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**¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#tae93a47]
#define THRESHOLD 5£´
#define THRESHOLD 5£´ //¤·¤¤¤ÃÍ
#define SPEED 30
#define speed 20
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define LEFT OnRL(speed,-speed);
#define left OnRL(speed,0);
#define straight OnRL(SPEED,SPEED);
#define right OnRL(0,speed);
#define RIGHT OnRL(-speed,speed);
#define LEFT OnRL(speed,-speed);¡¡¡¡¡¡//º¸Àû²ó
#define left OnRL(speed,0);¡¡¡¡¡¡¡¡//º¸ÀÞ
#define straight OnRL(SPEED,SPEED);¡¡¡¡//ľ¿Ê
#define right OnRL(0,speed);¡¡¡¡¡¡//±¦ÀÞ
#define RIGHT OnRL(-speed,speed);¡¡¡¡¡¡¡¡//±¦Àû²ó
#define STEP 1
#define nMAX 300
#define short_break Off(OUT_BC);Wait(1000);
#define nMAX 300
#define short_break Off(OUT_BC);Wait(1000);¡¡¡¡¡¡¡¡//¾®µÙ»ß
#define CROSS_TIME 700
#define cross_line OnFwd(OUT_BC,speed);Wait(CROSS_TIME);short_break;
#define turn_time 3000
#define turn_left LEFT;Wait(turn_time);short_break;
#define turn_right RIGHT;Wait(turn_time);short_break;
#define kaiten OnRL(SPEED,-SPEED);
#define kaiten_time 5500
#define arm_up OnRev(OUT_A,SPEED);Wait(500);Off(OUT_A);
#define kaiten_time 5500¡¡¡¡¡¡¡¡¡¡//360¡ë²óž¤¹¤ë¤Î¤Ë¤«¤«¤ë»þ´Ö
#define arm_up OnRev(OUT_A,SPEED);Wait(500);Off(OUT_A);¡¡¡¡¡¡//ºô¤ò¾å¤²¤ë
sub kousaten_trace()
{
sub kousaten_trace()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å²£ÃǤ¹¤ë
{
SetSensorLight(S3);
int nOnline=0;
while (nOnline < nMAX) {
while (nOnline < nMAX) { //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ
if (SENSOR_3 < THRESHOLD-10) {
RIGHT;
nOnline++;}
else {
if (SENSOR_3 < THRESHOLD-3) {right;}
else if (SENSOR_3 < THRESHOLD+2) {straight;}
else if (SENSOR_3 < THRESHOLD+6) {left;}
else {LEFT;}
nOnline=0;}
Wait(STEP);
}
short_break;
LEFT;
Wait(nMAX*STEP);
cross_line;
nOnline=0;
}
sub kousaten_usetsu()
{
sub kousaten_usetsu()¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å±¦ÀÞ¤¹¤ë
{
SetSensorLight(S3);
int nOnline=0;
while (nOnline < nMAX) {
while (nOnline < nMAX) { //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ
if (SENSOR_3 < THRESHOLD-8) {
LEFT;
nOnline++;}
else {
if (SENSOR_3 < THRESHOLD-3) {left;}
else if (SENSOR_3 < THRESHOLD+2) {straight;}
else if (SENSOR_3 < THRESHOLD+6) {right;}
else {RIGHT;}
nOnline=0;}
Wait(STEP);
}
short_break;
RIGHT;
Wait(nMAX*STEP);
turn_right;
nOnline=0;
}
sub kousaten_teishi()
{
sub kousaten_teishi()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é1ÉôÖÄä»ß¤·¤¿¸åºÆȯ¿Ê
{
SetSensorLight(S3);
int nOnline=0;
while (nOnline < nMAX) {
if (SENSOR_3 < THRESHOLD-8) {
LEFT;
nOnline++;}
else {
if (SENSOR_3 < THRESHOLD-3) {left;}
else if (SENSOR_3 < THRESHOLD+2) {straight;}
else if (SENSOR_3 < THRESHOLD+6) {right;}
else {RIGHT;}
nOnline=0;}
Wait(STEP);
}
short_break;
nOnline=0;
}
sub serch_kan()
{
SetSensorLowspeed(S4);
long t10,t11;
int L=10000;
while(CurrentTick()-t10<=kaiten_time){
OnRL(speed,-speed);
if(SensorUS(S4)<L)
{
L=SensorUS(S4);
t11=CurrentTick()-t10;
sub serch_kan()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡360¡ë²óž¤·¤Æ¾ã³²Êª(´Ì)¤ò¸«¤Ä¤±½Ð¤·¤½¤ÎÊý¸þ¤Ë¸þ¤«¤¦
{
SetSensorLowspeed(S4);
long t10,t11; ¡¡
int L=10000;¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®ÃÍ
t10=CurrentTick(); //²óžÁ°¤Î»þ¹ï
while(CurrentTick()-t10<=kaiten_time){
OnRL(speed,-speed);
if(SensorUS(S4)<L)
{
L=SensorUS(S4);
t11=CurrentTick()-t10;¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤè¤ê¶á¤¤¤â¤Î¤ò¸«¤Ä¤±¤¿»þ¤Î»þ´Ö
}
}
}
OnRL(-speed,speed);
Wait(kaiten_time-t11);
Off(OUT_BC);
}
sub shoot()
{
OnRL(-speed,speed);
Wait(kaiten_time-t11);
Off(OUT_BC);
}
sub shoot()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥·¥å¡¼¥È(ÂÎÅö¤¿¤ê)¤ò¤¹¤ë
{
arm_up;
OnFwd(OUT_BC,100);
Wait(200);
Off(OUT_BC);
OnRev(OUT_BC,100);
Wait(100);
Off(OUT_BC);
}
task main()
{
SetSensorLight(S3);
SetSensorLowspeed(S4);
long t0,t1,t2,t3;
t0=CurrentTick();
while(CurrentTick()-t0<=15000){
if(SENSOR_3<THRESHOLD-8){RIGHT;}
else if(SENSOR_3<THRESHOLD-3){right;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){left;}
else{LEFT;}
Wait(STEP);
}
kousaten_trace();
t1=CurrentTick();
while(CurrentTick()-t1<=15000){
if(SENSOR_3<THRESHOLD-8){RIGHT;}
else if(SENSOR_3<THRESHOLD-3){right;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){left;}
else{LEFT;}
Wait(STEP);
}
serch_kan();
shoot();
t2=CurrentTick();
while(CurrentTick()-t2<=18000){
if(SENSOR_3<THRESHOLD-8){LEFT;}
else if(SENSOR_3<THRESHOLD-3){left;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){right;}
else{RIGHT;}
Wait(STEP);
}
kousaten_teishi();
t3=CurrentTick();
while(CurrentTick()-t3<=50000){
if(SENSOR_3<THRESHOLD-8){LEFT;}
else if(SENSOR_3<THRESHOLD-3){left;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){right;}
else{RIGHT;}
Wait(STEP);
}
kousaten_usetsu();
kousaten_trace();
OnFwd(OUT_BC,30);
Wait(2000);
Off(OUT_BC);
}
{
SetSensorLight(S3);
SetSensorLowspeed(S4);
long t0,t1,t2,t3; //¤½¤ì¤¾¤ì¤Î»þ´Ö¤òÄêµÁ
t0=CurrentTick();¡¡¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤·¤¿»þ´Ö¤òt0¤È¤¹¤ë
while(CurrentTick()-t0<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
if(SENSOR_3<THRESHOLD-8){RIGHT;}
else if(SENSOR_3<THRESHOLD-3){right;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){left;}
else{LEFT;}
Wait(STEP);
}
kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀK¤òȯ¸«¤·¤¿¤é²£ÃÇ¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¡
t1=CurrentTick();¡¡¡¡¡¡¡¡//KÃÏÅÀ¤ò²£ÃǤ·¤¿¤é¤½¤Î»þ´Ö¤òt1¤È¤¹¤ë
while(CurrentTick()-t1<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
if(SENSOR_3<THRESHOLD-8){RIGHT;}
else if(SENSOR_3<THRESHOLD-3){right;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){left;}
else{LEFT;}
Wait(STEP);
}
serch_kan();¡¡¡¡¡¡¡¡//´Ì¤òõ¤¹¡£¸«¤Ä¤±¤¿¤é¥Ü¡¼¥ë¤ËÂÎÅö¤¿¤ê¤·¤Æ¥·¥å¡¼¥È¤¹¤ë
shoot();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¢
t2=CurrentTick();
while(CurrentTick()-t2<=18000){
if(SENSOR_3<THRESHOLD-8){LEFT;}
else if(SENSOR_3<THRESHOLD-3){left;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){right;}
else{RIGHT;}
Wait(STEP);
}
kousaten_teishi();¡¡¡¡//¸òº¹ÅÀG¤òȯ¸«¤·¤¿¤é°ì»þÄä»ß¡¡¡¡¡¡¡¡¡¡¡¡//¢¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬£
t3=CurrentTick();¡¡¡¡¡¡//ÃÏÅÀG¤ò½Ðȯ¤¹¤ë»þ´Ö¤òt3¤È¤¹¤ë
while(CurrentTick()-t3<=40000){¡¡¡¡¡¡¡¡¡¡¡¡//40Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
if(SENSOR_3<THRESHOLD-8){LEFT;}
else if(SENSOR_3<THRESHOLD-3){left;}
else if(SENSOR_3<THRESHOLD+2){straight;}
else if(SENSOR_3<THRESHOLD+6){right;}
else{RIGHT;}
Wait(STEP);
}
kousaten_usetsu();¡¡¡¡¡¡//¸òº¹ÅÀE¤òȯ¸«¤·¤¿¤é±¦ÀÞ¡¡¡¡¡¡¡¡//£¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¤
kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀL¤òȯ¸«¤·¤¿¤é²£ÃÇ
OnFwd(OUT_BC,SPEED);¡¡¡¡¡¡Á°¿Ê¤·¤ÆÏÈÆâ¤ËÆþ¤ë
Wait(2000);
Off(OUT_BC);
}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¥
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