Ìܼ¡ #contents *²ÝÂê¤Ë¤Ä¤¤¤Æ [#o42b2683] **²ÝÂê2³µÍ× [#gf5dd8fa] ¿Þ¤Î¤è¤¦¤Ê¥³¡¼¥¹¤ò³Æ¥Á¡¼¥à¤ÇºîÀ®¤·¡¢¡Ö¥ß¥Ã¥·¥ç¥ó¡×¤ò¿ë¹Ô¤¹¤ë¤¿¤á¤Î¥í¥Ü¥Ã¥È¤òºîÀ®¤»¤è¡£¾Ü¤·¤¯¤Ï[[²ÝÂê2>2017a/Mission2]]¤ò»²¾È¡£ ¼«Ê¬¤ÏEÃÏÅÀ±¦ÀÞ¥³¡¼¥¹¤òÁªÂò¡£ *¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#d95c8b9b] #ref(./image1.JPG,40%,¥í¥Ü¥Ã¥È¡¡Á´ÂοÞ) ¢¬¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎ¿Þ ¡¡º£²ó¤Ï¤³¤Î¤è¤¦¤Ê´Êñ¤Ê¥í¥Ü¥Ã¥È¤òÀ½ºî¤·¤¿¡£ #ref(./image3.JPG,40%,¥í¥Ü¥Ã¥È¡¡Ê¬²ò¿Þ) ¢¬¥í¥Ü¥Ã¥È¤ÎÂçÉôʬ¤ò³°¤·¤¿¾ì¹ç¤³¤Î¤è¤¦¤Ë¤Ê¤ë **¹©Éפ·¤¿ÅÀ [#a975ae52] ¡¦¥í¥Ü¥Ã¥È¤ÎÁ´Âοޤò¸«¤ì¤Ðʬ¤«¤ë¤¬¡¢¤È¤Æ¤â¥·¥ó¥×¥ë¤Ç¥³¥ó¥Ñ¥¯¥È¤Ê·Á¤À¡£¤Ê¤¼¤³¤Î¤è¤¦¤Ê·Á¤Ë¤·¤¿¤«¤È¤¤¤¦¤È¡¢º£²ó¤Î²ÝÂê¤Ë¤ª¤¤¤ÆÀµ³Î¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬É¬ÍפȤµ¤ì¤ë¤«¤é¤À¡£ ¡¥»¥ó¥µ¡¼¤È¥¿¥¤¥ä¤Îµ÷Î¥¡Ê²óžȾ·Â¡Ë¤ò¤Ç¤¤ë¤À¤±Ã»¤¯¤·¤¿¡£ ¡¡¤³¤Î¤³¤È¤Ë¤è¤Ã¤Æ¸÷¥»¥ó¥µ¡¼¤ÎÆ°¤¤ò¾®¤µ¤¯¤·¡¢¥³¡¼¥¹¥¢¥¦¥È¤ò¤¹¤ë³ÎΨ¤ò·Ú¸º¤µ¤»¤¿¡£ ¢º¸±¦¤Î¥¿¥¤¥ä¤Îµ÷Î¥¤òû¤¯¤·¤¿¡£ ¡¡¾®²ó¤ê¤òÍø¤«¤»¤¿¡£ £ÃÏÌ̤ȸ÷¥»¥ó¥µ¡¼¤Îµ÷Î¥¤òû¤¯¤·¤¿¡£ ¡¡Àµ³Î¤Ê¥»¥ó¥µ¡¼ÃͤòÆÀ¤ë¤¿¤á¤Ç¤¢¤ë¡£ #ref(./image5.JPG,40%,¥í¥Ü¥Ã¥È) ¡¡¡¡¢¬¤Î¤è¤¦¤ËÃÏÌ̤¹¤ì¤¹¤ì¤Þ¤Ç¶á¤º¤±¤¿¡£ ¤»Ù¤¨¤òÉÕ¤±¤¿¡£ ¡¡¼ÖÂΤ¬¸å¤í¤Ë·¹¤¯¤Î¤òËɤ°¤¿¤á¤Ç¤¢¤ë¡£ #ref(./image4.JPG,40%,»Ù¤¨) *¥×¥í¥°¥é¥à¾Ò²ð [#b69d1fd3] º£²ó¤Ï¥×¥í¥°¥é¥ß¥ó¥°¤¬Âç»ö¤È¤Ê¤ë²ÝÂê¤Ç¤¢¤Ã¤¿¡£¤½¤ì¤¾¤ì¤Ë¤Ä¤¤¤ÆÀâÌÀ¤·¤Æ¤ª¤³¤¦¡£ **Äê¿ô¤Ë¤Ä¤¤¤Æ [#w2bdbd1a] /*¿ôÃÍÂåÆþ·Ï*/ # define TMAX 28 //¹õ¤¤Àþ¤ò28/100ÉðʾåÄ̲᤹¤ë¤È¡Ö¸òº¹ÅÀ¡×¤Þ¤¿¤Ï¡ÖµÞ¥«¡¼¥Ö¡×¤ÈȽÃǤ¹¤ë¡£ /*Æ°ºîÀ©¸æ·Ï*/ # define forward OnFwd(OUT_AC); //ľ¿Ê # define back OnRev(OUT_AC); //¸åÂà # define t_left OnRev(OUT_A);OnFwd(OUT_C); //º¸Àû²ó # define left Off(OUT_A);OnFwd(OUT_C); //º¸²óž # define t_right OnFwd(OUT_A);OnRev(OUT_C); //±¦Àû²ó # define right OnFwd(OUT_A);Off(OUT_C); //±¦²óž # define KOUON PlaySound(SOUND_UP); //¹â²»¤òÌĤ餹¡£ # define TEION PlaySound(SOUND_DOWN); //Äã²»¤òÌĤ餹¡£ **¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ [#s87779e5] # define tomaru(t) Off(OUT_AC);Wait(t); //t/100ÉÃÄä»ß¤ò¤¹¤ë¡£ # define power(s) SetPower(OUT_AC,s); //¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼¤òÊÑ´¹¤¹¤ë¡£ **¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¸òº¹ÅÀ¡¢µÞ¥«¡¼¥ÖȽÃÇ [#u41482a0] ¤¿¤Àñ¤Ë¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¤ÈËÄÂç¤ÊÎ̤ò½ñ¤¯É¬Íפ¬¤¢¤ë¤¿¤á¡¢¡Ö±¦¥é¥¤¥ó¥È¥ì¡¼¥¹¡×¤È¡Öº¸¥é¥¤¥ó¥È¥ì¡¼¥¹¡×¡¢¡Ö¸òº¹ÅÀ¡¢µÞ¥«¡¼¥ÖȽÃǡפÎ3¤Ä¤Î¥×¥í¥°¥é¥à¤òsub´Ø¿ôÆâ¤Ë½ñ¤¡¢main´Ø¿ô¤Î´Êά²½¤ò¹Ô¤Ã¤¿¡£¤³¤Î¤³¤È¤Ë¤è¤Ã¤Æmain´Ø¿ô¤¬¤È¤Æ¤â´Êñ¤Ë½ñ¤¯¤³¤È¤¬¤Ç¤¤¿¡£ /*¥°¥í¡¼¥Ð¥ëÊÑ¿ô*/ int n=0; ¸òº¹ÅÀ¡¢µÞ¥«¡¼¥Ö¤Ë²¿²óÄ̲ᤷ¤¿¤«¤ò¥«¥¦¥ó¥È¤¹¤ë¡£ÊÑ¿ô£î¤Ïmain´Ø¿ô¤Ë¤â»ÈÍѤ¹¤ë¤¿¤á¡¢¥°¥í¡¼¥Ð¥ëÊÑ¿ô¤È¤·¤Æ¤ª¤¯¡£ /*±¦¥é¥¤¥ó¥È¥ì¡¼¥¹*/ sub migi(){ while(FastTimer(0)<TMAX){ //¸òº¹ÅÀ¡¦µÞ¥«¡¼¥Ö¤ÎȽÃǤò¹Ô¤¦¤¿¤áwhile¤Î¾ò·ï¼°¤ËTMAX¤ò»ÈÍÑ¡£ if(SENSOR_1<40){ //·×¬Ãͤ¬ïçÃÍ40°Ê²¼¤Î¾ì¹ç¡¢±¦Àû²ó OnFwd(OUT_A);OnRev(OUT_C); }else if(SENSOR_1<42){ OnFwd(OUT_A);Off(OUT_C); }else if(SENSOR_1<52){ OnFwd(OUT_A);OnFwd(OUT_C); }else if(SENSOR_1<55){ Off(OUT_A);OnFwd(OUT_C); } else { OnRev(OUT_A);OnFwd(OUT_C); } if(SENSOR_1>40){ ClearTimer(0); } } n++; } sub hidari(){ while(FastTimer(0)<TMAX){ if(SENSOR_1<40){ OnRev(OUT_A);OnFwd(OUT_C); }else if(SENSOR_1<42){ Off(OUT_A);OnFwd(OUT_C); }else if(SENSOR_1<52){ OnFwd(OUT_A);OnFwd(OUT_C); }else if(SENSOR_1<55){ OnFwd(OUT_A);Off(OUT_C); } else { OnFwd(OUT_A);OnRev(OUT_C); } if(SENSOR_1>40){ ClearTimer(0); } } n++; } task main(){ power(0); SetSensor(SENSOR_1,SENSOR_LIGHT); ClearTimer(0); while(true){ if(n==0){ migi(); KOUON; t_left;Wait(10); forward;Wait(40); ClearTimer(0); }else if(n==1){ hidari(); back;Wait(20); tomaru(80); TEION; t_left;Wait(30); forward;Wait(50); ClearTimer(0); }else if(n==2){ hidari(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }else if(n==3){ hidari(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }else if(n==4){ migi(); TEION; t_left;Wait(25); tomaru(80); forward;Wait(50); ClearTimer(0); }else if(n==5){ migi(); t_left;Wait(25); tomaru(80); TEION; forward;Wait(50); ClearTimer(0); }else if(n==6){ migi(); KOUON; t_right;Wait(50); forward;Wait(50); right;Wait(15); ClearTimer(0); }else if(n==7){ migi(); forward;Wait(15); t_right;Wait(70); forward;Wait(30); right;Wait(50); t_right;Wait(80); ClearTimer(0); }else if(n==8){ migi(); KOUON; t_left;Wait(10); forward;Wait(55); t_right;Wait(5); ClearTimer(0); }else if(n==9){ hidari(); back;Wait(20); tomaru(80); TEION; t_left;Wait(30); forward;Wait(50); ClearTimer(0); }else if(n==10){ hidari(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }else if(n==11){ hidari(); KOUON; t_right;Wait(15); forward;Wait(50); ClearTimer(0); }else if(n==12){ migi(); KOUON; t_right;Wait(50); forward;Wait(50); ClearTimer(0); }else if(n==13){ migi(); KOUON; t_left;Wait(25); forward;Wait(250); } Off(OUT_AC); } } ¡¡ *È¿¾Ê¡¦´¶ÁÛ [#ta686651]