[[2019a/Member]]


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***¥é¥¤¥ó¥È¥ì¡¼¥¹ [follow_line] [#j80370e9]
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 sub follow_line_l()
 {
     SetSensorLight(S1);
     long t0=CurrentTick();
     while(CurrentTick()-t0<MOVE_TIME){
         if(SENSOR_1>W1){
             rot_r;t0=CurrentTick();
         }
         else if(SENSOR_1>W2){
             turn_r;t0=CurrentTick();
         }
         else if(SENSOR_1>G){
             go_straight;t0=CurrentTick();
         }
         else if(SENSOR_1>B1){
             turn_l;t0=CurrentTick();
         }
         else{
             rot_l;
         }
     }
 } 
-±¦Â¦¤ÎľÀþ¥È¥ì¡¼¥¹ 
 sub follow_line_r()
 {
     SetSensorLight(S1);
     long t0=CurrentTick();
     while(CurrentTick()-t0<MOVE_TIME){
         if(SENSOR_1>W1){
             rot_l;t0=CurrentTick();
         }
         else if(SENSOR_1>W2){
             turn_l;t0=CurrentTick();
         }
         else if(SENSOR_1>G){
             go_straight;t0=CurrentTick();
         }
         else if(SENSOR_1>B1){
             turn_r;t0=CurrentTick();
         }
         else{
             rot_r;
         }
     } 
 }

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***°ì»þÄä»ß [short_brake] [#k9d9ee68]
***¸å¿Ê [back] [#kb6e37bf]
***µå¤Î¥®¥ã¥Ã¥Á [arm_down] [#hebd3031]
***µå¤Î¥·¥å¡¼¥È [shoot] [#y4aa30b8]
**¥á¥¤¥ó¥×¥í¥°¥é¥à [#ee4940a2]
***¥«¥Ö¥Èver. [#uc771d5d]
 task main()
 {
     Off(OUT_A);
     go_straight;
     Wait(1000);
     Off(OUT_BC);
     follow_line_l();
     short_break();
     rot_r;
     Wait(400);
     Off(OUT_BC);
     go_straight;
     Wait(800);
     Off(OUT_BC);
     arm_down();
     turn_r;
     Wait(3500);
     Off(OUT_BC);
     shoot();
     Wait(1000);
     rot_r;
     Wait(3800);
     Off(OUT_BC);
     go_straight;
     Wait(6600);
     Off(OUT_BC);
     arm_down();
     back(3000);
     OnRL(0,-SPEED_L);
     Wait(300);
     Off(OUT_BC);
     shoot();
 }
***¥¯¥ï¥¬¥¿ver. [#t17493b1]
 task main()
 {
     go_straight;
     Wait(1000);
     Off(OUT_BC);
     rot_l;
     Wait(2800);
     Off(OUT_BC);
     go_straight;
     Wait(3000);
     Off(OUT_BC);
     rot_l;
     Wait(4500);
     Off(OUT_BC);
     go_straight;
     Wait(3000);
     turn_l;
     Wait(8700);
     Off(OUT_BC);
     Wait(27000);
     OnFwd(OUT_A,50);
     Wait(700);
     OnRev(OUT_BC,60);
     Wait(700);
     Off(OUT_BC);
     shoot();
 }
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