CENTER:&size(30){¥»¥ó¥µ¡¼¤ò»ÈÍѤ·¤Æ¥í¥Ü¥Ã¥È¤Ë¤»¤ó¤ò¤Ê¤¾¤é¤»¤ë}; *Ìܼ¡ [#f1518d93] #contents() *³µÍ× [#ya7e31ca] ¡¡º£²ó¤Î²ÝÂê¤Ï²¼¿Þ¤Î¤è¤¦¤ÊÉý20mm¤ÎÀþ¤ò½ñ¤¡¢A¤«¤éS¤ò·è¤á¤é¤ì¤¿½ç½ø¤ÇÄ̤ꡢƻÃæ¤Î·è¤á¤é¤ì¤¿²Õ½ê¤Ç¥³¥Ã¥×¤ò¼è¤êÊ̤βսê¤Ø°ÜÆ°¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤À¡£¶Ø»ß»ö¹à¤È¤·¤Æ¡[~Éøå¤Ë~¤Î¹ÔÆ°¤ò¤¹¤ë]¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤Ï¤·¤Ê¤¤¤³¤È¡£¢Àþ¤ÎÂÀ¤µ¤òÊѤ¨¤Ê¤¤¤³¤È¡£ ¡¡»ä¤¬Ä̤俥롼¥È¤Ï DÃÏÅÀ¤Ø(¥¹¥¿¡¼¥È)¢ªC¤òľ¿Ê¢ªB¤òº¸ÀÞ¢ªP¤òº¸ÀÞ¢ªQ¤òľ¿Ê¢ªR¤òº¸ÀÞ¢ªF¤òº¸ÀÞ¢ªS¤òľ¿Ê¢ªYÃÏÅÀ¤Î»æ¥³¥Ã¥×¤ò¼èÆÀ¤·¤Æ¥³¡¼¥¹¤ËÌá¤ë¢ªS¤òľ¢ªQ¤òº¸ÀÞ¢ªR¤òľ¿Ê¢ªXÃÏÅÀ¤Ë»æ¥³¥Ã¥×¤òÃÖ¤¤¤Æ¥³¡¼¥¹¤ËÌá¤ë¢ªP¤òº¸ÀÞ¢ªB¤òº¸ÀÞ(°ì»þÄä»ß)¢ªAÃÏÅÀ¤Ø(¥´¡¼¥ë) *À½ºî¤·¤¿¥í¥Ü¥Ã¥È [#pddf4bfc] *»ÈÍѤ·¤¿¥×¥í¥°¥é¥ß¥ó¥° [#ofad1f7d] #define THRESHOLD 47//Çò¤ÎºÇ¹â53¡¢¹õºÇÄã38 #define forward(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);//ľ¿Ê #define leftSENKAI OnFwd(OUT_C);OnRev(OUT_A);//º¸Àû²ó #define left OnFwd(OUT_C);Off(OUT_A);//º¸¥«¡¼¥Ö #define rightSENKAI OnFwd(OUT_A);OnRev(OUT_C);//±¦Àû²ó #define LINEsyusei rightSENKAI;Wait(25);forward(30);//¸òº¹ÅÀ¸å¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë #define P SetPower(OUT_AC,5); sub right_Line() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<=26) { if(SENSOR_2>THRESHOLD+5) { leftSENKAI; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+4) { left; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>THRESHOLD-4) { right; ClearTimer(0); } else { rightSENKAI; } } Off(OUT_AC); } sub right_Linehalf() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<=18) { if(SENSOR_2>THRESHOLD+5) { leftSENKAI; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+4) { left; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>THRESHOLD-4) { right; ClearTimer(0); } else { rightSENKAI; } } } sub left_Line() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<=26) { if(SENSOR_2>THRESHOLD+5) { rightSENKAI; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+4) { right; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>THRESHOLD-4) { left; ClearTimer(0); } else { leftSENKAI; } } Off(OUT_AC); } sub left_Linehalf() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<=12) { if(SENSOR_2>THRESHOLD+5) { rightSENKAI; ClearTimer(0); } else if(SENSOR_2>THRESHOLD+4) { right; ClearTimer(0); } else if(SENSOR_2>THRESHOLD) { P; OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>THRESHOLD-4) { left; ClearTimer(0); } else { leftSENKAI; } } } task main() { left_Line(); LINEsyusei; int B; for (B=1; B<=4; B++){ left_Line(); } Wait(100); left_Linehalf(); forward(30); right; Wait(30); ClearTimer(1); while(FastTimer(1)<=1300) { left_Line(); } int C; for (C=1; C<=2; C++){ left_Line(); } Wait(100); forward(40); leftSENKAI; Wait(98); Off(OUT_AC); OnRev(OUT_B); Wait(70);//Yget Off(OUT_B); rightSENKAI; Wait(80); left_Line(); Wait(100); LINEsyusei; int D; for (D=1; D<=2; D++){ left_Line(); } Wait(100); left_Linehalf(); forward(30); OnFwd(OUT_B); Wait(20);//Bdown Off(OUT_B); right; Wait(40); int E; for (E=1; E<=4; E++){ left_Line(); } LINEsyusei; forward(100); } *¶ìÏ«¤·¤¿ÅÀ¤Î³µÍ× [#n870a4d3] ¡¡º£²ó¡¢»ä¤¬ºÇ¤â¶ìÏ«¤·¤¿ÅÀ¤ÏP-S¤Î¥×¥í¥°¥é¥ß¥ó¥°¤À¤Ã¤¿¡£Æäˡ¢P-Q¤Ë¤ª¤¤¤Æ¥»¥ó¥µ¡¼¤¬Q¤Î¸òº¹ÅÀÉôʬ¤ò¸òº¹ÅÀ¤ÈȽÃǤµ¤»¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤³¤È¤À¡£½é¤á¤Ï¡¢¶Ø»ß»ö¹à¡¤Î[~Éøå¤Ë~¤ò¤¹¤ë]¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤òÁȤó¤Ç¤¤¤¿¤â¤Î¤Î¡¢ÅÓÃæ¤Ç¶Ø»ß¤ÈÄÌ㤬¤¢¤êÃÇÇ°¡£(¤½¤â¤½¤â¤½¤ì¤ÇP-Q¤òÄ̤뤳¤È¤¬½ÐÍ褿¤«¤ÏÉÔÌÀ¤À¤¬) **¶ñÂÎŪ¤ÊÆâÍÆ[P-Q] [#v6c341b2] ¡¡²þÁ±ÅÀ¤È¤·¤Æµó¤²¤é¤ì¤¿¤Î¤Ï¡sub CIRCLE¤Î¸òº¹ÅÀȽÃǤλþ´Ö¤ò½Ì¤á¤ë¢¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òÄ㤯¤·¤Æ;·×¤Ê¾ðÊó¤ò¾Ê¤¯£¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òµ¡ÂΦ¤Ë¶á¤Å¤±¤ë¤³¤È¤Ç¸òº¹ÅÀȽÃǤλþ´Ö¤ò¿¤Ð¤¹¤THRESHOLD¤Î *´¶ÁÛ [#f32aa008]