¡Åþã¡Ê°ì»þÄä»ß¡Ë
 	// SOUND_DOWN & º¸ÀÞ
 	PlaySound(SOUND_DOWN);
 	STOP;
 	Wait(100);
 	TURN_LEFT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // SÃÏÅÀ¢ªPÃÏÅÀ ----------------------------------------
 	Follow_Line_L();
 
 	// PÃÏÅÀ Åþã
 	// SOUN_UP & ľ¿Ê¡Ê¸úΨ²½¤Î¤¿¤á¤Ë±¦Àޤˤè¤ë²£ÃÇ¡Ë
 	PlaySound(SOUND_UP);
 	CURVE_RIGHT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // PÃÏÅÀ¢ªQÃÏÅÀ ----------------------------------------
 	Follow_Line_L();
 
 	// QÃÏÅÀ¡¡Åþã
 	// SOUND_UP & º¸Àޡʥ饤¥ó±¦Â¦¤Ø°ÜÆ°¡Ë
 	PlaySound(SOUND_UP);
 	CURVE_RIGHT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // QÃÏÅÀ¢ªFÃÏÅÀ ----------------------------------------
 	Follow_Line_R();
 
 	// FÃÏÅÀ¡¡Åþã
 	// SOUND_UP & º¸ÀÞ¡Êľ¿Ê¤Ë¤è¤Ã¤Æ¥é¥¤¥ó²£ÃÇ¡Ë
 	PlaySound(SOUND_UP);
 	FOWORD;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // FÃÏÅÀ¢ªEÃÏÅÀ ----------------------------------------
 	Follow_Line_L();
 
 	// EÃÏÅÀ¡¡Åþã
 	//¡Êľ¿Ê¤Ë¤è¤ë²£ÃÇ¡Ë
 	FOWORD;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 
 // EÃÏÅÀ¢ªAÃÏÅÀ ----------------------------------------
 	Follow_Line_L();
 
 	// AÃÏÅÀ¡¡Åþã
 	// ¥é¥¤¥ó²£ÃǸ塢AÃÏÅÀÆâ¤ÇÄä»ß
 	PlaySound(SOUND_DOWN);
 	CURVE_RIGHT;
 	until(SENSOR_2 > THRESHOLD_HIGH);
 	FOWORD;
 	Wait(70);
 	STOP;
 //¥´¡¼¥ë
 }
***¡¡Æ°ºîÉôʬ [#y4f56eef]
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