*課題2* [#p5eb685a] 指定の道をあらかじめ模造紙に描き、第1コース・第2コースそれぞれの道順に沿って製作したロボットを動かす。また、その途中に、350mlの空き缶を指定の位置から、指定の位置に運ぶ。 *コース* [#l49cfc9f] 第2コース *ロボットの説明* [#fbbc27ea] **車輪部分** [#k29f6177] 課題1と同様、シンプルな3輪構造で、前輪が2輪、後輪が1輪となっている。前輪の2輪が駆動し、後輪の2輪が自由に回転する。 **アーム** [#y0f7317f] #define DEEPWHITE SENSOR_1 > 48 #define WHITE SENSOR_1 > 44 #define BLACK SENSOR_1 < 40 #define DEEPBLACK SENSOR_1 < 36 #define RIGHT OnFwd(OUT_A,30);OnRev(OUT_C,30);Wait(1);Off(OUT_AC); #define BIT_RIGHT OnFwd(OUT_A,30);OnRev(OUT_C,10);Wait(1);Off(OUT_AC); #define LEFT OnFwd(OUT_C,30);OnRev(OUT_A,30);Wait(1);Off(OUT_AC); #define BIT_LEFT OnFwd(OUT_C,30);OnRev(OUT_A,10);Wait(1);Off(OUT_AC); #define STRAGHT OnFwd(OUT_AC,30);Wait(1);Off(OUT_AC); #define LEFT_LINE if(DEEPWHITE){RIGHT DAI -= 3;} else if(WHITE){BIT_RIGHT DAI -= 1;} else if(DEEPBLACK){LEFT DAI += 3;} else if(BLACK){BIT_LEFT DAI += 1;} else {STRAGHT DAI *= 0;} #define RIGHT_LINE if(DEEPWHITE){LEFT DAI -= 3;} else if(WHITE){BIT_LEFT DAI -= 1;} else if(DEEPBLACK){RIGHT DAI += 3;} else if(BLACK){BIT_RIGHT DAI += 1;} else {STRAGHT DAI *= 0;} #define OFF Off(OUT_AC); #define WAIT Wait(1000); #define CATCH OnFwd(OUT_AC,20);Wait(300);OFF OnFwd(OUT_B,30);Wait(300);Off(OUT_B);OnRev(OUT_AC,20);Wait(300);OFF #define RELEASE OnFwd(OUT_B,30);Wait(1000);Off(OUT_B);Wait(500);OnRev(OUT_B,30);Wait(500);Off(OUT_B); #define KANSU DAI < 150 #define SIMPLE_RIGHT OnFwd(OUT_A,40);OnRev(OUT_C,40); #define SIMPLE_LEFT OnFwd(OUT_C,40);OnRev(OUT_A,40); #define GO_STRAIGHT OnFwd(OUT_A,40);OnFwd(OUT_C,40);Wait(190);OFF #define MOVE_RIGHT SIMPLE_RIGHT Wait(750); OFF #define MOVE_LEFT SIMPLE_LEFT Wait(750); OFF task main() { SetSensorLight(S1); int DAI=0; while(KANSU){ RIGHT_LINE } OFF DAI *= 0; PlaySound(SOUND_DOWN); GO_STRAIGHT MOVE_RIGHT while(KANSU){ RIGHT_LINE } OFF DAI *= 0; PlaySound(SOUND_UP); WAIT CATCH OnFwd(OUT_B,10); GO_STRAIGHT MOVE_LEFT while(BLACK){ OnFwd(OUT_AC,20); } OFF repeat(2){ while(KANSU){ LEFT_LINE } OFF DAI *= 0; SIMPLE_RIGHT Wait(50); OFF while(BLACK){ OnFwd(OUT_AC,30); } OFF } while(KANSU){ LEFT_LINE } OFF PlaySound(SOUND_UP); WAIT DAI *= 0; OnFwd(OUT_AC,30); Wait(50); OFF SIMPLE_LEFT Wait(450); OFF while(KANSU){ LEFT_LINE } OFF DAI *= 0; while(BLACK){ OnFwd(OUT_A,30);OnFwd(OUT_C,30); } OFF while(KANSU){ RIGHT_LINE } OFF DAI *= 0; while(BLACK){ OnFwd(OUT_A,30);OnFwd(OUT_C,30); } OFF while(KANSU){ LEFT_LINE } OFF DAI *= 0; GO_STRAIGHT MOVE_LEFT while(KANSU){ LEFT_LINE } OFF WAIT DAI *= 0; GO_STRAIGHT MOVE_RIGHT while(BLACK){ OnFwd(OUT_A,30);OnFwd(OUT_C,30); } OFF while(KANSU){ RIGHT_LINE } OFF WAIT DAI *= 0; PlaySound(SOUND_UP); GO_STRAIGHT MOVE_RIGHT while(KANSU){ RIGHT_LINE } OFF SIMPLE_RIGHT Wait(50); OFF while(BLACK){ OnFwd(OUT_AC,30); } OFF while(KANSU){ RIGHT_LINE } OFF Off(OUT_B); WAIT RELEASE OnFwd(OUT_AC,30); Wait(80); OFF SIMPLE_RIGHT Wait(500); OFF while(KANSU){ RIGHT_LINE } OFF DAI *= 0; GO_STRAIGHT MOVE_RIGHT while(KANSU){ RIGHT_LINE } OFF WAIT DAI *= 0; PlaySound(SOUND_UP); while(BLACK){ OnFwd(OUT_A,30);OnFwd(OUT_C,29); } OFF while(KANSU){ RIGHT_LINE } OFF DAI *= 0; PlaySound(SOUND_FAST_UP); }