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*¥í¥Ü¥Ã¥ÈËÜÂΤÎÀâÌÀ [#m397acd1]
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*¥×¥í¥°¥é¥ß¥ó¥°¤ÎÀâÌÀ [#i3ca63fc]
**ÄêµÁ [#f16699a2]
#define cross_stop Off(OUT_AC);Wait(100);//¸òº¹ÅÀ¤Ç»ß¤Þ¤ë
#define TURN_RIGHT(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_AC);//±¦¤ËtÉöʤ¬¤ë
#define TURN_LEFT(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_AC);//º¸¤ËtÉöʤ¬¤ë
#define go_straight(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);//¤Þ¤Ã¤¹¤°tÉÿʤà
#define hold_can OnFwd(OUT_B);//´Ì¤ò¤Ä¤«¤à
#define releace_can OnRev(OUT_B);//´Ì¤òÊü¤¹
**¥µ¥Ö¥ë¡¼¥Á¥ó [#e681841b]
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sub Line_Left()//º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while(FastTimer(0)<=30){
if(SENSOR_2>=52){¡¡
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(5);
Off(OUT_A);
ClearTimer(0);
}else if(SENSOR_2>=48){
OnFwd(OUT_A);
Wait(5);
Off(OUT_A);
ClearTimer(0);
}else if(SENSOR_2>=43){¡¡
OnFwd(OUT_C);
Wait(5);
Off(OUT_C);
ClearTimer(0);
}else if(SENSOR_2>=41){
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(5);
Off(OUT_AC);
}
}
Off(OUT_AC);
}
sub Line_Right()//±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while(FastTimer(0)<=30){
if(SENSOR_2>=52){
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(5);
Off(OUT_AC);
ClearTimer(0);
}else if(SENSOR_2>=48){
OnFwd(OUT_C);
Wait(5);
Off(OUT_C);
ClearTimer(0);
}else if(SENSOR_2>=43){
OnFwd(OUT_A);
Wait(5);
Off(OUT_A);
ClearTimer(0);
}else if(SENSOR_2>=41){
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(5);
Off(OUT_AC);
}
}
Off(OUT_AC);
}
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sub Line_Lefts()//±ß¤Îº¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
¡¡¡¡ SetSensor(SENSOR_2,SENSOR_LIGHT);
¡¡¡¡ ClearTimer(0);
¡¡¡¡while(FastTimer(0)<=20){
¡¡¡¡¡¡ if(SENSOR_2>=48){
¡¡¡¡¡¡ OnFwd(OUT_A);
¡¡¡¡¡¡ Wait(5);
¡¡¡¡¡¡ Off(OUT_A);
¡¡¡¡¡¡ ClearTimer(0);
¡¡¡¡¡¡}else if(SENSOR_2>=43){
¡¡ OnFwd(OUT_C);
¡¡¡¡Wait(5);
¡¡¡¡Off(OUT_C);
¡¡¡¡ }
¡¡¡¡ }
¡¡¡¡Off(OUT_AC);
}
sub Line_Rights()//±ß¤Î±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
sub Line_Rights()
{
¡¡¡¡¡¡ SetSensor(SENSOR_2,SENSOR_LIGHT);
¡¡¡¡¡¡ ClearTimer(0);
¡¡¡¡¡¡ while(FastTimer(0)<=20){
¡¡¡¡¡¡¡¡ if(SENSOR_2>=48){
¡¡¡¡¡¡¡¡ OnFwd(OUT_C);
¡¡¡¡¡¡¡¡ Wait(5);
¡¡¡¡¡¡¡¡ Off(OUT_C);
¡¡ ClearTimer(0);
¡¡¡¡ }else if(SENSOR_2>=43){
¡¡¡¡¡¡OnFwd(OUT_A);
¡¡¡¡¡¡Wait(5);
¡¡¡¡¡¡Off(OUT_A);
¡¡¡¡¡¡}
¡¡ }
¡¡¡¡ Off(OUT_AC);
}
**¥¿¥¹¥¯¥á¥¤¥ó [#ca9db545]
#ref(./IMG_8135.jpg,70%,¥³¡¼¥¹¤Î¿Þ)
¢¨Line_Left¢ª²«¿§¡¢Line_Right¢ªÀÖ¿§¡¢ Line_Lefts¢ªÎп§¡¢Line_Rights¢ªÀÄ¿§
¥»¥ó¥µ¡¼¤¬Á°Îؤδ֤ˤ¢¤ë´Ø·¸¤Ç¡¢£¹£°¡ë¤Ë¶Ê¤¬¤ë¤È¤¤Ï°ìÅÙÁ°¿Ê¤·¤Æ¤«¤é¶Ê¤¬¤ë¤³¤È¤ÇÀµ³Î¤Ë¶Ê¤¬¤ë¤³¤È¤¬¤Ç¤¤ë
ÃÏÅÀH¡ÁG¤Ë¤«¤±¤Æ¤Î¶ÊÀþ¤ÏÅÓÃæ¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤·¡¢ÅÓÃ椫¤éÀþ¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤Ç³Î¼Â¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤¤ë¡£
{
Line_Right();
cross_stop;
go_straight(30);
TURN_RIGHT(65);//A~B
Line_Right();
cross_stop;
hold_can;
TURN_LEFT(50);//B~J
Line_Lefts();
cross_stop;//J~K
go_straight(30);
Line_Lefts();
cross_stop;//K~L
go_straight(30);
Line_Lefts();
cross_stop;//L~I
go_straight(30);
TURN_LEFT(50);
Line_Left();
cross_stop;
go_straight(60);
TURN_LEFT(65);//I~H
Line_Right();
cross_stop;
go_straight(30);
Line_Left();
cross_stop;
go_straight(30);
TURN_LEFT(65);
Line_Left();
cross_stop;
go_straight(30);
TURN_RIGHT(65);//H~G
Line_Left();
cross_stop;
TURN_RIGHT(50);//G~F
Line_Rights();
¡¡¡¡cross_stop;
¡¡¡¡go_straight(30);
¡¡¡¡Line_Rights();
cross_stop;
TURN_LEFT(65);
releace_can;
TURN_RIGHT(130);//F~D
Line_Right();
cross_stop;
go_straight(30);
TURN_RIGHT(65);
Line_Right();
cross_stop;//D~C
go_straight(30);
Line_Right();
Off(OUT_ABC);//C~A
}
*¤Þ¤È¤á [#ocdabd54]
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**´¶ÁÛ [#b7394c33]
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