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 #define MOVE_TIME 250
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 #define B1 43
 #define G 53
 #define W1 59
 #define W2 61
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 #define SPEED_H 35
 #define SPEED_L 20
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 #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
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 #define go_straight OnRL(SPEED_H,SPEED_H);   //Á°¿Ê
 #define BACK OnRL(-SPEED_H,-SPEED_H);        //¸å¿Ê
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 #define rot_r OnRL(-SPEED_L,SPEED_L);   //±¦Àû²ó
 #define rot_l OnRL(SPEED_L,-SPEED_L);   //º¸Àû²ó
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 #define turn_r OnRL(0,SPEED_L);   //±¦²óž
 #define turn_l OnRL(SPEED_L,0);   //º¸²óž
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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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 sub short_break()
 {
     Off(OUT_BC);
     Wait(1000);
 }
***¸å¿Ê [back] [#kb6e37bf]
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long·¿¤ò»È¤¤¡¢back¤¹¤ë»þ´Ö¤ò»ØÄê¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¡£~
 sub back(long t)
 {
     BACK;
     Wait(t);
     Off(OUT_BC);
 }
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 sub arm_down()
 {
     OnFwd(OUT_A,70);   //¥¢¡¼¥à¤ò¾å¤²¤ë
     Wait(600);
     Off(OUT_A);
     Wait(500);
     OnRev(OUT_A,50);   //¥¢¡¼¥à¤ò²¼¤²¤ë
     Wait(500);
     Off(OUT_A);
 }
***µå¤Î¥·¥å¡¼¥È [shoot] [#y4aa30b8]
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 sub shoot()
 {
     OnRev(OUT_A,60);   //¥¢¡¼¥à¤ò²¼¤²¤ë
     Wait(700);
     Off(OUT_A);
     OnFwd(OUT_A,55);   //¥¢¡¼¥à¤ò¾å¤²¤ë
     Wait(500);
     Off(OUT_A);
 }
**¥á¥¤¥ó¥×¥í¥°¥é¥à [#ee4940a2]
°Ê¾å¤ÎÄêµÁ¤ä´Ø¿ô¤ò»È¤¤¡¢¥á¥¤¥ó¤È¤Ê¤ë¥×¥í¥°¥é¥ß¥ó¥°¤ò¹Ô¤¦¡£~
°Ê²¼¤Ï¥³¡¼¥¹¤ò¤É¤¦Æ°¤¯¤«¤òɽ¤·¤¿¥Þ¥Ã¥×¤È¤½¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Ç¤¢¤ë¡£~
ÎТª¤¬Á°¿Ê¡¢ÀÖ¢ª¤¬¸å¿Ê¤ò¼¨¤·¤Æ¤¤¤ë¡£~
***¥«¥Ö¥Èver. [#uc771d5d]
¥Þ¥Ã¥×¤ò¸«¤ä¤¹¤¯¤¹¤ë¤¿¤á¤ÎÅÔ¹ç¾å¡¢¥´¡¼¥ë¤ÎÈ¢¤Ë¶á¤¤µå¤òµåA¡¢±ó¤¤Êý¤òµåB¤È¤·¡¢~
µåA¤ò¼è¤ê¥·¥å¡¼¥È¤¹¤ë¤Þ¤Ç¤Î¥³¡¼¥¹A¡¢~
¤½¤³¤«¤éµåB¤ò¼è¤ê¥·¥å¡¼¥È¤¹¤ë¤Þ¤Ç¤Î¥³¡¼¥¹B¡¢~
¤Çʬ¤±¤Æ¾Ò²ð¤¹¤ë¡£~
-¥³¡¼¥¹A
#ref(2019a/Member/ohta/Mission3/¥³¡¼¥¹£±.png,¥³¡¼¥¹1,50%)
A'ÃÏÅÀ¤ò¥¹¥¿¡¼¥È¸å¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÇJ'ÃÏÅÀ¤Î¸òº¹ÅÀ(¥Þ¥Ã¥×¤Ç¤Ï[¸ò]¤Èɽµ­)¤Þ¤Ç¹Ô¤¯¡£~
¤½¤³¤«¤é¤Ï¡¢Wait¤Î»þ´Ö¤òÄ´Àᤷ¤Ê¤¬¤é¿Ê¤ó¤Ç¤¤¤¯¡£~
¾ÜºÙ¤ò¥×¥í¥°¥é¥à¤ÈƱ»þ¤ËÀâÌÀ¤·¤Æ¤¤¤³¤¦¡£~
 task main()
 {
     Off(OUT_A);
     go_straight;
     Off(OUT_A);      //¼ÖÂΤÎÆ°¤­»Ï¤á¤Î¥Ö¥ì¤Ç¾å¤²¤Æ¤¢¤ë¥¢¡¼¥à¤¬²¼¤¬¤é¤Ê¤¤¤è¤¦»ß¤á¤ë
     go_straight;     //¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¥È¥ì¡¼¥¹¤¹¤ë¥é¥¤¥ó¤Þ¤Çľ¿Ê
     Wait(1000);
     Off(OUT_BC);
     follow_line_l();
     short_break();
     rot_r;
     follow_line_l(); //¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï(º£²ó¤ÏÀþ¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹)
     short_break();   //¸òº¹ÅÀȽÃǸ塢°ìöÄä»ß
     rot_r;           //±¦Àû²ó¤Ç¼ÖÂΤòµåA¤ÎÊý¸þ¤Ø¸þ¤±¤ë
     Wait(400);
     Off(OUT_BC);
     go_straight;
     go_straight;     //µåA¤Þ¤ÇÁ°¿Ê
     Wait(800);
     Off(OUT_BC);
     arm_down();
     turn_r;
     arm_down();      //¥¢¡¼¥à¤ò²¼¤²µåA¤ò¥­¥ã¥Ã¥Á
     turn_r;          //±¦²óž¤Ç¼ÖÂΤΤª¿¬¤ò¥´¡¼¥ë¤Ç¤¢¤ëÈ¢¤Ë¸þ¤±¤ë
     Wait(3500);
     Off(OUT_BC);
     shoot();
     Wait(1000);
     rot_r;
     Wait(3800);
     shoot();         //¥·¥å¡¼¥È
-¥³¡¼¥¹B
#ref(2019a/Member/ohta/Mission3/¥³¡¼¥¹£².png,¥³¡¼¥¹2,50%)
µåA¤ò¥·¥å¡¼¥È¤·¤¿¸å¡¢¤½¤Î¤Þ¤ÞµåB¤ò¼è¤ê¤Ë¹Ô¤¯¡£~
ƱÍͤ˾ܺ٤ò¥×¥í¥°¥é¥à¤ÈƱ»þ¤ËÀâÌÀ¤·¤Æ¤¤¤³¤¦¡£~
     Wait(1000);        //(µåA¥·¥å¡¼¥È¸å¤Î³¤­¤«¤é¡Ë°ìÅÙÄä»ß
     rot_r;             //±¦Àû²ó¤·¼ÖÂΤòµåB¤ÎÊý¤Ø¸þ¤±¤ë  
     Wait(3800); 
     Off(OUT_BC);
     go_straight;
     go_straight;       //µåB¤Þ¤ÇÁ°¿Ê
     Wait(6600);
     Off(OUT_BC);
     arm_down();
     back(3000);
     OnRL(0,-SPEED_L);
     arm_down();        //¥¢¡¼¥à¤ò²¼¤²µåB¤ò¥­¥ã¥Ã¥Á
     back(3000);¡¡¡¡¡¡¡¡//µåB¤ò»ý¤Ã¤¿¤Þ¤Þ¸å¿Ê
     OnRL(0,-SPEED_L);  //º¸¼ÖÎؤò¸åž¤µ¤»¼ÖÂΤΤª¿¬¤ò¥´¡¼¥ë¤ÎÈ¢¤Ë¸þ¤±¤ë
     Wait(300);
     Off(OUT_BC);
     shoot();
     shoot();           //¥·¥å¡¼¥È
 }
***¥¯¥ï¥¬¥¿ver. [#t17493b1]
¥¯¥ï¥¬¥¿¥í¥Ü¤ÏÈ¢¤Ë¤¢¤ë2¤Ä¤Îµå¤ò°ìµ¤¤Ë±¿¤Ö¤¿¤á°ìÅ٤˾Ҳ𤹤롣~
¤Þ¤¿¤³¤Î¥í¥Ü¤Ï¸÷¥»¥ó¥µ¡¼¤ò»È¤Ã¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï¤·¤Ê¤¤¡£~
#ref(2019a/Member/ohta/Mission3/¥³¡¼¥¹£³.png,¥³¡¼¥¹3,50%)
¥«¥Ö¥È¥í¥Ü¤È¤Ï°ã¤¦AÃÏÅÀ¤ò¥¹¥¿¡¼¥È¸å¡¢µå¤ÎÆþ¤Ã¤¿È¢¤ò¼è¤ê¡¢¥´¡¼¥ë¤Ë¸þ¤«¤¦¡£~
°Ê²¼¡¢¾ÜºÙ¤ò¥×¥í¥°¥é¥à¤ÈƱ»þ¤ËÀâÌÀ¤·¤Æ¤¤¤³¤¦¡£~
 task main()
 {
     go_straight;
     go_straight;       //¥¹¥¿¡¼¥È¸å¡¢È¢¤Î²¼¤Þ¤ÇÁ°¿Ê
     Wait(1000);
     Off(OUT_BC);
     rot_l;
     rot_l;             //±¦Àû²ó¤·¼ÖÂΤòÌÜɸ¤ÎÈ¢¤ÎÊý¸þ¤Ø¸þ¤±¤ë
     Wait(2800);
     Off(OUT_BC);
     go_straight;
     go_straight;       //Á°¿Ê¤·»ÉËô¥¢¡¼¥à¤ÇÈ¢¤òº¹¤·¹þ¤à
     Wait(3000);
     Off(OUT_BC);
     rot_l;
     rot_l;             //º¸Àû²ó¤·¼ÖÂΤò¥´¡¼¥ë¤ÎÈ¢¤ÎÊý¸þ¤Ø¸þ¤±¤ë
     Wait(4500);
     Off(OUT_BC);
     go_straight;
     go_straight;       //¥´¡¼¥ë¤ÎÈ¢ÉÕ¶á¤Þ¤ÇÁ°¿Ê
     Wait(3000);
     turn_l;
     turn_l;            //º¸²óž¤ò¤·¼ÖÂΤΤª¿¬¤ò¥´¡¼¥ë¤ÎÈ¢¤Ë¸þ¤±¤ë
     Wait(8700);
     Off(OUT_BC);
     Wait(27000);
     OnFwd(OUT_A,50);
     Wait(27000);       //¾×ÆͤäÀÜ¿¨¤òÈò¤±¤ë¤¿¤á¥«¥Ö¥È¥í¥Ü¤¬2¤ÄÌܤεåB¤òÆþ¤ì¤ë¤Þ¤ÇÂÔµ¡
     OnFwd(OUT_A,50);   //¥Ð¥Ã¥¯¤ÇÈ¢¤òÃÖ¤­µî¤ê¤Ë¤·¤Ê¤¤¤è¤¦¥¢¡¼¥à¤ò¾¯¤·»ý¤Á¾å¤²¤ë
     Wait(700);
     OnRev(OUT_BC,60);
     OnRev(OUT_BC,60);  //Àª¤¤¤è¤¯È¢¤Ë¸þ¤«¤Ã¤Æ¥Ð¥Ã¥¯¢«È¢¤ÎÃæ¤Îµå¤¬Å¾¤²½Ð¤ä¤¹¤¤¤è¤¦¤Ë¤¹¤ë
     Wait(700);
     Off(OUT_BC);
     shoot();
     shoot();           //¥Ð¥Ã¥¯¤ÈƱ»þ¤ËÈ¢¤ò»ý¤Á¤¢¤²µå¤òž¤²½Ð¤·¤Æ¥·¥å¡¼¥È
 }
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