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#ref(./s_ashimawari2.jpg,60%,²ó¤ê΢) ¸÷¥»¥ó¥µ¡¼¤ÏÃÏÌ̤«¤é¶á¤¹¤®¤º¡¤±ó¤¹¤®¤º¤Î°ÌÃ֤ˤĤ±¤Þ¤·¤¿¡¥ #ref(./s_ashimawari3.jpg,60%,¥»¥ó¥µ¡¼Á°¤«¤é) *ºîÀï [#jce63a37] *¥×¥í¥°¥é¥à [#c77b3647] ¥¢¡¼¥à¤È¤ò2Âæ¤ÎRIS¤ò»È¤Ã¤ÆÄÌ¿®¤·¤Ê¤¬¤é¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤¿¤Î¤Ç¡¤2¤Ä¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤¬¤¢¤ê¤Þ¤¹¡¥ **¥¢¡¼¥à¤Î¥×¥í¥°¥é¥à [#nc51bc9b] ***¥Þ¥¯¥í [#q6601f5e] ÄÌ¿®¤Ë»È¤¦ÃͤǤ¹¡¥ #define signal_catch 1 #define signal_release 2 #define signal_end 3 ***¥µ¥Ö¥ë¡¼¥Á¥ó [#m2d3fb40] ¥Ü¡¼¥ë¤ò°ìÅÙ¤ËÊ£¿ô¸Ä±¿¤Ù¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤ò½ñ¤¤Þ¤·¤¿¡¥ ¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥µ¥Ö¥ë¡¼¥Á¥ó sub CATCH() { ClearMessage(); 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);// ¤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);// ¥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); //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();//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¡¥ ** [#d6b7665a] Â¤Î¥×¥í¥°¥é¥à¤ÏÆ°¤¯½ç½ø¤Ë±è¤Ã¤Æºî¤é¤ì¤Æ¤¤¤Þ¤¹¡¥»þ´ÖÀ©¸æ¤Ç¤Ï¥Ð¥Ã¥Æ¥ê¡¼¥ì¥Ù¥ë¤Ë¤è¤Ã¤ÆÆ°¤¤¬ÊѤï¤ë¤Î¤Ç¡¤ÂçÉôʬ¤ò¸÷¥»¥ó¥µ¡¼¤ÇÀ©¸æ¤·¤Æ¤¤¤Þ¤¹¡¥ ***¥Þ¥¯¥í¡¦¥°¥í¡¼¥Ð¥ëÊÑ¿ô [#v0515351] ¸÷¥»¥ó¥µ¡¼¤ÎÃÍ¡¤´ðËÜŪ¤ÊÆ°ºî¡¤¥á¥Ã¥»¡¼¥¸¤ÎÃͤòÄêµÁ¤·¤Þ¤¹¡¥ #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; ***¥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¤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);//K'ÉÕ¶á¤ËÅþã t=90;follow_line();//¢¨£² Wait(100); SendMessage(signal_catch);// L'¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë ClearMessage(); 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);//¸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);//±¦¤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();//¢¨£² SendMessage(signal_catch);// L¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë ClearMessage() ; until(Message()==signal_end); 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¥¯¤Ç¤Ä¤«¤àÌ¿Îᣲ ClearMessage(); until(Message()==signal_end); 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);//¥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);//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¸å¤í¤Ë²¼¤¬¤ë } ¢¨1¡¡¤³¤Î°ìÏ¢¤ÎÆ°ºî¤Ï¡¤¥é¥¤¥ó¤Þ¤Ç¿Ê¤ß¡¤¥é¥¤¥ó¤ò±Û¤¨¡¤¤Þ¤¿¥é¥¤¥ó¤Þ¤Ç¿Ê¤à¤È¤¤¤¦Æ°ºî¤ò¤·¤Æ¤¤¤Þ¤¹¡¥¿ô¤òÄ´À°¤¹¤ë¤³¤È¤ÇǤ°Õ¤Î¹õÀþ¤Î¼êÁ°¤Þ¤¿¤Ï±ü¤Ç»ß¤Þ¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡¥ ¢¨£²¡¡follow_line¤Î¸å¤Ë¤Ï¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¡¤90¡ë²óž¤¹¤ë¥×¥í¥°¥é¥à¤¬¤¢¤ê¤Þ¤¹¡¥¤½¤Î2¤Ä¤Ï°ÌÃÖ¤¬Àµ³Î¤Ç¤Ê¤¤¤È¤¦¤Þ¤¯µ¡Ç½¤·¤Þ¤»¤ó¡¥¤½¤Î¤¿¤á¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡¤¥í¥Ü¥Ã¥È¤ò¤Ç¤¤ë¤À¤±¹õÀþ¤ÈÊ¿¹Ô¤Ë¤·¤Æ¤¤¤Þ¤¹¡¥ *È¿¾ÊÅÀ¡¦´¶ÁÛ [#w49fe919]