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#contents
*²ÝÂê2 [#ee8817df]
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***¸òº¹ÅÀ¤ÎȽÃÇ [#oa38b9a1]
¸òº¹ÅÀ¤Ç¤Ï¹õ¤¬Ï¢Â³¤¹¤ë»þ´Ö¤¬Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÈæ¤Ù¤ÆŤ¤¡£¤½¤Î¤¿¤á¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¸÷¥»¥ó¥µ¡¼¤¬¹õ¤Î¾å¤Ë¤¤¤ë¤è¤êŤ¯¡¢¸÷¥»¥ó¥µ¡¼¤¬¸òº¹ÅÀ¤Ç¹õ¤Î¾å¤Ë¤¤¤ë»þ´Ö¤è¤êû¤¤»þ´Ö¤È¤·¤Æ0.3ÉäòÀßÄꤷ¡¢¸òº¹ÅÀ¾å¤Ç¥í¥Ü¥Ã¥È¤¬»ß¤Þ¤ë¤è¤¦¤Ë¤·¤¿¡£
*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#s7843b79]
**define¤Î¥×¥í¥°¥é¥à [#a74845ee]
#define RUN_TIME1 30
#define RUN_TIME_JIH 170
#define RUN_TIME_HGF 380
#define RUN_TIME_FE 180
#define RUN_TIME_DB 1000
#define turn_right OnFwd(OUT_A);OnRev(OUT_C);
#define turn_left90 OnRev(OUT_A);OnFwd(OUT_C);Wait(100);
#define turn_left OnRev(OUT_A);OnFwd(OUT_C);Wait(30);
#define go_straight OnFwd(OUT_AC);
#define turn180 OnRev(OUT_A);OnFwd(OUT_C);Wait(130);
#define go_back OnRev(OUT_AC);
#define THRESHOLD 42
#define turn_left Off(OUT_A); OnFwd(OUT_C);
#define turn_right OnFwd(OUT_A); Off(OUT_C);
#define turn180 OnFwd(OUT_C);OnRev(OUT_A);Wait(190);Off(OUT_AC);//£±£¸£°ÅÙ²óž
#define runtime 1450
#define runtime1 50
#define turn90 OnFwd(OUT_A);OnRev(OUT_C);Wait(100);Off(OUT_AC);//£¹£°ÅÙ²óž
#define power(s) SetPower(OUT_B,s); //¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤ò£ó¤Ë¤¹¤ë
#define STEP 1 // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
**¥µ¥Ö¥ë¡¼¥Á¥ó¥×¥í¥°¥é¥à [#h8048afa]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤½¤ì¤¾¤ì¤Î¶è´Ö¤´¤È¤Ë»þ´ÖÆâ¤Ç·«¤êÊÖ¤¹¤è¤¦¤ËÀßÄꤷ¡¢ºÙ¤«¤¯Ê¬¤±¤Æ¤¢¤ê¤Þ¤¹¡£
***½ÐȯÅÀA¤«¤é¥Ü¡¼¥ë¤òÄϤàL¤Þ¤Ç¤Î¥×¥í¥°¥é¥à [#a205abbc]
sub across_turn()
{
SetSensor(SENSOR_2, SENSOR_LIGHT);
ClearTimer(0);
while (FastTimer(0) <= runtime) {
if (SENSOR_2 < THRESHOLD){ // Àþ¾å¤Ê¤é
turn_left; // º¸¤Ø
} else { // Àþ¾å¤Ç¤Ê¤±¤ì¤Ð
turn_right; // ±¦¤Ø
}
Wait(STEP); // STEP¤ÎÃÍ
}
}
***¥Ü¡¼¥ë¤òÄϤ߽ª¤ï¤êL¤«¤éK¤Þ¤Ç¿Ê¤à¥×¥í¥°¥é¥à [#g3f248b1]
sub across_turn1()
{
SetSensor(SENSOR_2, SENSOR_LIGHT);
ClearTimer(0);
while (FastTimer(0) <= runtime1) {
if (SENSOR_2 < THRESHOLD){ // Àþ¾å¤Ê¤é
turn_left; // º¸¤Ø
} else { // Àþ¾å¤Ç¤Ê¤±¤ì¤Ð
turn_right; // ±¦¤Ø
}
Wait(STEP); // STEP¤ÎÃÍ
}
}
***¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤Þ¤ÇÆ°¤Â³¤±¤ë¥×¥í¥°¥é¥à [#gab04cab]
sub line_trace1() //¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤Þ¤ÇÆ°¤Â³¤±¤ë¥×¥í¥°¥é¥à
{ SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while ( FastTimer(0) <= RUN_TIME1 ) {
if ( 48 < SENSOR_2 ){
OnFwd(OUT_A); Off(OUT_C);ClearTimer(0); //Çò¤Ê¤é±¦¤Ø
} else if (45 <SENSOR_2 < 49) {
Off(OUT_A); OnFwd(OUT_C); //³¥¿§¤Ê¤éº¸¤Ø
} else {
OnRev(OUT_A);OnFwd(OUT_C); //¹õ¤Ê¤é±¦¤ØÀû²ó
}
}
Off(OUT_AC);Wait(100);
}
***J¤«¤éI¡¢I¤«¤éH¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹°ìÄê»þ´ÖÆâ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#r844b152]
sub line_trace_JIH()
{ SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while ( FastTimer(0) <= RUN_TIME_JIH ) {
if ( 48 < SENSOR_2 ){
OnFwd(OUT_A); Off(OUT_C); //Çò¤Ê¤é±¦¤Ø
} else if (45 <SENSOR_2 < 49) {
Off(OUT_A); OnFwd(OUT_C); //³¥¿§¤Ê¤éº¸¤Ø
} else {
OnRev(OUT_A);OnFwd(OUT_C); //¹õ¤Ê¤é±¦¤ØÀû²ó
}
}
turn_right;Wait(22);OnFwd(OUT_AC);Wait(15);
}
***H¤«¤éF¤Þ¤Ç°ìÄê»þ´ÖÆâ¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#ad14dcb9]
sub line_trace_HGF()
{ SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while ( FastTimer(0) <= RUN_TIME_HGF ) {
if ( 48 < SENSOR_2 ){
OnFwd(OUT_A); Off(OUT_C); //Çò¤Ê¤é±¦¤Ø
} else if (45 <SENSOR_2 < 49) {
Off(OUT_A); OnFwd(OUT_C); //³¥¿§¤Ê¤éº¸¤Ø
} else {
OnRev(OUT_A);OnFwd(OUT_C); //¹õ¤Ê¤é±¦¤ØÀû²ó
}
}
}
***F¤«¤éE¤Þ¤Ç°ìÄê»þ´ÖÆâ¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#sd63a8eb]
sub line_trace_FE()
{ SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while ( FastTimer(0) <= RUN_TIME_FE ) {
if ( 48 < SENSOR_2 ){
OnFwd(OUT_A); Off(OUT_C); //Çò¤Ê¤é±¦¤Ø
} else if (45 <SENSOR_2 < 49) {
Off(OUT_A); OnFwd(OUT_C); //³¥¿§¤Ê¤éº¸¤Ø
} else {
OnRev(OUT_A);OnFwd(OUT_C); //¹õ¤Ê¤é±¦¤ØÀû²ó
}
}
}
***D¤«¤éB¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹°ìÄê»þ´ÖÆâ¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#o92004ea]
sub line_trace_DB()
{ SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while ( FastTimer(0) <= RUN_TIME_DB ) {
if ( 48 < SENSOR_2 ){
OnFwd(OUT_A); Off(OUT_C); //Çò¤Ê¤é±¦¤Ø
} else if (45 <SENSOR_2 < 49) {
Off(OUT_A); OnFwd(OUT_C); //³¥¿§¤Ê¤éº¸¤Ø
} else {
OnRev(OUT_A);OnFwd(OUT_C); //¹õ¤Ê¤é±¦¤ØÀû²ó
}
}
}
**¥á¥¤¥ó¥×¥í¥°¥é¥à [#x0a4eba2]
task main(){
across_turn();
turn180;
OnFwd(OUT_B);
power(0);//¤æ¤Ã¤¯¤ê¥Ü¡¼¥ë¤òÄϤà
Wait(25);
Off(OUT_B);
across_turn1();
turn90;
Off(OUT_AC);
line_trace1(); //k¤«¤é½Ðȯ
line_trace_JIH(); //J¤«¤éI
line_trace_JIH(); //I¤«¤éH
line_trace_HGF(); //H¤«¤éF
turn_left90; //F¤Çº¸90ÅÙÀû²ó
line_trace_FE(); //F¤«¤éE
turn_left; //E¤Çº¸Àû²ó(90Åٰʲ¼)
line_trace1(); //E¤«¤éD¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¸å¡¢°ì»þÄä»ß
turn_right;Wait(25); //D¤Çº¸¤Ø·¹¤¤¤¿Ê¬¡¢±¦¤Ë¶Ê¤¬¤Ã¤Æ°ÌÃÖÄ´À°
line_trace_DB(); //D¤«¤éB
turn180; //180ÅÙÀû²ó
OnRev(OUT_B); //¥¢¡¼¥àŸ³«
power(0);
Wait(25);
Off(OUT_B);
go_straight; //¥Ü¡¼¥ë¤«¤éÎ¥¤ì¤ë
Wait(100);
OnFwd(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë
power(0);
Wait(25);
go_back; //¸å¤í¤Ë²¼¤¬¤Ã¤Æ°ÌÃÖÄ´À°
Wait(55);
OnFwd(OUT_B);
Wait(10); //¥Ü¡¼¥ë¤ò¥¢¡¼¥à¤ÇÃƤ¤¤ÆA¤Ë¥·¥å¡¼¥È
}
*·ë²Ì [#b0968d59]
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*¤Þ¤È¤á [#m9f10804]
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