[[2017a/Member]]

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*¶îÆ°¥×¥í¥°¥é¥à [#sa1c98c7]
º£²ó¼«Ê¬¤Ï¥×¥í¥°¥é¥àºîÀ®¤Ë¤Ï¤¢¤Þ¤ê´Ø¤ï¤Ã¤Æ¤¤¤Ê¤¤¤¬¡¢²ÝÂê2¤Ç»È¤Ã¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤ò±þÍѤ·¤Æºî¤Ã¤Æ¤¢¤ë¡£»þ´Ö¤Î´Ø·¸¤ÇÀѤ߾夲¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢·ÐÏ©¾å¤Ë¤¢¤ë´Ì¤ò½¸¤á¤ë¤è¤¦¤Ê¥×¥í¥°¥é¥à¤ËÊѹ¹¤·¤¿¡£
**ÄêµÁÉôʬ [#jab40b4d]
 #define go_forward OnFwd(OUT_AC);//Á°¿Ê
 #define turn_right OnFwd(OUT_A);//±¦ÀÞ
 #define turn_left OnFwd(OUT_C);//º¸ÀÞ
 #define migisenkai OnFwd(OUT_A); OnRev(OUT_C);//±¦Àû²ó
 #define hidarisenkai OnFwd(OUT_C); OnRev(OUT_A);//º¸Àû²ó
 #define power(s) SetPower(OUT_AC,s); //¥â¡¼¥¿¡¼¤Î½ÐÎϤ¬Êѹ¹²Äǽ
 #define sound1 PlaySound(SOUND_UP);
 #define sound2 PlaySound(SOUND_DOWN);Wait(100);
 #define GO(t) OnFwd(OUT_AC); Wait(t); Off(OUT_AC);//Á°¿Ê»þ´ÖÊѹ¹²Äǽ
 #define SIGNALGRAB 100
 #define SIGNALBACK 200
 #define back(u) OnRev(OUT_AC); Wait(u); Off(OUT_AC);//¸åÂà»þ´ÖÊѹ¹²Äǽ

 sub trace2()//¸òº¹ÅÀ¤ÎȽÃǤʤɤϲÝÂê­¶¤Î»þ¤ÈƱÍÍ
 {
     ClearTimer(0); 
 
     while (FastTimer(0)<=25){
         if (SENSOR_1 > 49){//±¦Àû²ó
             migisenkai; ClearTimer(0);
         } else if (SENSOR_1 > 44){//±¦ÀÞ
             turn_right; ClearTimer(0);
         } else if (SENSOR_1 > 40){//Á°¿Ê
             go_forward; ClearTimer(0);
         } else if (SENSOR_1 > 36){//º¸ÀÞ
             turn_left; ClearTimer(0);
         } else if (SENSOR_1 > 33){//º¸Àû²ó
             hidarisenkai;//¥¿¥¤¥Þ¤ò¥ê¥»¥Ã¥È¤·¤Ê¤¤
         }
     }
     Off(OUT_AC);
 }    

 
 sub hidari1()
 {
     sound1;
     go_forward;
     Wait(20);
     hidarisenkai;
     Wait(40);
     turn_left;
     Wait(30);
 } 
 
 sub hidari2()
 {
     sound2;
     go_forward;
     Wait(20);
     hidarisenkai;
     Wait(40);
     turn_left;
     Wait(30);
 }
**Æ°ºî¥×¥í¥°¥é¥à [#xc54c0ec]
 task main()
 {
     SetSensor(SENSOR_1, SENSOR_LIGHT);
     power(4);//¥â¡¼¥¿¡¼¤Î½ÐÎϤòÄ´À°¡£²ÝÂê­¶¤Î»þ¤Ï0¤Ç¤¢¤Ã¤¿¤¬¡¢0¤Î¾ì¹ç¤Ç¤Ï½ÐÎϤ¬Â­¤ê¤Ê¤«¤Ã ¤¿¤Î¤Ç¡¢Á°²ó¤Î²ÝÂê¤Î¤È¤­¤è¤ê¤â½ÐÎϤò¹â¤á¤¿¡£
     ClearMessage();
 
     GO(100);//¥¹¥¿¡¼¥ÈÏȤ«¤éÁ°¿Ê
 
     trace2();//A-F¶è´Ö
     hidari1();//F¤òº¸ÀÞ
 
     trace2();//F-Q¶è´Ö
     hidari2();//Q¤òº¸Êý¸þ
 
     trace2();//Q-R¶è´Ö
     hidari1();//R¤òº¸ÀÞ¤·¡¢T¤Ë¸þ¤«¤¦
 
     trace2();//R-T
     GO(200);//Á°¿Ê¤·¤Æ¥´¡¼¥ë¤ÎÃæ¤ËÆþ¤ë
 
     SendMessage(SIGNALGRAB);//¥´¡¼¥ë¤Î°ÌÃÖ¤ËÅþÃ夷¤¿¤³¤È¤òÃΤ餻¤ë¡£¥¢¡¼¥à¦¤Ï¤³¤ì¤ò¼õ¤± ¼è¤Ã¤¿¤é¥¢¡¼¥à¤òÆ°¤«¤·¤Æ´Ì¤¬¥´¡¼¥ë¤ÎÎΰè¤ËÆþ¤ë¤è¤¦¤Ë¤¹¤ë
     while(true){
         until (Message() == SIGNALBACK);//SIGNALBACK¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔ¤Ä
         back(300);//¸åÂह¤ë
     }
 }
*¥¢¡¼¥à¥×¥í¥°¥é¥à [#x484e89f]
**ÄêµÁÉôʬ [#h0cfea86]
 #define grab OnFwd(OUT_C); Wait(100); Off(OUT_C);//¥¢¡¼¥à¤Ç´Ì¤ò¤Ä¤«¤à
 #define relese OnRev(OUT_C); Wait(100); Off(OUT_C);//¥¢¡¼¥à¤Ç´Ì¤òÎ¥¤¹
 #define rift_up OnFwd(OUT_A); Wait(700); Off(OUT_A);//¥ê¥Õ¥È¤ò»ý¤Á¾å¤²¤ë
 #define rift_down1 OnRev(OUT_A); Wait(200); Off(OUT_A);//¥ê¥Õ¥È¤ò¼¡¤Î´Ì¤Î¹â¤µ¤Þ¤Ç²¼¤²¤ë 
 #define rift_down2 OnRev(OUT_A); Wait(300); Off(OUT_A);//¥ê¥Õ¥È¤ò¼¡¤Î´Ì¤Î¤Ä¤«¤à¹â¤µ¤Þ¤Ç²¼ ¤²¤ë¡£¤Ä¤Þ¤ê¤Ï¤¸¤á¤Î¹â¤µ¤Þ¤Ç²¼¤²¤ë
 #define SIGNALGRAB 100
 #define SIGNALBACK 200
 #define grab2(s) OnFwd(OUT_C); Wait(s); Off(OUT_C);//´Ì¤òÄϤà»þ´ÖÊѹ¹²Äǽ
 #define relese(t) OnRev(OUT_C); Wait(t); Off(OUT_C);//´Ì¤òÎ¥¤¹»þ´ÖÊѹ¹²Äǽ
**Æ°ºî¥×¥í¥°¥é¥à [#hba65ea0]
 task main()
 {
     SetSensor(SENSOR_1,SENSOR_TOUCH);//¥»¥ó¥µ¡¼1¤Ë¥¿¥Ã¥Á¥»¥ó¥µ
     ClearMessage();
     int count;//ÊÑ¿ô¤òÄêµÁ
     count=0;
 
     while (count<1){//count¤¬1̤Ëþ¤Î»þ¥ë¡¼¥×¤ËÆþ¤ë
         ClearMessage();//Message¤ÎÃͤò0¤Ë½é´ü²½
         if (Message() == SIGNALGRAB){//SIGNALGRAB¤ò¼õ¿®¤·¤¿¤écount¤Ë1¤¬Â­¤µ¤ì¤ë¡£¼õ¿®¤·¤¿ ¤é¥ë¡¼¥×¤òÈ´¤±½Ð¤¹¡£
             count++;
         } else count = 0;//¤½¤¦¤Ç¤Ê¤±¤ì¤Ðcount¤Ï0
         
     }
     grab2(50);//´Ì¤ò¥´¡¼¥ëÆâ¤Ë¤Þ¤È¤á¤ë¤¿¤á¤Ë¥¢¡¼¥à¤òÆ°¤«¤¹
     relese(70);//Â礭¤á¤Ë¥¢¡¼¥à¤ò³«¤¤¤Æ´Ì¤ò´°Á´¤ËÎ¥¤¹
     SendMessage(SIGNALBACK);//¸åÂह¤ë¤è¤¦¤ËÅÁ¤¨¤ë¡£
 
 }
*´¶ÁÛ [#z1a9f502]
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