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[[2018a/Member]]
*²ÝÂê2 [#pb9c0a80]
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*¥³¡¼¥¹ [#f3c1a0b1]
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*¥í¥Ü¥Ã¥È [#sb7c80fd]
#ref(S__50102275.jpg)
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¥¢¡¼¥à¤Ï´Ì¤ò°ÂÄꤷ¤ÆÄϤá¤ë¤è¤¦¤Ë´è¾æ¤Ê¤â¤Î¤Ë¤·¤¿¡£&br;
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*¥×¥í¥°¥é¥ß¥ó¥° [#r0450d6d]
**ÄêµÁ [#o5d80ae2]
#define THRESHOLD 50
¸÷¥»¥ó¥µ¡¼¤Î´ð½àÃͤò»ØÄê
#define SPEED_H 25¡¡
#define SPEED_L 20
®¤µ¤ò¤½¤ì¤¾¤ì»ØÄê
#define OnRL(speedR,speedL)OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define go_forward OnRL(SPEED_H,SPEED_H);
#define turn_left1 OnRL(SPEED_L+20,-SPEED_L-20);
#define turn_left0 OnRL(SPEED_L,0);
#define turn_right0 OnRL(0,SPEED_L);
#define turn_right1 OnRL(-SPEED_L-20,SPEED_L+20);Wait(t);
ľ¿Ê¡¢¥«¡¼¥ÖÅù¤ÎÄ´À°
#define STEP 1
#define short_break Off(OUT_BC);Wait(1000);
#define CROSS_TIME 300
#define cross_line OnRL(SPEED_L,SPEED_L);Wait(CROSS_TIME);short_break;
¾åµÎã³°¤ÎÆ°¤¤ò»ØÄê
**¥µ¥Ö¥ë¡¼¥Á¥ó [#q281a59d]
̾Á°¤òÉÕ¤±¤¿¤¬Æ°¤¤Ë¤è¤Ã¤ÆÊѤ¨¤Æ¤¤¤Ã¤¿¤¿¤á¥ë¡¼¥È¤È̾Á°¤Ï»²¹Í¤Ë¤Ê¤é¤Ê¤¤¡£&br;
¸òº¹ÅÀ¤Ï¹õ¤Î¿§¤Ç¼±ÊÌ
sub AtoJ(int t)
{
int n = 0;
SetSensorLowspeed(S4);
SetSensorLight(S3);
¡¡ while(n < 1){ ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤ÇÀ®¤êΩ¤Ä
¡¡ if(SensorUS(S4) <= 7){ //´Ì¤¬£·Ñ°ÊÆâ¤Ë¤¢¤ë¤È¼Â¹Ô
¡¡ Off(OUT_BC);
¡¡ Wait(1000);
¡¡ go_forward;
¡¡ Wait(500);
¡¡ Off(OUT_BC);
¡¡ OnRev(OUT_A,50);
¡¡ Wait(1000);
¡¡ Off(OUT_A);
¡¡ n++;
¡¡ }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¥È¥ì¡¼¥¹
¡¡¡¡ if (SENSOR_3 < THRESHOLD-14){
¡¡¡¡ turn_right1;
¡¡ }else if(SENSOR_3 < THRESHOLD-7){
¡¡¡¡ turn_right0;
¡¡ }else if(SENSOR_3 < THRESHOLD+7){
¡¡¡¡ go_forward;
¡¡ }else if(SENSOR_3 < THRESHOLD+10){
¡¡¡¡ turn_left0;
¡¡ }else if(SENSOR_3 < THRESHOLD+20){
¡¡ turn_left1;
}else{
¡¡ turn_left1;
¡¡ }
¡¡ Wait(STEP);
¡¡ }
¡¡ }
n = 0;
}
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´Ì¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤È¤Îµ÷Î¥¤¬7Ѱʲ¼¤ÇÁ°¿Ê¤·¤Æ´Ì¤ò¤Ä¤«¤à¡£
sub JtoL(int t)
{
int n = 0;
int nOnline=0;
SetSensorLight(S3);
while(n < 4){ ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»Í²ó¤Î¸òº¹ÅÀ¤Î´Ö¤ÇÀ®Î©
if (SENSOR_3 < THRESHOLD-14){
if(nOnline < 2){¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òÆó¤Ä̵»ë¤¹¤ë¤Þ¤ÇÀ®Î©
OnFwd(OUT_BC,30);¡¡¡¡¡¡¡¡ //¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤ÈÁ°¿Ê
Wait(200);
nOnline++;
n++;
}else{ //¸òº¹ÅÀ¤òÆó²óÁ°¿Ê¤¹¤ë¤ÈÀ®Î©
turn_left1;Wait(1500); //I¤Î¸òº¹ÅÀ¤ÈH¤Î¸òº¹ÅÀ¤òº¸ÀÞ
nOnline=0;
n++;
}
}else{
if(SENSOR_3 < THRESHOLD-7){
turn_left0;
}else if(SENSOR_3 < THRESHOLD+7){
go_forward;
}else if(SENSOR_3 < THRESHOLD+10){
turn_right0;
}else if(SENSOR_3 < THRESHOLD+20){
turn_right1;
}else{
turn_right1;
}
nOnline=0;
Wait(STEP);
}
}
n=0;
Off(OUT_BC);
Wait(1000);
turn_right1;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¼¡¤Î±¦¥È¥ì¡¼¥¹¤Î¤¿¤á±¦ÀÞ¤·¤Æ¤ª¤¯
}
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K¤ÈL¤ÇÆó²óº¸ÀÞ¤ò̵»ë¤·¡¢I¤Çº¸ÀÞ¤¹¤ë
sub LtoH(int t)
{
int n = 0;
SetSensorLight(S3);
while(n < 6){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì²óÌܤεޥ«¡¼¥Ö¤Þ¤ÇÀ®Î©
if (SENSOR_3 < THRESHOLD-14){
turn_right1;
}else{
if(SENSOR_3 < THRESHOLD-7){
turn_right0;
}else if(SENSOR_3 < THRESHOLD+7){
go_forward;
}else if(SENSOR_3 < THRESHOLD+10){
turn_left0;
}else if(SENSOR_3 < THRESHOLD+20){¡¡¡¡¡¡¡¡//º¸¥È¥ì¡¼¥¹¤Ë°Ü¹Ô¤Ç¤¤ë¤è¤¦¤ËÂç²óž
turn_left1;Wait(420);/*ÅÅÃӰ͸*/
n++;
}else{
turn_left1;
n++;
}
Wait(STEP);
}
}
n = 0;
}
H°Ê¹ß¤ÎµÞ¥«¡¼¥Ö¤Î¤¿¤á±¦¥È¥ì¡¼¥¹¡£
sub HtoG(int t)
{
int n = 0;
SetSensorLight(S3);
while(n < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µÞ¥«¡¼¥Ö¸å¹õ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀ®Î©
if (SENSOR_3 < THRESHOLD-14){
cross_line;
n++;
}else{
if(SENSOR_3 < THRESHOLD-7){
turn_left0;
}else if(SENSOR_3 < THRESHOLD+7){
go_forward;
}else if(SENSOR_3 < THRESHOLD+10){
turn_right0;
}else if(SENSOR_3 < THRESHOLD+20){
turn_right1;
}else{
turn_right1;
}
Wait(STEP);
}
}
n = 0;
}
µÞ¥«¡¼¥Ö¤Î¤¿¤áº¸¥È¥ì¡¼¥¹¡£&br;
¼¡±¦¥È¥ì¡¼¥¹¤ØÀÚ¤êÂؤ¨¤ë¤¿¤áºÇ¸å¤Ë±¦¤Ø°Ü¹Ô¤¹¤ë¡£
sub GtoD(int t)
{
int n = 0;
SetSensorLight(S3);
while(n < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òÆó²ó±¦ÀÞ¤¹¤ë¤Þ¤ÇÀ®Î©
if (SENSOR_3 < THRESHOLD-14){¡¡¡¡¡¡//¸òº¹ÅÀ¤òǧ¼±¤·¤¿¤é±¦ÀÞ
Off(OUT_BC);
Wait(1000);
turn_right1;
n++;
}else{
if(SENSOR_3 < THRESHOLD-7){
turn_right0;
}else if(SENSOR_3 < THRESHOLD+7){
go_forward;
}else if(SENSOR_3 < THRESHOLD+10){
turn_left0;
}else if(SENSOR_3 < THRESHOLD+20){
turn_left1;
}else{
turn_left1;
}
Wait(STEP);
}
}
n = 0;
}
±¦¥È¥ì¡¼¥¹¡£G¤Î¸òº¹ÅÀ¤ò±¦¤Ë¶Ê¤¬¤ë¡£
sub FtoD(int t)
{
int n = 0;
SetSensorLight(S3);
while(n < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//E¤Î¸òº¹ÅÀ¤ò̵»ë¤¹¤ë¤Þ¤ÇÀ®Î©
if (SENSOR_3 < THRESHOLD-14){¡¡¡¡//E¤òǧ¼±¤·Ä¾¿Ê
OnFwd(OUT_BC,30);
Wait(200);
n++;
}else{
if(SENSOR_3 < THRESHOLD-7){
turn_right0;
}else if(SENSOR_3 < THRESHOLD+7){
go_forward;
}else if(SENSOR_3 < THRESHOLD+10){
turn_left0;
}else if(SENSOR_3 < THRESHOLD+20){
turn_left1;
}else{
turn_left1;
}
Wait(STEP);
}
}
n = 0;
}
±¦¥È¥ì¡¼¥¹¡£E¤Î±¦ÀÞ¤ò̵»ë¤·¡¢´Ì¤òÃÖ¤¯¤¿¤á¤Î½àÈ÷
sub DtoD(int t)
{
int n = 0;
SetSensorLight(S3);
while(n < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤òÃÖ¤¡¢180¡ë²óž¤¹¤ë¤Þ¤ÇÀ®Î©
if (SENSOR_3 < THRESHOLD-14){¡¡//D¤òǧ¼±¤¹¤ë¤ÈÃÖ¤¯¤Ù¤¾ì½ê¤Ë´Ì¤òÃÖ¤180¡ë²óž
turn_left1;Wait(t);
OnRev(OUT_BC,30);
Wait(t);
Off(OUT_BC);
OnFwd(OUT_A,50);
Wait(1000);
Off(OUT_A);
OnRev(OUT_BC,30);
Wait(90);
Off(OUT_BC);
turn_left1;
Wait(t);
n++;
}else{
if(SENSOR_3 < THRESHOLD-7){
turn_right0;
}else if(SENSOR_3 < THRESHOLD+7){
go_forward;
}else if(SENSOR_3 < THRESHOLD+10){
turn_left0;
}else if(SENSOR_3 < THRESHOLD+20){
turn_left1;
}else{
turn_left1;
}
Wait(STEP);
}
}
n = 0;
}
Êý¸þž´¹¤·¤Æ´Ì¤òÃÖ¤¯¡£¤â¤¦°ìÅÙÊý¸þž´¹¤·Ä¾Àܼ¡¤Î¥«¡¼¥Ö¤Ø
sub DtoC(int t)
{
int n = 0;
SetSensorLight(S3);
while(n < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C¤Î¸òº¹ÅÀ¤ÈA¤Îľ¿Ê¤Þ¤ÇÀ®Î©
if (SENSOR_3 < THRESHOLD-14){ //¹õ¤òƧ¤ó¤À¤éľ¿Ê
Off(OUT_BC);
Wait(1000);
cross_line;
n++;
}else{
if(SENSOR_3 < THRESHOLD-7){
turn_right0;
}else if(SENSOR_3 < THRESHOLD+7){
go_forward;
}else if(SENSOR_3 < THRESHOLD+10){
turn_left0;
}else if(SENSOR_3 < THRESHOLD+20){
turn_left1;
}else{
turn_left1;
}
Wait(STEP);
}
}
n = 0;
}
±¦¥È¥ì¡¼¥¹¡£µÞ¥«¡¼¥Ö¡¢¤½¤·¤ÆC¤Î¸òº¹ÅÀ¤ò̵»ë¤·¤ÆA¤Ø
**¥á¥¤¥ó [#r31b93c3]
task main()
{
AtoJ(1350);
turn_left1;
Wait(1000);
go_forward;
Wait(500);
Off(OUT_BC);
JtoL(100);
LtoH(100);
turn_left0;
Wait(3000);
HtoG(100);
turn_left0;
Wait(400);
GtoD(740);
FtoD(100);
DtoD(1500);
DtoC(100);
}
¥×¥í¥°¥é¥à¤Î¼Â¹Ô¡£º¸±¦¥È¥ì¡¼¥¹¤ÎÊä½õ
*¤Þ¤È¤á [#v24c0638]
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¥¢¡¼¥à¤Ë¤è¤ë´Ì¤Î¥¥ã¥Ã¥Á¡õ¥ê¥ê¡¼¥¹¤Ï¤¹¤°¤Ë¤Ç¤¤¿¤Î¤Ç¤è¤«¤Ã¤¿