[[2017a/Member]] Ìܼ¡ #contents *²ÝÂê¤Ë¤Ä¤¤¤Æ [#sf1e746c] £²¤ÄÌܤβÝÂê¤Ï¼¡¤Î·ÐÏ©¤ò¹õ¤¤Àþ¤Ë¤½¤Ã¤ÆÆ°¤¯¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë¤È¤¤¤¦¤â¤Î¤À¤Ã¤¿¡£ &ref(2017a/Member/ejj/Mission2/pic_ejj9.JPG,50%,); A¥¹¥¿¡¼¥È¢ªEľ¿Ê¢ªF(SOUND_UP)¢ªQ°ì»þÄä»ß(SOUND_DOWN)¡õº¸ÀÞ¢ªRľ¿Ê(SOUND_UP)¢ªSº¸ÀÞ(SOUND_UP)¢ªG(SOUND_UP)¢ªH(SOUND_UP)¢ªT°ì»þÄä»ß(SOUND_DOWN)¡õľ¿Ê¢ªT°ì»þÄä»ß(SOUND_DOWN)¡õľ¿Ê¢ªR°ì»þÄä»ß(SOUND_DOWN)¡õº¸ÀÞ¢ªSľ¿Ê(SOUND_UP)¢ªPº¸ÀÞ(SOUND_UP)¢ªE°ì»þÄä»ß(SOUND_DOWN)¡õº¸ÀÞ¢ªAÄä»ß(SOUND_DOWN) ¤¿¤À¤·¡¢ ¡¡¡¡¡¤Ê¤ë¤Ù¤¯Â®¤¯Àµ³Î¤ËÆ°¤¯¥í¥Ü¥Ã¥È¤Ë¤Ê¤ë¤è¤¦¤Ë¹©Éפ¹¤ë¤³¤È¡£ ¡¡¡¡¢°ì»þÄä»ß¤Î¸òº¹ÅÀ¤ª¤è¤ÓÃú»úÏ©¤Ç¤ÏSOUND_DOWN¤òÌĤ餷¤¿¸å¡¢1ÉôÖÄä»ß¤¹¤ë¤³¤È¡£ ¡¡¡¡£Ä¾³Ñ¥³¡¼¥Ê¡¼¤ª¤è¤Ó°ì»þÄä»ß¤¬ÉÔÍפÏÃú»úÏ©¤Ç¤ÏSOUND_UP¤òÌĤ餷¡¢Ää»ß¤·¤Ê¤¤¤Ç¿Ê¤à¤³¤È ¡£ ¡¡¡¡¤¥í¥Ü¥Ã¥È¤Ï¥µ¥¤¥º¤Ï¡¢Éý15cmŤµ18cm°ÊÆâ¤È¤¹¤ë¡Ê¹â¤µ¤Ï̵À©¸Â¡Ë¡£ ¡¡¡¡¥¸òº¹ÅÀ¡¢Ãú»úÏ©¡¢Ä¾³Ñ¥³¡¼¥Ê¡¼¤Ë¤Ä¤¤¤Æ¤Ï¡¢º¹¤·³Ý¤«¤Ã¤¿»þÅÀ¤ÇȽÊ̤¹¤ë¤â¤Î¤È¤·¡¢Í½¤áÀßÄꤷ¤¿Áö¹Ô»þ´Ö¤Î¤ß¤ÇȽÄꤷ¤¿¤ê¡¢Áö¹Ôµ÷Î¥¤Î¤ß¤ÇȽÄꤷ¤Æ¤Ï¡¡¡¡¡¡¤Ê¤é¤Ê¤¤¡£ ¤È¤¤¤¦¤Î¤¬¾ò·ï¤À¤Ã¤¿¡£ *¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#tbb73ed0] Ⱦ·Â¤Î¾®¤µ¤Ê¶ÊÀþ¤â¤Ê¤ë¤Ù¤¯Íưפ˶ʤ¬¤ì¤ë¤è¤¦¤Ë¥â¡¼¥¿¡¼¤Îµ÷Î¥¤òºÇ¾®¸Â¤Ë¤·¤¿¡£¤äÀû²ó¤Î»þ¤Ë´ù¤È¤ÎË໤¤¬¾®¤µ¤¯¤Ê¤ë¤è¤¦¤Ë¥¿¥¤¥ä¤Ï»°Îؤˤ·¡¢°ì¤Ä¤Ï¥´¥à¤Î¤Ä¤¤¤Æ¤Ê¤¤¤â¤Î¤Ë¤·¤¿¡£¤µ¤é¤Ë¡¢²óž¤Þ¤¿¡¢¼Ö¼´¤«¤é¤Î¥»¥ó¥µ¡¼¤ÎÃúÅÙ¤¤¤¤µ÷Î¥¤¬ÁȤßΩ¤Æ¤ë»þÅÀ¤Ç¤Ïʬ¤«¤é¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¸å¤«¤é¼«Í³¤ËÊѤ¨¤ë¤³¤È¤¬²Äǽ¤Ê¤è¤¦¤ËÁȤßΩ¤Æ¤¿¡£¤½¤ÎÉôʬ¤¬¤â¤í¤¤¤Î¤¬ÆñÅÀ¤À¤Ã¤¿¤¬¡¢µ÷Î¥¤ò´Êñ¤ËÊѤ¨¤é¤ì¤ë¤Î¤Ï·ë²ÌŪ¤Ëºî¶È¤Î¸úΨ¤ò¾å¤²¤¿¡£¼Ö¼´¤ÎÃæ¿´¤È¥»¥ó¥µ¡¼¤Îµ÷Î¥¤Ï¥Ö¥í¥Ã¥¯Æó¸Äʬ¤¬¤Á¤ç¤¦¤É¤è¤«¤Ã¤¿¡£ &ref(2017a/Member/ejj/Mission2/pic_ejj10.JPG,50%,); &ref(2017a/Member/ejj/Mission2/pic_ejj11.JPG,50%,); &ref(2017a/Member/ejj/Mission2/pic_ejj12.JPG,50%,); *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#af311e06] **ÄêµÁ [#z17b8dc5] #define BLACK 39 //¤³¤ì¤è¤ê¾®¤µ¤¤¤È¹õ #define BLACK_gray 42 #define GRAY 45 #define WHITE_gray 48 #define WHITE 50 //¤³¤ì¤è¤êÂ礤¤¤ÈÇò #define RIGHT_S OnFwd(OUT_A); OnRev(OUT_C); //±¦Àû²ó #define LEFT_S OnFwd(OUT_C); OnRev(OUT_A); //º¸Àû²ó #define RIGHT_K OnFwd(OUT_A); Off(OUT_C); //±¦²óž #define LEFT_K OnFwd(OUT_C); Off(OUT_A); //º¸²óž #define GO_FORWARD OnFwd(OUT_AC); //Á°¿Ê£± #define GO_FORWARD2(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);//Á°¿Ê£² **¥µ¥Ö¥ë¡¼¥Á¥ó [#e1da1893] ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó£±¡£90Å٤˸ò¤ï¤ë¸òº¹ÅÀ¤òǧ¼±¤·¤Æ²»¡ÊSOUND_UP)¤òÌĤ餹¡£ sub LINE1a() { ClearTimer(0); while(FastTimer(0)<22) { if(SENSOR_2>=WHITE){RIGHT_S;ClearTimer(0);} else if(SENSOR_2>=WHITE_gray){RIGHT_K;ClearTimer(0);} else if(SENSOR_2>=GRAY){GO_FORWARD;ClearTimer(0);} else if(SENSOR_2>=BLACK_gray){LEFT_K;ClearTimer(0);} else{LEFT_S;} } Off (OUT_AC); PlaySound(SOUND_UP); } ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó£²¡£90Åٰʾå¤Î³ÑÅ٤Ǹò¤ï¤ë¸òº¹ÅÀ¤òǧ¼±¤·¤Æ²»¡ÊSOUND_UP)¤òÌĤ餹¡£ sub LINE1b() { ClearTimer(0); while(FastTimer(0)<19) { if(SENSOR_2>=WHITE){RIGHT_S;ClearTimer(0);} else if(SENSOR_2>=WHITE_gray){RIGHT_K;ClearTimer(0);} else if(SENSOR_2>=GRAY){GO_FORWARD;ClearTimer(0);} else if(SENSOR_2>=BLACK_gray){LEFT_K;ClearTimer(0);} else{LEFT_S;} } Off (OUT_AC); PlaySound(SOUND_UP); } ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó£³¡£²»¤òÌĤ餵¤º¤Ë¼¡¤Î¥×¥í¥°¥é¥à¤Ë¿Ê¤à¡£ sub LINE1c() { ClearTimer(0); while(FastTimer(0)<22) { if(SENSOR_2>=WHITE){RIGHT_S;ClearTimer(0);} else if(SENSOR_2>=WHITE_gray){RIGHT_K;ClearTimer(0);} else if(SENSOR_2>=GRAY){GO_FORWARD;ClearTimer(0);} else if(SENSOR_2>=BLACK_gray){LEFT_K;ClearTimer(0);} else{LEFT_S;} } } ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó£´¡£¸òº¹ÅÀ¤òǧ¼±¤·¤Æ²»¡ÊSOUND_DOWN¡Ë¤òÌĤ餷¤¿¸å¡¢1ÉÃÄä»ß¤¹¤ë¡£ sub LINE2() { ClearTimer(0); while(FastTimer(0)<22) { if(SENSOR_2>=WHITE){RIGHT_S;ClearTimer(0);} else if(SENSOR_2>=WHITE_gray){RIGHT_K;ClearTimer(0);} else if(SENSOR_2>=GRAY){GO_FORWARD;ClearTimer(0);} else if(SENSOR_2>=BLACK_gray){LEFT_K;ClearTimer(0);} else{LEFT_S;} } Off (OUT_AC); PlaySound(SOUND_DOWN); Wait(100); } 0.8Éú¸Àû²ó¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡£ sub CROSS_LEFT1() { while(FastTimer(0) < 80) { LEFT_S; } ClearTimer(0); } 2.2Éú¸²óž¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡£ sub CROSS_LEFT2() { while(FastTimer(0) < 220) { LEFT_K; } ClearTimer(0); } 1.2Éú¸²óž¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡£ sub CROSS_LEFT3() { while(FastTimer(0) < 120) { LEFT_K; } ClearTimer(0); } 0.8Éñ¦²óž¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡£ sub CROSS_RIGHT() { while(FastTimer(0) < 80) { RIGHT_K; } ClearTimer(0); } **¥¿¥¹¥¯¥á¥¤¥ó [#p3728ba6] task main() { SetSensor(SENSOR_2,SENSOR_LIGHT); LINE1a(); //F¤Þ¤Ç CROSS_LEFT1(); LINE2(); //Q¤Þ¤Ç CROSS_LEFT2(); LINE1b(); //R¤Þ¤Ç CROSS_RIGHT(); LINE1b(); //S¤Þ¤Ç CROSS_LEFT3(); LINE1a(); //G¤Þ¤Ç CROSS_LEFT3(); LINE1c(); CROSS_LEFT1(); LINE1c(); CROSS_LEFT1(); LINE1c(); CROSS_LEFT1(); LINE1a(); //H¤Þ¤Ç CROSS_LEFT2(); LINE2(); //T¡Ê°ì²óÌÜ¡Ë¤Þ¤Ç GO_FORWARD2(30); LINE2(); //T¡ÊÆó²óÌÜ¡Ë¤Þ¤Ç GO_FORWARD2(30); LINE2(); //R¤Þ¤Ç CROSS_LEFT2(); LINE1b(); //S¤Þ¤Ç CROSS_RIGHT(); LINE1b(); //P¤Þ¤Ç CROSS_LEFT3(); LINE2(); //E¤Þ¤Ç CROSS_LEFT3(); LINE2(); //¥´¡¼¥ë } *¤Þ¤È¤á[#r040aa97] **´¶ÁÛ [#pb79b8c0] **È¿¾Ê [#zbfaba39]