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*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#tbb73ed0]
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&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礭¤¤¤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°ì²óÌܡˤޤÇ
 GO_FORWARD2(30);
 LINE2();                 //T¡ÊÆó²óÌܡˤޤÇ
 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]

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