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#define signal_catch 1
#define signal_release 2
#define signal_end 3
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sub CATCH()
{
ClearMessage();
until(Message()==signal_catch);
OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ²¼¤¬¤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
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
SendMessage(signal_end);
ClearMessage();
until(Message()==signal_catch); //signal_catch¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡
OnFwd(OUT_B);
Wait(30);
Off(OUT_B);
Wait(100); // ²¼¤¬¤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
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
SendMessage(signal_end); //Æ°ºî½ªÎ»¤ò¤ÎRIS¤ËÁ÷¿®
}
SendMessage(signal_end);¤Ï¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤éÂ¤Î¥×¥í¥°¥é¥à¤òºÆ³«¤µ¤»¤ë¤¿¤á¤ËÆþ¤ì¤¿¡£Â¤Î¥×¥í¥°¥é¥à¤Ë¤Ïuntil(Message()==signal_end);¤¬Æþ¤Ã¤Æ¤¤¤Æ¡¢¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤¿¸å¤ÎÆ°ºî¤¬ºÆ³«¤µ¤ì¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£
-¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë
sub release()
{
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_B);Wait(50);Off(OUT_B);Wait(100);// ¾å¤¬¤ë
SendMessage(signal_end);
ClearMessage();
until(Message()==signal_release); ¡¡//signal_release¤ò¼õ¿®¤¹¤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); ¡¡¡¡//Æ°ºî½ªÎ»¤ò¤ÎRIS¤ËÁ÷¿®
}
***¥á¥¤¥ó¥×¥í¥°¥é¥à [#ge4f37c2]
¥¢¡¼¥à¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ï°Ê²¼¤ÎÄ̤ꡣ
task main()
{
ClearMessage();
CATCH();¡¡¡¡¡¡//L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
release();¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë
CATCH();¡¡¡¡¡¡//L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(1¸ÄÌÜ)
CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(2¸ÄÌÜ)
ClearMessage();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//(¡ö)
until(Message()==signal_release);
OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÁ°¤ØÁ÷¤ë
OnRev(OUT_BC);Wait(50);Off(OUT_BC);Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥Ô¥ó¥Ý¥ó¶Ì¤òÁ÷¤ë
SendMessage(signal_end);
ClearMessage();
CATCH();¡¡¡¡¡¡//L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
release();¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë
CATCH();¡¡¡¡¡¡//L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(1¸ÄÌÜ)
CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(2¸ÄÌÜ)
ClearMessage();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//(¢¨)
until(Message()==signal_release);
OnFwd(OUT_B);
Wait(30);
Off(OUT_B);
Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
OnRev(OUT_C);
Wait(200);
Off(OUT_C);
Wait(100);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÁ°¤ØÁ÷¤ë
OnRev(OUT_BC);
Wait(50);
Off(OUT_BC);
Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥Ô¥ó¥Ý¥ó¶Ì¤òÁ÷¤ë
SendMessage(signal_end);
}
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**²ó¤ê¤Î¥×¥í¥°¥é¥à [#q4126503]
***¥Þ¥¯¥í¡¦¥°¥í¡¼¥Ð¥ëÊÑ¿ô [#fdbdfa50]
-¸÷¥»¥ó¥µ¡¼¤ÎÃÍ
#define black 40¡¡¡¡¡¡¡¡//¿¿¤Ã¹õ
#define gray_black 44 ¡¡//¹õ
#define gray 47¡¡¡¡ ¡¡//³¥
#define gray_white 50 ¡¡//Çò
#define white 60¡¡¡¡¡¡ //¿¿¤ÃÇò
-´ðËÜŪ¤ÊÆ°ºî
#define go_ahead OnFwd(OUT_AC); //Á°¤Ë¿Ê¤à
#define turn_left OnFwd(OUT_A);Off(OUT_C);¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë
#define turn_right OnFwd(OUT_C);Off(OUT_A);¡¡ //±¦¤Ë¶Ê¤¬¤ë
#define circling_left OnRev(OUT_C);OnFwd(OUT_A);¡¡ ¡¡//º¸Àû²ó¤¹¤ë
#define circling_right OnRev(OUT_A);OnFwd(OUT_C);¡¡¡¡//±¦Àû²ó¤¹¤ë
-¥°¥í¡¼¥Ð¥ëÊÑ¿ô
int t;
***¥µ¥Ö¥ë¡¼¥Á¥ó [#yf71ea61]
²¼¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë»ÈÍѤ·¤¿¥µ¥Ö¥ë¡¼¥Á¥ó¤ò¼¨¤¹¡£
sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹»þ´Ö
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;} //¿¿¤Ã¹õ¤Ê¤é±¦Àû²ó¤»¤è
else if(SENSOR_2<gray_black){turn_right;} //¹õ¤Ê¤é±¦¤Ë¶Ê¤¬¤ì
else if(SENSOR_2<gray){go_ahead;} //³¥¤Ê¤éľ¿Ê¤»¤è
else if(SENSOR_2<gray_white){turn_left;} //Çò¤Ê¤éº¸¤Ë¶Ê¤¬¤ì
else if(SENSOR_2<white){circling_left;} //¿¿¤ÃÇò¤Ê¤é±¦Àû²ó¤»¤è
}
Off(OUT_AC);Wait(100);¡¡¡¡¡¡//1Éûߤޤì
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while(FastTimer(0)<t)
{
if(SENSOR_2<black)
{
circling_right;
} //¿¿¤Ã¹õ¤Ê¤é±¦Àû²ó¤»¤è
else if(SENSOR_2<gray_black)
{
turn_right;
} //¹õ¤Ê¤é±¦¤Ë¶Ê¤¬¤ì
else if(SENSOR_2<gray)
{
go_ahead;
} //³¥¤Ê¤éľ¿Ê¤»¤è
else if(SENSOR_2<gray_white)
{
turn_left;
} //Çò¤Ê¤éº¸¤Ë¶Ê¤¬¤ì
else if(SENSOR_2<white)
{
circling_left;
} //¿¿¤ÃÇò¤Ê¤é±¦Àû²ó¤»¤è
}
Off(OUT_AC);
Wait(100);¡¡¡¡¡¡//1Éûߤޤì
}
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***¥á¥¤¥ó¥×¥í¥°¥é¥à [#p926cb48]
°Ê²¼¤¬Â¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
¡»¤ÎÃæ¤Î¿ô»ú¤Ï¡¢·ÐÏ©¤ÎÀâÌÀ¤Î¿Þ¤Î¿ô»ú¤ËÂбþ¤·¤Æ¤¤¤ë¡£
-1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç
task main()
{
ClearMessage();
// A'¥¹¥¿¡¼¥È
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//Çò¤Ê¤é¿Ê¤à
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//¹õ¤Ê¤é¿Ê¤à
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°
Wait(100);
SendMessage(signal_catch);¡¡¡¡// L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë
ClearMessage();
until(Message()==signal_end);
circling_left;Wait(102);Off(OUT_AC);¡¡¡¡//º¸¤Ë90¡ëÀû²ó
SendMessage(signal_release);¡¡¡¡// 1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÈ¢¤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);¡¡¡¡¡¡//º¸¤Ë90¡ëÀû²ó
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//Çò¤Ê¤é¿Ê¤à
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//¹õ¤Ê¤é¿Ê¤à
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);¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//Çò¤Ê¤é¿Ê¤à
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//¹õ¤Ê¤é¿Ê¤à
t=150;follow_line();//Ä´À°
SendMessage(signal_catch);// L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë
ClearMessage();
until(Message()==signal_end);
circling_left;Wait(102);Off(OUT_AC);¡¡¡¡//º¸¤Ë90¡ëÀû²ó
OnRev(OUT_AC);Wait(23);Off(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¸ÄÌÜ)
ClearMessage();
until(Message()==signal_end);
Wait(100);
SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¸ÄÌÜ)
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(90);Off(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
circling_left;Wait(102);Off(OUT_AC);¡¡¡¡//º¸¤Ë90¡ëÀû²ó
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é¿Ê¤à
while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤é¿Ê¤à
while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
go_ahead;Wait(15);Off(OUT_AC);¡¡¡¡//Á°¤Ë¿Ê¤à
SendMessage(signal_release);
ClearMessage();
until(Message()==signal_end);
OnRev(OUT_AC);Wait(100);Off(OUT_AC);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ë
ClearMessage(); // A'¥¹¥¿¡¼¥È
while(SENSOR_2>gray)¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¢¨1
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100);
while(SENSOR_2<gray) ¡¡//¹õ¤Ê¤é¿Ê¤à
{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);
t=90;follow_line();¡¡¡¡// ¢¨2
Wait(100);
SendMessage(signal_catch);¡¡¡¡// L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë¡
ClearMessage();
until(Message()==signal_end); //¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡
circling_left;¡¡ ¡¡//º¸¤Ë90¡ëÀû²ó¢
Wait(102);
Off(OUT_AC);
SendMessage(signal_release);¡¡¡¡// 1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë£
ClearMessage();
until(Message()==signal_end);¡¡¡¡ ¡¡¡¡// ¢¨3
-2¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç
OnRev(OUT_AC);¡¡¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
Wait(30);
Off(OUT_AC);
circling_left;
Wait(102);
Off(OUT_AC);¡¡ ¡¡¡¡//º¸¤Ë90¡ëÀû²ó¤
while(SENSOR_2>gray)
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100);¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1
while(SENSOR_2<gray)
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100); ¡¡//¹õ¤Ê¤é¿Ê¤à
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;¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë
Wait(100);
while(SENSOR_2>gray)¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100);
while(SENSOR_2<gray)¡¡ //¹õ¤Ê¤é¿Ê¤à
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100);
t=150;follow_line();¡¡¡¡// ¢¨2
SendMessage(signal_catch);// L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë¥
ClearMessage();
until(Message()==signal_end);¡¡¡¡// ¢¨3
-¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç
circling_left;¡¡¡¡//º¸¤Ë90¡ëÀû²ó¦
Wait(102);
Off(OUT_AC);
OnRev(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë§
Wait(23);
Off(OUT_AC);
SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¸ÄÌÜ)¨
ClearMessage();
until(Message()==signal_end); ¡¡¡¡// ¢¨3
Wait(100);
SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¸ÄÌÜ)
ClearMessage();
until(Message()==signal_end); ¡¡¡¡// ¢¨3
-3¤Ä¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç
OnRev(OUT_AC);¡¡ ¡¡//¸å¤í¤Ë²¼¤¬¤ë
Wait(90);
Off(OUT_AC);
circling_left; ¡¡¡¡//º¸¤Ë90¡ëÀû²ó©
Wait(102);
Off(OUT_AC);
while(SENSOR_2>gray) //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100);
while(SENSOR_2<gray); //¹õ¤Ê¤é¿Ê¤à
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100)
while(SENSOR_2>gray)
{OnFwd(OUT_AC);}
Off(OUT_AC);
Wait(100);
go_ahead;¡¡ ¡¡//Á°¤Ë¿Ê¤à
Wait(15);
Off(OUT_AC);
SendMessage(signal_release);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ëª
ClearMessage();
until(Message()==signal_end); ¡¡¡¡// ¢¨3
OnRev(OUT_AC);//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ë
Wait(100);
Off(OUT_AC);¡¡¡¡
}
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