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#define THRESHOLD 40 ¡¡¡¡//ïçÃͤò£´£°¤ËÀßÄê
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£±¤Ï¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_2,SENSOR_TOUCH);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£²¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤Ï¸÷¥»¥ó¥µ¡¼
int n;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÊÑ¿ôn¤ò»È¤¦
n=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//n¤ò0¤È¤¹¤ë
while(n<4){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//n¤¬4¤è¤ê¾®¤µ¤¤¤È¤¼Â¹Ô
if(SENSOR_1>THRESHOLD) {
if(SENSOR_3>THRESHOLD) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤È¥»¥ó¥µ¡¼£³¤¬
OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤ò´¶ÃΤ·¤Æ¤¤¤ë¤È¤Á°¿Ê
} else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬Çò
¡¡¡¡¡¡¡¡ ¡¡¡¡OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬¹õ
Off(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤ò´¶ÃΤ·¤Æ¤¤¤ë¤È¤
}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë²ó¤ë
}
else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬¹õ
if(SENSOR_3>THRESHOLD) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬Çò
Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤ò´¶ÃΤ·¤Æ¤¤¤ë¤È¤
OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¤Ë²ó¤ë
}
else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤È¥»¥ó¥µ¡Ý£³¤¬
OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤ò´¶ÃΤ·¤Æ¤¤¤ë¤È¤
Wait(30);
Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¼¤¬¤Ã¤Æ»ß¤Þ¤ê
Wait(50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤¹¤ë
OnFwd(OUT_A+OUT_C);
Wait(100);
n=n+1;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÊÑ¿ôn¤Ë£±²Ã¤¨¤ë
}
}
if(SENSOR_2==1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£²¤¬²¡¤µ¤ì¤¿¤È¤
OnRev(OUT_A+OUT_C); Wait(50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¼¤¬¤Ã¤Æ»ß¤Þ¤ë
Off(OUT_A+OUT_C); Wait(100);
}
}
Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÊÑ¿ô¤¬£´¤Ë¤Ê¤Ã¤¿¤é»ß¤Þ¤ë
}
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