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[[2017a/Member]]
#contents
* ²ÝÂêÆâÍÆ [#mb855a0c]
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** Áö¹Ô¥³¡¼¥¹ [#cf89eeb5]
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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
¡¡¡ØÆ°ºî¡Ù¤Î¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ¤Ï¥×¥í¥°¥é¥à¤Î¥³¥á¥ó¥Èʸ¤ÇÀâÌÀ¤Ç¤¤Æ¤¤¤ë¤È»×¤¦¤Î¤Ç¾Êά¤¹¤ë¡£~
¡¡¤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礤¤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礤¤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礤¤¾ì¹ç¤Ï¥ë¡¼¥×¤«¤éÈ´¤±¤ë¤³¤È¤Ç¸òº¹ÅÀ¤òȽÃǤ·¤Æ¤¤¤ë¡£
** ¥á¥¤¥ó¥¿¥¹¥¯ [#w913d29c]
¡¡¥á¥¤¥ó¥¿¥¹¥¯¤Ï¡¢Â礤¯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礤¯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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¡¡¡¡¡¥é¥¤¥ó¤Î±¦¤â¤·¤¯¤Ïº¸¤òÁö¹Ô~
¡¡¡¡¢¸òº¹ÅÀÅþã»þ¤Ë²»¤òÌĤ餷¡¢»ØÄ꤬¤¢¤ë¾ì¹ç¤Ë¤Ï°ì»þÄä»ß~
¡¡¡¡£¸òº¹ÅÀ¤ò²£ÃÇ~
~¡¡¡Ø"time_max"¤ÎÀßÄê¡Ù¤Ë´Ø¤·¤Æ¤Ï¡¢TÃÏÅÀ¤«¤éGÃÏÅÀ¤Þ¤ÇÈϰϰʳ°¤Î¾ì½ê¤Ç¤Ï"TIME_MAX_N"¤òÀßÄꤷ¤Æ¤¤¤ë¡£TÃÏÅÀ¤«¤éGÃÏÅÀ¤Þ¤Ç¤Î´Ö¤Ï±ß¤ÎÆ⦤äµÞ¥«¡¼¥Ö¤òÁö¹Ô¤·"TIME_MAX_N"¤è¤ê¤âÂ礤ÊÃͤòÀßÄꤷ¤Ê¤¤¤È¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤¦¤¿¤á"TIME_MAX_TG"¤òÀßÄꤷ¤Æ¤¤¤ë¡£¤½¤Î¤¿¤á"time_max"¤ÎÀßÄê¤Ï¡¢¥¹¥¿¡¼¥È»þ¤È£±²óÌܤÎTÃÏÅÀÄ̲á»þ¡¢GÃÏÅÀÄ̲á»þ¤Î£³²ó¤Î¤ß¹Ô¤Ã¤Æ¤¤¤ë¡£
* ¤Þ¤È¤á [#x28c86bc]
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