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#contents
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*¥í¥Ü¥Ã¥È [#h34081ac]
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**RIS¡¡¡¥¢¡¼¥àÉôʬ¤Î¾å²¼¤ò¹Ô¤¦ [#qfd165b5]
ÄêµÁ
#define up(t) OnRev(OUT_A);Wait(t);Off(OUT_A);//tÉþ夲¤ë
#define down(t) OnFwd(OUT_A);Wait(t);Off(OUT_A);//tÉò¼¤²¤ë
#define st(t) Off(OUT_A);Wait(t);//tÉÃÂÔµ¡
#define up(t) OnRev(OUT_A);Wait(t);Off(OUT_A); //tÉþ夲¤ë
#define down(t) OnFwd(OUT_A);Wait(t);Off(OUT_A); //tÉò¼¤²¤ë
#define st(t) Off(OUT_A);Wait(t); //tÉÃÂÔµ¡
¥á¥¤¥ó¥×¥í¥°¥é¥à
task main ()
{
Wait(870);//XÃÏÅÀ¤ËÃ夯¤Þ¤Ç¤Î»þ´Ö
up(30);//¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë
st(200);//³ä¤ê¤Ð¤·¤ÎÀµÊý·Á¤ÎÃæ¤Ë¥³¥Ã¥×¤¬Æþ¤ë¤Þ¤ÇÂÔµ¡
down(30);//¥³¥Ã¥×¤ò²¼¤í¤¹
Wait(870); //XÃÏÅÀ¤ËÃ夯¤Þ¤Ç¤Î»þ´Ö
up(30); //¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë
st(200); //³ä¤ê¤Ð¤·¤ÎÀµÊý·Á¤ÎÃæ¤Ë¥³¥Ã¥×¤¬Æþ¤ë¤Þ¤ÇÂÔµ¡
down(30); //¥³¥Ã¥×¤ò²¼¤í¤¹
}
ÊÑ¿ô£ô¤ÎÃͤϡ¢¾¯¤·¤º¤ÄÃͤòÊѤ¨Å¬Àڤʤâ¤Î¤òÄ´¤Ù¤¿¡£
**RIS¢¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¥¢¡¼¥à¤Î³«ÊĤò¹Ô¤¦RIS [#i7353e58]
**RIS¢¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¥¢¡¼¥à¤Î³«ÊĤò¹Ô¤¦ [#i7353e58]
ÄêµÁ
#define rightSENKAI OnFwd(OUT_C);OnRev(OUT_A);//±¦Àû²ó
#define rightMAGARU OnFwd(OUT_C);Off(OUT_A);//±¦ÀÞ
#define ch OnFwd(OUT_B);Wait(30);Off(OUT_B);//¥¢¡¼¥à¤ò
#define re OnRev(OUT_B);Wait(20);Off(OUT_B);//¥¢¡¼¥à¤ò
#define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);//£ôÉÃÁ°¿Ê
#define back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC);//£ôÉøåÂà
#define cross_stop Off(OUT_AC);Wait(100);//1Éûߤޤë
#define carb 46//ïçÃÍ
#define leftSENKAI OnFwd(OUT_A);OnRev(OUT_C); //º¸Àû²ó
#define leftMAGARU OnFwd(OUT_A);Off(OUT_C); //º¸ÀÞ
#define rightSENKAI OnFwd(OUT_C);OnRev(OUT_A); //±¦Àû²ó
#define rightMAGARU OnFwd(OUT_C);Off(OUT_A); //±¦ÀÞ
#define ch OnFwd(OUT_B);Wait(30);Off(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë
#define re OnRev(OUT_B);Wait(20);Off(OUT_B); //¥¢¡¼¥à¤ò³«¤¯
#define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC); //£ôÉÃÁ°¿Ê
#define back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC); //£ôÉøåÂà
#define cross_stop Off(OUT_AC);Wait(100); //1Éûߤޤë
#define carb 46 //ïçÃÍ
¥é¥¤¥ó¥È¥ì¡¼¥¹
sub r()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_LIGHT); //ü»Ò2¤Ë¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
ClearTimer(0);
while(FastTimer(0)<=24)
{
if(SENSOR_2>carb+5)
{
leftSENKAI
ClearTimer(0);
while(FastTimer(0)<=24) //0.24ÉðÊÆâ¤Î¾ì¹ç¤Ï¥ë¡¼¥× Ķ¤¨¤¿¾ì¹ç¤Ï¸òº¹ÅÀ¤È¤·¤ÆȽÃÇ
{
if(SENSOR_2>carb+5) // ¥»¥ó¥µ¡¼¤¬ïçÃÍ¡Ü£µ¤ÎÃͤòĶ¤¨¤¿¤éº¸Àû²ó
{
leftSENKAI
ClearTimer(0);
}
else if(SENSOR_2>carb+3) //¥»¥ó¥µ¡¼¤¬ïçÃÍ¡Ü£³¤ÎÃͤòĶ¤¨¤¿¤éº¸ÀÞ
{
leftMAGARU
ClearTimer(0);
}
else if(SENSOR_2>carb) //¥»¥ó¥µ¡¼¤¬ïçÃͤòĶ¤¨¤¿¤éľ¿Ê
{
OnFwd(OUT_AC);
ClearTimer(0);
}
else if(SENSOR_2>carb-3) //¥»¥ó¥µ¡¼¤¬ïçÃÍ¡Ý£³¤ÎÃͤòĶ¤¨¤¿¤é±¦ÀÞ
{
rightMAGARU
ClearTimer(0);
}
else //¾åµ¤Î¤É¤Î¾ò·ï¤Ë¤âÅö¤Æ¤Ï¤Þ¤é¤Ê¤¤¤È¤¤Ë±¦Àû²ó
{
rightSENKAI
}
}
else if(SENSOR_2>carb+3)
{
leftMAGARU
ClearTimer(0);
}
else if(SENSOR_2>carb)
{
OnFwd(OUT_AC);
ClearTimer(0);
}
else if(SENSOR_2>carb-3)
{
rightMAGARU
ClearTimer(0);
}
else
{
rightSENKAI
}
}
Off(OUT_AC);
Off(OUT_AC);
}
¥á¥¤¥ó¥×¥í¥°¥é¥à
task main ()
{
go(30);
r();
go(30); //AÃÏÅÀ¤ÎÏȤ«¤é½Ð¤ë
r(); //A¡ÁB¥é¥¤¥ó¥È¥ì¡¼¥¹
leftSENKAI;
Wait(5);
re;
go(160);
cross_stop;
ch;
Wait(5); //0.05Éôֺ¸Àû²ó¤·¤Æ°ÌÃÖÄ´À°
re; //¥¢¡¼¥à¤ò³«¤¯
go(160); //ľÀþAB¤Î±äĹ¾å¤Ë¤¢¤ë¥³¥Ã¥×¤Ë¶á¤Å¤¯
cross_stop; //1ÉÃÄä»ß
ch; //¥¢¡¼¥à¤òÊĤ¸¥³¥Ã¥×¤ò¤Ä¤«¤à
rightSENKAI;
Wait(140);
cross_stop;
ch;
go(90);
cross_stop;
re;
back(100);
Wait(140); //1.4Éôֱ¦Àû²ó¤·¤Æ°ÌÃÖÄ´À°
cross_stop; //1ÉÃÄä»ß
ch; //¥³¥Ã¥×¤òÎ¥¤µ¤Ê¤¤¤è¤¦¤ËºÆ¤Ó¥¢¡¼¥à¤òÊĤ¸¤ë
go(90); //XÃÏÅÀ¤Ë¶á¤Å¤¯
cross_stop; //1ÉÃÄä»ß
re; //¥¢¡¼¥à¤ò³«¤XÃÏÅÀ¤Ë¥³¥Ã¥×¤òÃÖ¤¯
back(100); //1ÉøåÂष¤Æ°ÌÃÖÄ´À°
leftSENKAI;
Wait(30);
go(200);
Wait(30); //0.3Éú¸Àû²ó¤·¤Æ°ÌÃÖÄ´À°
go(200); //2ÉÃÁ°¿Ê¤·¤Æ°ÌÃÖÄ´À°
rightSENKAI;
Wait(40);
re;
go(250);
Wait(40); //0.4Éñ¦Àû²ó¤·¤Æ¾ã³²Êª¤ËÅö¤¿¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë
re; //¥¢¡¼¥à¤ò³«¤¯
go(250); //¸òº¹ÅÀQ¤Î¾å¤Ë¤¢¤ë¥³¥Ã¥×¤òËÜÂΤDz¡¤·¤Ê¤¬¤éYÃÏÅÀ¤Ë¸þ¤«¤¦
}
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