[[2017a/Member]]
#contents
*課題について [#a519caec]
**右折ルート [#y0d1034e]
*ロボットについて [#je0a9760]
*プログラムについて [#g50bed2d]
#define white 50
#define white_gray 48
#define gray 40
#define black_gray 37
#define black 35
**defineとsubrutine [#c6aa0b20]
***define [#j5028005]
 #define white 50

 #define white_gray 48

 #define gray 40

 #define black_gray 37

 #define black 35

#define go_forward OnFwd(OUT_AC);
#define turn_left0 Off(OUT_A);OnFwd(OUT_C);
#define turn_left1 OnRev(OUT_A);OnFwd(OUT_C);
#define turn_right0 Off(OUT_C);OnFwd(OUT_A);
#define turn_right1 OnRev(OUT_C);OnFwd(OUT_A);


***subrutine [#x123b074]
sub walk_right()
{
  ClearTimer(0);
&nbsp;while(FastTimer(0)<15)
&nbsp; if(SENSOR_2>white_gray){
&nbsp;turn_left1;
&nbsp;&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>gray){
&nbsp;turn_left0;
&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>black_gray){
&nbsp;go_forward;
&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>black){
&nbsp;turn_right0;
&nbsp; ClearTimer(0);
}
&nbsp;else{
&nbsp;turn_right1;
}
Off(OUT_AC);
}

sub walk_left()
{
&nbsp; ClearTimer(0);
&nbsp;while(FastTimer(0)<15)
&nbsp; if(SENSOR_2>white_gray){
&nbsp;turn_right1;
&nbsp;&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>gray){
&nbsp;turn_right0;
&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>black_gray){
&nbsp;go_forward;
&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>black){
&nbsp;turn_left0;
&nbsp; ClearTimer(0);
}
&nbsp;else{
&nbsp;turn_left1;
}
Off(OUT_AC);
}

task main()
{
&nbsp;&nbsp; SetSensor(SENSOR_2,SENSOR_LIGHT);

walk_right();
PlaySound(SOUND_UP);
&nbsp; OnFwd(OUT_AC);
&nbsp; Wait(30);
&nbsp; Off(OUT_AC);

walk_left();
PlaySound(SOUND_DOWN);
Wait(100);
OnFwd(OUT_C);
Wait(150);
&nbsp; Off(OUT_AC);

walk_left();
PlaySound(SOUND_UP);
OnFwd(OUT_AC);
Wait(50);
Off(OUT_AC);

walk_left();
Off(OUT_AC);
PlaySound(SOUND_UP);
OnFwd(OUT_AC);
Wait(50);
Off(OUT_AC);

walk_right();
PlaySound(SOUND_DOWN);
Wait(100);
OnFwd(OUT_AC);
Wait(50);
Off(OUT_AC);

walk_right();
PlaySound(SOUND_DOWN);
Wait(100);
OnFwd(OUT_AC);
Wait(50);
Off(OUT_AC);

walk_right();
PlaySound(SOUND_UP);
OnFwd(OUT_A);
Wait(280);
Off(OUT_AC);

&nbsp;ClearTimer(0);
&nbsp;while(FastTimer(0)<30)
&nbsp; if(SENSOR_2>white_gray){
&nbsp;turn_left1;
&nbsp;&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>gray){
&nbsp;turn_left0;
&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>black_gray){
&nbsp;go_forward;
&nbsp; ClearTimer(0);
}
&nbsp; else if(SENSOR_2>black){
&nbsp;turn_right0;
&nbsp; ClearTimer(0);
}
&nbsp;else{
&nbsp;turn_right1;
}
Off(OUT_AC);
OnFwd(OUT_A);
Wait(270);
walk_right();
PlaySound(SOUND_UP);
&nbsp; OnFwd(OUT_AC);
&nbsp; Wait(30);
&nbsp; Off(OUT_AC);

walk_left();
PlaySound(SOUND_DOWN);
Wait(100);
OnFwd(OUT_C);
Wait(150);
&nbsp; Off(OUT_AC);

walk_left();
PlaySound(SOUND_UP);
OnFwd(OUT_AC);
Wait(50);
Off(OUT_AC);

walk_left();
PlaySound(SOUND_UP);
OnFwd(OUT_AC);
Wait(50);
Off(OUT_AC);

walk_right();
PlaySound(SOUND_UP);
OnFwd(OUT_A);
Wait(280);
Off(OUT_AC);

walk_right();
PlaySound(SOUND_DOWN);
}


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