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#contents
*²ÝÂê¤Ë¤Ä¤¤¤Æ [#o42b2683]
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*¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#d95c8b9b]
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*¥×¥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¤Ë¤Ä¤¤¤Æ [#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¡×¤Î2¤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){ //·×¬Ãͤ¬ïçÃÍ40~42¤Î¾ì¹ç¡¢±¦²óž
OnFwd(OUT_A);Off(OUT_C);
}else if(SENSOR_1<52){ // ·×¬Ãͤ¬ïçÃÍ42~52¤Î¾ì¹ç¡¢Ä¾¿Ê
OnFwd(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_1<55){ //·×¬Ãͤ¬ïçÃÍ52~55¤Î¾ì¹ç¡¢º¸²óž
Off(OUT_A);OnFwd(OUT_C);
} else { //·×¬Ãͤ¬ïçÃÍ55°Ê¾å¤Î¾ì¹ç¡¢º¸Àû²ó
OnRev(OUT_A);OnFwd(OUT_C);
}
if(SENSOR_1>40){ //·×¬Ãͤ¬ïçÃÍ40°Ê¾å¤Î¾ì¹ç¡¢¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
ClearTimer(0);
}
}
n++; //º£²¿²óÌܤθòº¹ÅÀ¡¦µÞ¥«¡¼¥Ö¤Ê¤Î¤«¤ò¥«¥¦¥ó¥È
}
/*º¸¥é¥¤¥ó¥È¥ì¡¼¥¹*/
sub hidari(){
while(FastTimer(0)<TMAX){ //¸òº¹ÅÀ¡¦µÞ¥«¡¼¥Ö¤ÎȽÃǤò¹Ô¤¦¤¿¤áwhile¤Î¾ò·ï¼°¤ËTMAX¤ò»ÈÍÑ¡£
if(SENSOR_1<40){ //·×¬Ãͤ¬ïçÃÍ40°Ê²¼¤Î¾ì¹ç¡¢º¸Àû²ó
OnRev(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_1<42){ //·×¬Ãͤ¬ïçÃÍ40~42¤Î¾ì¹ç¡¢º¸²óž
Off(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_1<52){ //·×¬Ãͤ¬ïçÃÍ42~52¤Î¾ì¹ç¡¢Ä¾¿Ê
OnFwd(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_1<55){ //·×¬Ãͤ¬ïçÃÍ52~55¤Î¾ì¹ç¡¢±¦²óž
OnFwd(OUT_A);Off(OUT_C);
} else { //·×¬Ãͤ¬ïçÃÍ55°Ê¾å¤Î¾ì¹ç¡¢±¦Àû²ó
OnFwd(OUT_A);OnRev(OUT_C);
}
if(SENSOR_1>40){ //·×¬Ãͤ¬ïçÃÍ40°Ê¾å¤Î¾ì¹ç¡¢¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
ClearTimer(0);
}
}
n++; //º£²¿²óÌܤθòº¹ÅÀ¡¦µÞ¥«¡¼¥Ö¤Ê¤Î¤«¤ò¥«¥¦¥ó¥È
}
¡¡¤Þ¤º¡¢¼«Ê¬¤Î¥×¥í¥°¥é¥à¤Ë¤Ï·çÅÀ¤¬¤¢¤ë¡£¤½¤ì¤Ï¡¢±¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ïº¸ÀÞ¤¹¤ë»þ¡¢¥«¥¦¥ó¥È¤Ç¤¤Ê¤¤¤È¤¤¤¦¤³¤È¤À¡Ê¤³¤ì¤Ïº¸¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¾ì¹ç¤âÅö¤Æ¤Ï¤Þ¤ë¡Ë¡£¤Ê¤¼¤«¤È¤¤¤¦¤È¥¿¥¤¥Þ¡¼¤ÏïçÃÍ40°Ê¾å¤À¤È¥ê¥»¥Ã¥È¤µ¤ì¤ë¤¿¤á¡¢³°Â¦¤¬Çò¿§¡ÊïçÃÍ55°Ê¾å¡Ë¤À¤È¥ê¥»¥Ã¥È¤µ¤ì³¤±while´Ø¿ô¤«¤éæ½Ð¤¹¤ë¤³¤È¤¬¤Ç¤¤Ê¤¤¤Î¤Ç¤¢¤ë¡£
¡¡¤â¤·¡¢EÃÏÅÀľ¿Ê¥³¡¼¥¹¤Ê¤éº¸ÀÞ¤À¤±¤Ê¤Î¤Çº¸¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¤ß¤Ç´°Áö¤µ¤»¤ë¤³¤È¤¬²Äǽ¤Ç¤¢¤Ã¤¿¡£¤·¤«¤·¡¢EÃÏÅÀ±¦ÀÞ¥³¡¼¥¹¤Î¾ì¹ç¡¢±¦ÀÞ¡¦º¸ÀÞξÊý¤¢¤ë¤¿¤áº¸¥é¥¤¥ó¥È¥ì¡¼¥¹¤À¤±¤Ç¤Ê¤¯±¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤âɬÍפȤʤ롣
**main´Ø¿ô¤Ë¤Ä¤¤¤Æ [#p96285ee]
¡¡sub´Ø¿ô¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î»ÅÊý¤ò¥×¥í¥°¥é¥à¤·¤¿¤Î¤Çmain´Ø¿ô¤Ç¤Ï¼ç¤Ë¡¢sub´Ø¿ô¤«¤é½Ð¤¿¾ì¹ç¡Ê¸òº¹ÅÀ¡¢Ãú»úÏ©¡¢Ä¾³Ñ¥³¡¼¥Ê¤Ëº¹¤·³Ý¤«¤Ã¤¿¾ì¹ç¡Ë¤Î½èÍý¤ò¹Ô¤Ã¤Æ¤¤¤ë¡£
¡¡¤Þ¤¿¡¢³Æ¸òº¹ÅÀ¡¢Ãú»úÏ©¡¢Ä¾³Ñ¥³¡¼¥Ê¤Ë¤Ä¤¤¤Æ¤½¤ì¤¾¤ì¡¡Á®¤ÎÄ̤·ÈÖ¹æ¤ò¿¶¤ë¡£ÈÖ¹æ¤Ë¤Ä¤¤¤Æ¤Ï°Ê²¼¤Î¼Ì¿¿¤ò»²¹Í¤Ë¤»¤è¡£
#ref(./image7.JPG,20%,·×²è¿Þ)
¡¡¢¬ÀĤǽñ¤«¤ì¤¿Èֹ椬¤½¤ì¤¾¤ì¤ÎÄ̤·ÈÖ¹æ¤Ç¤¢¤ë¡£
¡¡¢¬ÀĤǽñ¤«¤ì¤¿Èֹ椬¤½¤ì¤¾¤ì¤ÎÄ̤·ÈÖ¹æ¤Ç¤¢¤ë¡£ºî¤ëÁ°¤Ë¼«Ê¬¤Ç¹Í¤¨¤Æºî¤Ã¤¿·×²è¿Þ¤Ê¤Î¤Ç±ø¤¤¡£
task main(){
power(0);
SetSensor(SENSOR_1,SENSOR_LIGHT);
ClearTimer(0);
while(true){
**¡¡Á¨¤Þ¤Ç [#qd6001cb]
¡±¦ÀÞ
if(n==0){
if(n==0){ //¡¤ÎÃú»úÏ©
migi();
KOUON;
KOUON; //¹â²»¤òÌĤ餹
t_left;Wait(10);
forward;Wait(40);
ClearTimer(0);
forward;Wait(40); //º¸¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¡¤Ç¤Ï¡¢Ãú»úÏ©¤òǧ¼±¤·¤¿¸å10/100Éú¸Àû²ó¤·¤¿¸å40/100ÉÃľ¿Ê¤µ¤»¤ë¡£¤³¤ì¤Ë¤è¤ê¡¢º¸¼ÖÀþ¡Êº¸Â¦¤ÎÇò¤È¹õ¤Î¶¡Ë¤Ø¥¹¥à¡¼¥º¤Ë°ÜÆ°¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£¤Ê¤¼º¸¼ÖÀþ¤Ø°ÜÆ°¤·¤¿¤«¤È¤¤¤¦¤È¼¡¤ÎÃú»úÏ©¤Çº¸ÀÞ¤¹¤ëɬÍפ¬¤¢¤ê¡¢±¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤À¤È¸úΨ¤è¤¯°ÜÆ°¤Ç¤¤Ê¤¤¤«¤é¤À¡£ºÇ¸å¤Ë¤³¤ì¤é¤Î½èÍý»þ´Ö¤ò¥ê¥»¥Ã¥È¤µ¤»¤Æº¸¥é¥¤¥ó¥È¥ì¡¼¥¹¤Îsub´Ø¿ô¤ØÆþ¤ë¡£
¢°ì»þÄä»ß¡Üº¸ÀÞ
else if(n==1){
else if(n==1){ //¢¤ÎÃú»úÏ©
hidari();
back;Wait(20);
tomaru(80);
TEION;
tomaru(80);¡¡//°ì»þÄä»ß
TEION; //Äã²»¤òÌĤ餹
t_left;Wait(30);
forward;Wait(50);
ClearTimer(0);
forward;Wait(50); //¼¡¤Îº¸¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¢¤Ç¤Ï¡¢Ãú»úÏ©¤òǧ¼±¤·¤¿¸å¡¢°ì»þÄä»ß¤·¤Æ¤«¤é30/100Éú¸Àû²ó¤·50/100ÉÃľ¿Ê¤µ¤»¼¡¤Îº¸¼ÖÀþ¤Ø°ÜÆ°¤µ¤»¤ë¡£¤Ê¤¼Æ±¤¸º¸¼ÖÀþ¤Ê¤Î¤Ë½èÍý¤ò¹Ô¤Ã¤¿¤«¤È¤¤¤¦¤È¡¢½èÍý¤·¤Ê¤±¤ì¤Ð¹õÀþ¾å¤ËTMAX°Ê¾å¸ºß¤·¤Æ¤·¤Þ¤¤¡¢ÊÑ¿ôn¤¬¥«¥¦¥ó¥È¤¹¤ë²ÄǽÀ¤¬¤¢¤ë¤«¤é¤À¡£
£Ä¾¿Ê
else if(n==2){
else if(n==2){ //£¤ÎÃú»úÏ©
hidari();
KOUON;
KOUON; //¹â²¹¤òÌĤ餹
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
forward;Wait(50); //¼¡¤Îº¸¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
£¤Ç¤Ï¡¢Ãú»úÏ©¤òǧ¼±¤·¤¿¸å¡¢15/100Éñ¦Àû²ó¤·¡¢50/100ÉÃľ¿Ê¤µ¤»¤ë¡£¤³¤Î¤³¤È¤Ë¤è¤ê¡¢¥¹¥à¡¼¥º¤Ë¼¡¤Îº¸¼ÖÀþ¤Ø°ÜÆ°¤Ç¤¤ë¡£
¤º¸ÀÞ
else if(n==3){
else if(n==3){ //¤¤ÎÃú»úÏ©
hidari();
KOUON;
KOUON; //¹â²»¤òÌĤ餹
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
forward;Wait(50); //¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¤¤Ç¤Ï¡¢Ãú»úÏ©¤òǧ¼±¤·¤¿¸å¡¢15/100Éñ¦Àû²ó¤·¡¢50/100ÉÃÁ´¿È¤·¤Æ¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°¤¹¤ë¡£¤³¤³¤Ç¤Ê¤¼±¦¼ÖÀþ¤ËÊѹ¹¤·¤¿¤Î¤«¤È¤¤¤¦¤È¼¡¤Î¥¤Î¸òº¹ÅÀ¤Ë¤ÏÌäÂê¤Ï¤Ê¤¤¤¬¡¢¤³¤Î¸å¤Î±ß·¿¤Îƻϩ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤¤¤Æ¡¢º¸¥é¥¤¥ó¥È¥ì¡¼¥¹¤À¤È¹õÀþ¾å¤ËTMAX°Ê¾å¸ºß¤·¤Æ¤·¤Þ¤¤ÊÑ¿ôn¤¬¥«¥¦¥ó¥È¤µ¤ì¤ë²ÄǽÀ¤¬¤¢¤ë¤Î¤ËÂФ·¡¢±¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤Ï¤³¤Î¤è¤¦¤ÊÌäÂ꤬À¸¤¸¤ë¤³¤È¤¬¤Ê¤¤¤«¤é¤À¡£±¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤¹¤ë¤³¤È¤ÇÌäÂ꤬À¸¤¸¤Ë¤¯¤¯¤Ê¤ë¤Î¤À¡£
¥°ì»þÄä»ß¡Üľ¿Ê
else if(n==4){
else if(n==4){ //¥¤Î¸òº¹ÅÀ
migi();
TEION;
tomaru(80); //°ì»þÄä»ß
TEION; //Äã²»¤òÌĤ餹
t_left;Wait(25);
tomaru(80);
forward;Wait(50);
ClearTimer(0);
}else if(n==5){
forward;Wait(50); //¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¥¤Ç¤Ï¡¢¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢°ì»þÄä»ß¤·¤Æ¤«¤é25/100Éú¸Àû²ó¤·50/100ÉÃľ¿Ê¤·¤Æ¼¡¤Î±¦¼ÖÀþ¤Ë°ÜÆ°¤¹¤ë¡£±¦¼ÖÀþ¤Ë¤¹¤ë¤³¤È¤Ë¤è¤ë¥á¥ê¥Ã¥È¤Ï¤¤ÇÀâÌÀ¤·¤¿¡£
¦°ì»þÄä»ß¡Üľ¿Ê
else if(n==5){ //¦¤Î¸òº¹ÅÀ
migi();
tomaru(80); //°ì»þÄä»ß
TEION; //Äã²»¤òÌĤ餹
t_left;Wait(25);
tomaru(80);
TEION;
forward;Wait(50);
ClearTimer(0);
}else if(n==6){
forward;Wait(50); //¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¦¤Ï¡¢¥¤ÈƱ¤¸¾ì¹ç¤Ê¤Î¤ÇƱ¤¸½èÍý¤ò¤¹¤ë
§±¦ÀÞ
else if(n==6){ //§¤Îľ³Ñ¥³¡¼¥¹
migi();
KOUON;
KOUON; //¹â²»¤òÌĤ餹
t_right;Wait(50);
forward;Wait(50);
right;Wait(15);
ClearTimer(0);
}else if(n==7){
right;Wait(15); //¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
§¤Ç¤Ï¡¢Ä¾³Ñ¥³¡¼¥¹¤Èǧ¼±¤·¤¿¸å¡¢50/100Éñ¦Àû²ó¤·50/100ÉÃľ¿Ê¤¹¤ë¡£¤³¤Î¤Þ¤Þ¤À¤È¹õÀþ¾å¤òTMAX°Ê¾å¤¤¤ÆÊÑ¿ôn¤¬¥«¥¦¥ó¥È¤µ¤ì¤Æ¤·¤Þ¤¦²ÄǽÀ¤¬¤¢¤ë¤Î¤Ç¤³¤Î½èÍý¤Ë²Ã¤¨15/100Éñ¦²óž¤¹¤ë¡£
¨µÞ¥«¡¼¥Ö
else if(n==7){ //¨¤ÎµÞ¥«¡¼¥Ö¥³¡¼¥¹
migi();
forward;Wait(15);
t_right;Wait(70);
forward;Wait(30);
right;Wait(50);
t_right;Wait(80);
ClearTimer(0);
}else if(n==8){
t_right;Wait(80); //ÊÑ¿ôn¤¬¥«¥¦¥ó¥È¤µ¤ì¤Ê¤¤½ê¤Þ¤Ç°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¨¤Ç¤ÏµÞ¥«¡¼¥Ö¤Ëº¹¤·³Ý¤«¤ë¤Î¤Ç¡¢°ìÅÙÊÑ¿ôn¤¬¥«¥¦¥ó¥È¤µ¤ì¤¿¸å¡¢ÊÑ¿ôn¤¬¥«¥¦¥ó¥È¤µ¤ì¤Ê¤¤½ê¤Þ¤Ç°ÜÆ°¤¹¤ë¤è¤¦½èÍý¤¹¤ë¡£
**©¡Á¬¤Þ¤Ç [#zb53621a]
©¡Á¬¤Î¹ÔÆ°¤Ï¤è¤¯¸«¤ë¤È¡¡Á¤¤Î¹ÔÆ°¤ÈÁ´¤¯°ì½ï¤Ç¤¢¤ë¤³¤È¤òǧ¼±¤·¤Æ¤Û¤·¤¤¡£¤Ä¤Þ¤ê¥×¥í¥°¥é¥à¤âÁ´¤¯°ì½ï¤Ë¤¹¤ì¤Ð¤è¤¤¡£
©±¦ÀÞ
else if(n==8){ //©¤Îľ³Ñ¥³¡¼¥¹
migi();
KOUON;
KOUON; //¹â²»¤òÌĤ餹¡£
t_left;Wait(10);
forward;Wait(55);
t_right;Wait(5);
ClearTimer(0);
}else if(n==9){
forward;Wait(40); //¼¡¤Îº¸¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¹ÔÆ°¤Ï©¤È¡Æ±¤¸¤Ê¤Î¤Ç¥×¥í¥°¥é¥à¤âƱ¤¸¤Ç¤¢¤ë¡£
ª°ì»þÄä»ß¡Üº¸ÀÞ
else if(n==9){ //ª¤ÎÃú»úÏ©
hidari();
back;Wait(20);
tomaru(80);
TEION;
tomaru(80); //°ì»þÄä»ß
TEION; //Äã²»¤òÌĤ餹
t_left;Wait(30);
forward;Wait(50);
ClearTimer(0);
}else if(n==10){
forward;Wait(50); //¼¡¤Îº¸¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¹ÔÆ°¤Ïª¤È¢Æ±¤¸¤Ê¤Î¤Ç¥×¥í¥°¥é¥à¤âƱ¤¸¤Ç¤¢¤ë¡£
«Ä¾¿Ê
else if(n==10){ //«¤ÎÃú»úÏ©
hidari();
KOUON;
KOUON; //¹â²»¤òÌĤ餹
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}else if(n==11){
forward;Wait(50); //¼¡¤Îº¸¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
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else if(n==11){ //¬¤ÎÃú»úÏ©
hidari();
KOUON;
KOUON; //¹â²»¤òÌĤ餹
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}else if(n==12){
forward;Wait(50); //¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
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else if(n==12){ //¤Îľ³Ñ¥³¡¼¥¹
migi();
KOUON;
KOUON; //¹â²»¤òÌĤ餹
t_right;Wait(50);
forward;Wait(50);
ClearTimer(0);
}else if(n==13){
forward;Wait(50); //¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°
ClearTimer(0); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
}
¤Ç¤Ï¡¢Ä¾³Ñ¥³¡¼¥¹¤Èǧ¼±¤·¤¿¸å¡¢50/100Éñ¦Àû²ó¤·¡¢50/100ÉÃľ¿Ê¤µ¤»¼¡¤Î±¦¼ÖÀþ¤Ø°ÜÆ°¤µ¤»¤ë¡£¤Ê¤¼±¦¼ÖÀþ¤«¤È¤¤¤¦¤È¡¢¤³¤ÎÀè¤ÎµÞ¥«¡¼¥Ö¤Ë¤ª¤¤¤Æº¸¥é¥¤¥ó¥È¥ì¡¼¥¹¤À¤È¹õÀþ¾å¤ËTMAX°Ê¾å¸ºß¤·¤ÆÊÑ¿ôn¤¬¥«¥¦¥ó¥È¤µ¤ì¤ë²ÄǽÀ¤¬¤¢¤ë¤Î¤ËÂФ·¡¢±¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤À¤È¤³¤Î¤è¤¦¤Ê¶²¤ì¤¬¤Ê¤¤¤«¤é¤À¡£
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else if(n==13){ //®¤Îľ³Ñ¥³¡¼¥¹
migi();
KOUON;
KOUON; //¹â²»¤òÌĤ餹
t_left;Wait(25);
forward;Wait(250);
forward;Wait(250); //¥¹¥¿¡¼¥ÈÃÏÅÀ¤Ø°ÜÆ°
}
Off(OUT_AC);
®¤Ç¤Ï¡¢Ä¾³Ñ¥³¡¼¥¹¤Èǧ¼±¤·¤¿¸å¡¢25/100Éú¸Àû²ó¤·¡¢250/100ÉÃľ¿Ê¤µ¤»¥¹¥¿¡¼¥ÈÃÏÅÀ¤Ø°ÜÆ°¤µ¤»¤ë¡£
Off(OUT_AC); //Ää»ß¤µ¤»¤ë
}
}
}
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