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**Äê¿ô¤Ë¤Ä¤¤¤Æ [#fe9f02e1]
#define signal_can 11 //ÀѤà¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_move 12 //Âæ¼Ö¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_last 13 //ºÇ¸å¡¢¥´¡¼¥ë¤Î±ß¤ËÃÖ¤¯»Ø¼¨
**¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ [#vbae04f9]
#define turn_right(t) OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_AC); //±¦¤Øt/100Éòóž
#define turn_left(t) OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_AC); //º¸¤Øt/100Éòóž
#define back(t) OnFwd(OUT_AC); Wait(t); Off(OUT_AC); //t/100ÉøåÂà
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sub move_can() //´Ì¤òÀѤàÁ°¤ÈÀѤó¤Ç¤¤¤ëºÇÃæ¤ÎÆ°¤
{
OnRev(OUT_AC);
until(Message() == signal_can); //´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤ÇÁ°¿Ê
OnRev(OUT_AC); //´Ì¤È¤Îµ÷Î¥¤òµÍ¤á¤ë¤¿¤á150/100ÉÃÁ°¿Ê
Wait(150);
Off(OUT_AC);
until(Message() == signal_move); //´Ì¾å¤²½ª¤ï¤ë¤Þ¤ÇÄä»ß
}
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sub last() //ºÇ¸å¤Ë´Ì¤ò¥´¡¼¥ë¤ËÃÖ¤¯Éôʬ¤ÎÆ°¤
{
turn_left(31); //º¸¤Ø31/100Éòóž
SendMessage(signal_last); //´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à¤Ø¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë
until(Message() == signal_move);
back(100); //´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à¤«¤é¥á¥Ã¥»¡¼¥¸¤¬¤¤¿¸å¡¢100/100Éøå¿Ê
}
**main´Ø¿ô¤Ë¤Ä¤¤¤Æ [#n6ccc4a8]
task main()
{
ClearMessage();
move_can(); //EÃÏÅÀ¤Î´Ì¤òÄϤà°ÌÃ֤ޤǰÜÆ°
turn_right(80); //80/100Éñ¦²óž
move_can(); //TÃÏÅÀ¤Î´Ì¤òÄϤà°ÌÃ֤ޤǰÜÆ°
last(); //´Ì¤ò¥´¡¼¥ëÃæ¿´¤Þ¤Ç±¿¤Ó¡¢´Ì¤òÃÖ¤¯
}
*´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à [#o967a6c9]
**Äê¿ô¤Ë¤Ä¤¤¤Æ [#i4ebfba7]
#define signal_can 11 //ÀѤà¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_move 12 //Âæ¼Ö¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
#define signal_last 13 //ºÇ¸å´Ì¤ò¥´¡¼¥ë¤ËÃÖ¤¯»Ø¼¨
#define close OnFwd(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë
#define can_find 28 //´ÌȽÊ̤λþ¤Ë»È¤ï¤ì¤ë¸÷¥»¥ó¥µ¡¼¤ÎïçÃÍ
#define can_find 28 //¸÷¥»¥ó¥µ¡¼¤ÎïçÃͤ¬28¤È¤Ê¤Ã¤¿¾ì¹ç´Ì¤¬ÌܤÎÁ°¤Ë¤¢¤ë¤ÈȽÃÇ
**¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ [#ba6860f3]
#define open(t) OnRev(OUT_B); Wait(t); Off(OUT_B); //¥¢¡¼¥à¤òt/100É󫤯
#define can_up(t) OnRev(OUT_A); Wait(t); Off(OUT_A); //¥¢¡¼¥à¤òt/100Éþ夲¤ë
#define can_down(t) OnFwd(OUT_A); Wait(t); Off(OUT_A); //¥¢¡¼¥à¤òt/100Éò¼¤²¤ë
**sub´Ø¿ô¤Ë¤Ä¤¤¤Æ [#jd3e29e1]
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sub hazime() //Æ°¤»Ï¤á¡Ê´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤Ç¤Ï²¿¤â¤·¤Ê¤¤¡Ë
{
Off(OUT_AB);
until(SENSOR_2 < can_find);
SendMessage(signal_can);
Wait(150); //´Ì¤È¤Îµ÷Î¥¤òµÍ¤á¤Æ¤¤¤ë´Ö¾¯¤·ÂÔ¤Ä
}
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sub ageru() //´Ì¤ò»ý¤Á¾å¤²¤ë
{
close;
can_up(200);
SendMessage(signal_move);
}
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sub idoutyuu() //°ÜÆ°Ãæ´Ì¤ò¾å¤²¤ë(½Å¤µ¤Ç¾¯¤·²¼¤¬¤Ã¤Æ¤¯¤ë¤Î¤Ç¡Ë
{
while(SENSOR_2 < can_find){
can_up(10);
Wait(20);
}
}
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sub tumu() //´Ì¤òÀѤà
{
can_up(20); //¾å¤Þ¤Ç20/100Éþ夲¤ë
SendMessage(signal_can);
can_down(100); //´Ì¤ò¹ç¤ï¤»¤ë
open(100); //³«¤¤¤Æ
can_down(100); //²¼¤Þ¤Ç²¼¤²¤Æ¼¡¤Î´Ì¤ò»ý¤Á¾å¤²¤ë½àÈ÷
}
¸Þ¤ÄÌÜ¤Î¥×¥í¥°¥é¥à¤ÏºÇ¸å¤Ë´Ì¤ò¥´¡¼¥ë¤ËÃÖ¤¯»þ¤ËÍøÍѤ¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub last() //ºÇ¸å¥´¡¼¥ë¤Ë´Ì¤òÃÖ¤¯»þ
{
until(Message() == signal_last);
can_down(200);
SendMessage(signal_move);
}
**main´Ø¿ô¤Ë¤Ä¤¤¤Æ [#b8edbd69]
task main()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
hazime();
ageru();
idoutyuu();
tumu();
ageru();
last();
}
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