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#define signal_catch 1
#define signal_release 2
#define signal_end 3
***¥µ¥Ö¥ë¡¼¥Á¥ó [#m2d3fb40]
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sub CATCH()
{
ClearMessage();
until(Message()==signal_catch);
OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ²¼¤¬¤ë
until(Message()==signal_catch);//signal_catch¤¬Á÷¤é¤ì¤ë¤Þ¤ÇÂÔµ¡
OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ¥¢¡¼¥à¤ò²¼¤²¤ë
SetPower(OUT_A,2);
OnRev(OUT_A);Wait(90);Off(OUT_A);Wait(100);// ÄϤà
OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);// ¾å¤¬¤ë
OnRev(OUT_A);Wait(90);Off(OUT_A);Wait(100);// ¤Ä¤«¤à
OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);// ¾å¤²¤ë
OnFwd(OUT_A);Wait(90);Off(OUT_A);Wait(100);// ¼ê¤ò¸µ¤ËÌ᤹
OnFwd(OUT_C);Wait(200);Off(OUT_C);Wait(100);// ±ü¤ØÁ÷¤ë
OnFwd(OUT_C);Wait(200);Off(OUT_C);Wait(100);// ¥³¥ó¥Ù¥¢¡¼¤Ç±ü¤ØÁ÷¤ë
SendMessage(signal_end);
}
SendMesssge(signal_end)¤Ï¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤éÂ¤Î¥×¥í¥°¥é¥à¤òºÆ³«¤µ¤»¤ë¤¿¤á¤Î¥á¥Ã¥»¡¼¥¸¤Ç¤¹¡¥Â¤Î¥×¥í¥°¥é¥à¤Ë¤Ïuntil(Message()==signal_end)¤¬Æþ¤Ã¤Æ¤¤¤Æ¡¤¥¢¡¼¥à¤¬Æ°¤½ª¤ï¤Ã¤Æ¤«¤é¤¬Æ°¤»Ï¤á¤Þ¤¹¡¥
¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
sub release()
{
ClearMessage();
until(Message()==signal_release);
until(Message()==signal_release); //signal_release¤¬Á÷¤é¤ì¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡
OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ²¼¤¬¤ë
OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);// Á°¤ØÁ÷¤ë
OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);// ¾å¤¬¤ë
SendMessage(signal_end);
}
¥¢¡¼¥à¤ÎÆ°¤¤Ï¾å¤Î¥¢¥Ë¥á¡¼¥·¥ç¥ó¤ò¸«¤Æ¤¯¤À¤µ¤¤¡¥
***¥á¥¤¥ó¥×¥í¥°¥é¥à [#sd74fbd5]
task main()
{
ClearMessage();
CATCH();
release();
CATCH();
CATCH();
CATCH();
CATCH();//L'
release();//J'¤Ç¥ê¥ê¡¼¥¹
CATCH();//L
CATCH();//J¤Ç¥ê¥ê¥Ñ¥Ã¥¯¤«¤é¤Ä¤«¤à¡
CATCH();//¢
ClearMessage();
until(Message()==signal_release);
OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ²¼¤¬¤ë
OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);// Á°¤ØÁ÷¤ë
OnRev(OUT_BC);Wait(50);Off(OUT_BC);Wait(100);// ¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë
SendMessage(signal_end);
}
ºÇ¸å¤Î¡Ö²¼¤¬¤ë¡×¡ÖÁ°¤ØÁ÷¤ë¡×¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ÈƱ¤¸¤Ç¤¹¡¥¤Ç¤¹¤¬¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ò»È¤¦¤È¡¤¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ëÁ°¤ËÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡¥¤½¤ì¤òËɤ°¤¿¤á¤Ë¡¤¡Ö¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë¡×¤òÆþ¤ì¡¤¥¢¡¼¥à¤ò¾å¤²¤ë¤Î¤ÈƱ»þ¤Ë¥³¥ó¥Ù¥¢¡¼¤âÆ°¤«¤·¤Æ¤¤¤Þ¤¹¡¥
**Â [#d6b7665a]
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#define black 40
#define gray_black 44
#define gray 47
#define gray_white 50
#define white 60
#define go_ahead OnFwd(OUT_AC);
#define turn_left OnFwd(OUT_A);Off(OUT_C);
#define turn_right OnFwd(OUT_C);Off(OUT_A);
#define circling_left OnRev(OUT_C);OnFwd(OUT_A);
#define circling_right OnRev(OUT_A);OnFwd(OUT_C);
#define signal_catch 1
#define signal_release 2
#define signal_end 3
¥°¥í¡¼¥Ð¥ëÊÑ¿ô¤òÄêµÁ¤·¤Þ¤¹¡¥
int t;
sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹»þ´Ö
***¥µ¥Ö¥ë¡¼¥Á¥ó [#d6459bf3]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤¹¡¥´ðËÜŪ¤Ê»ÅÁȤߤϲÝÂê2¤ÈƱ¤¸¤Ç¤¹¡¥º£²ó¤Ï¸òº¹ÅÀ¤òǧ¼±¤¹¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç¡¤¥°¥í¡¼¥Ð¥ëÊÑ¿ôt¤Ç»ØÄꤷ¤¿»þ´Ö¤Î´ÖÆ°¤Â³¤±¤Þ¤¹¡¥
sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while(FastTimer(0)<t){
if(SENSOR_2<black){circling_right;}
else if(SENSOR_2<gray_black){turn_right;}
else if(SENSOR_2<gray){go_ahead;}
else if(SENSOR_2<gray_white){turn_left;}
else if(SENSOR_2<white){circling_left;}
}
Off(OUT_AC);Wait(100);
}
***¥á¥¤¥ó¥×¥í¥°¥é¥à [#b7dd221b]
¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ï¾å¤ÎºîÀï¤Ë½ñ¤«¤ì¤Æ¤¤¤ë½ç½ø¤Ç¿Ê¤à¤è¤¦¤ËÁȤó¤Ç¤¢¤ê¤Þ¤¹¡¥
task main()
{
ClearMessage();
// A'¥¹¥¿¡¼¥È
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤é
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤éľ¿Ê¡¡¢¨£±
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤éľ¿Ê
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
t=90;follow_line();//Ä´À°
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//K'ÉÕ¶á¤ËÅþã
t=90;follow_line();//¢¨£²
Wait(100);
SendMessage(signal_catch);// L'ÄϤà
SendMessage(signal_catch);// L'¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë
ClearMessage();
until(Message()==signal_end);
circling_left;Wait(102);Off(OUT_AC);//Ä´À°
SendMessage(signal_release);// 1¸Ä´°Î»
until(Message()==signal_end);//¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡
circling_left;Wait(102);Off(OUT_AC);//90¡ëº¸Àû²ó
SendMessage(signal_release);// ¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(30);Off(OUT_AC);
circling_left;Wait(102);Off(OUT_AC);
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤é
OnRev(OUT_AC);Wait(30);Off(OUT_AC);//¸å¤í¤Ë²¼¤¬¤ë
circling_left;Wait(102);Off(OUT_AC);//90¡ëº¸Àû²ó
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤éľ¿Ê¡¡¢¨1
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤éľ¿Ê
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
turn_right;Wait(100);
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
turn_right;Wait(100);//±¦¤Ë²óž
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¢¨1
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
t=150;follow_line();//Ä´À°
SendMessage(signal_catch);// LÄϤà
t=150;follow_line();//¢¨£²
SendMessage(signal_catch);// L¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë
ClearMessage() ;
until(Message()==signal_end);
circling_left;Wait(102);Off(OUT_AC);//
OnRev(OUT_AC);Wait(23);Off(OUT_AC);//
SendMessage(signal_catch);// ¥ê¥ê¥Ñ¥Ã¥¯ÄϤࣱ
circling_left;Wait(102);Off(OUT_AC);//90¡ëº¸Àû²ó
OnRev(OUT_AC);Wait(23);Off(OUT_AC);//¸å¤í¤Ë²¼¤¬¤ë
SendMessage(signal_catch);// ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣱ
ClearMessage();
until(Message()==signal_end);
Wait(100);
SendMessage(signal_catch);// ¥ê¥ê¥Ñ¥Ã¥¯ÄϤࣲ
SendMessage(signal_catch);// ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣲ
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(90);Off(OUT_AC);
circling_left;Wait(102);Off(OUT_AC);//Ä´À°
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤é
OnRev(OUT_AC);Wait(90);Off(OUT_AC);//¸å¤í¤Ë²¼¤¬¤ë
circling_left;Wait(102);Off(OUT_AC);//90¡ëº¸Àû²ó
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤éľ¿Ê¡¡¢¨1
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤éľ¿Ê
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
go_ahead;Wait(15);Off(OUT_AC);
SendMessage(signal_release);// 4¸Ä´°Î»
SendMessage(signal_release);//¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(100);Off(OUT_AC);
OnRev(OUT_AC);Wait(100);Off(OUT_AC);//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¸å¤í¤Ë²¼¤¬¤ë
}
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