[[2008b]]

[[2008b]]

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 #define THRESHOLD 50
 #define THRESHOLD_2 45
 #define THRESHOLD_3 40
 #define SIGNAL 11
 #define SIGNAL_2 12
 #define SIGNAL_3 13
 #define SIGNAL_4 14
 #define SIGNAL_5 15
 #define SIGNAL_6 16
 #define SIGNAL_7 17
 #define SIGNAL_8 18
 #define SIGNAL_9 19
 #define SIGNAL_A 21
 #define SIGNAL_B 22
 
 int move_count;
 sub turn(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¤Ë90Åٶʤ¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
    SetPower(OUT_A,6);
    SetPower(OUT_B,5);
    SetPower(OUT_C,7);
    
    ClearMessage();
    until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
      PlaySound(SOUND_CLICK);
      ClearMessage();
      Off(OUT_A+OUT_B);
      Wait(50);
      OnRev(OUT_A+OUT_B);
      Wait(10);
      Off(OUT_A+OUT_B);
      OnFwd(OUT_A);
      OnRev(OUT_B);
      Wait(80);
      Off(OUT_A+OUT_B);
      Wait(50);
      ClearMessage();
 }         

 sub turn_r(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë£¹£°¡ë¶Ê¤¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
    until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
      ClearMessage();
      Off(OUT_A+OUT_B);
      Wait(50);
      OnRev(OUT_A+OUT_B);
      Wait(10);
      Off(OUT_A+OUT_B);
      OnFwd(OUT_B);
      OnRev(OUT_A);
      Wait(80);
      Off(OUT_A+OUT_B);
      Wait(50);
      ClearMessage();
 }
       
 sub line(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
    SetPower(OUT_A,6);
    SetPower(OUT_B,5);
    SetSensor(SENSOR_1,SENSOR_LIGHT);     
 
    move_count = 0;
      ClearMessage();
      ClearTimer(0); 
      while(move_count < 1){
      if(((Message() == SIGNAL_A) || (Message() == SIGNAL_B))  &&  (FastTimer(0) > 500)){ 
          PlaySound(SOUND_CLICK);
          ClearMessage();
          (move_count);
          move_count = move_count + 1; 

      }
      if(SENSOR_1>THRESHOLD){
        OnFwd(OUT_A);
        Off(OUT_B);
      if(FastTimer(0) > 400){
       ClearMessage();
      }}
      else{
        Off(OUT_A);
        OnFwd(OUT_B);
      if(FastTimer(0) > 400){
       ClearMessage();
       
      } 
      }
     }
 }

 task main(){
    SetPower(OUT_A,6);
    SetPower(OUT_B,5);
    SetSensor(SENSOR_1,SENSOR_LIGHT);
 
   ClearMessage();
    OnFwd(OUT_A+OUT_B);
    until(SENSOR_1<THRESHOLD);
      Off(OUT_A+OUT_B);
      Wait(50);
      OnFwd(OUT_A+OUT_B);
    until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
      PlaySound(SOUND_CLICK);
      ClearMessage();
      OnRev(OUT_A+OUT_B);
      Wait(20);
      OnFwd(OUT_B);
      OnRev(OUT_A);
      Wait(57);
      OnFwd(OUT_A+OUT_B);
      Wait(250);
      OnFwd(OUT_A);
      OnRev(OUT_B);
      Wait(40);
      OnFwd(OUT_A+OUT_B);
    until(SENSOR_1<THRESHOLD);
      line();
      Off(OUT_A+OUT_B);
      Wait(50);
      OnRev(OUT_A+OUT_B);
      Wait(10);
      Off(OUT_A+OUT_B);
      OnFwd(OUT_A);
      OnRev(OUT_B);
      Wait(80);
      Off(OUT_A+OUT_B);
      Wait(50);
      OnFwd(OUT_A+OUT_B);
      ClearMessage();
    until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
      move_count = 0;
         ClearMessage();
         while(move_count < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¡
          if(Message() == SIGNAL_A){
           ClearMessage();
          (move_count);
           move_count = move_count + 1;
  
          }
         if(Message() == SIGNAL_B){
          OnFwd(OUT_A);
          Off(OUT_B);
          Wait(10);
          ClearMessage();
         }
        else{
          Off(OUT_A);
          OnFwd(OUT_B);
        }
       }
    
    Off(OUT_A+OUT_B);
    PlaySound(SOUND_CLICK);
    OnRev(OUT_A);
    Wait(145);
    OnRev(OUT_A+OUT_B);
    Wait(30);
    Off(OUT_A+OUT_B);
    ClearMessage();
    SendMessage(SIGNAL);
    until(Message() == SIGNAL_2);
      PlaySound(SOUND_CLICK);
      Off(OUT_A+OUT_B);
    move_count = 0;
    while(move_count < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¢
      if((SENSOR_2 < THRESHOLD_2) && (SENSOR_3 > THRESHOLD_3)){
        OnRev(OUT_A);
        Off(OUT_B);
      }
      if((SENSOR_2 > THRESHOLD_2) && (SENSOR_3 < THRESHOLD_3)){
         OnRev(OUT_B);
         Off(OUT_A);
      }
      if((SENSOR_2 < THRESHOLD_2) && (SENSOR_3 < THRESHOLD_3)) {
        OnRev(OUT_A+OUT_B);
        Wait(20);
      (move_count);
      move_count = move_count + 1;
     }
     if((SENSOR_2 > THRESHOLD_2) && (SENSOR_3 > THRESHOLD_3)) {
       OnRev(OUT_A+OUT_B);
     }
    }
     OnRev(OUT_A+OUT_B);
     Wait(28);
    Float(OUT_A+OUT_B);
    SendMessage(SIGNAL_3);
    until(Message() == SIGNAL_4);
      PlaySound(SOUND_CLICK);
      OnFwd(OUT_A);
      OnRev(OUT_B);
      Wait(100);
      Off(OUT_A+OUT_B);
      OnFwd(OUT_A+OUT_B);
   ClearMessage();
    until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
      PlaySound(SOUND_CLICK);
      ClearMessage();
      Off(OUT_A+OUT_B);
      Wait(50);
      OnRev(OUT_A+OUT_B);
      Wait(15);
      Off(OUT_A+OUT_B);
      OnFwd(OUT_A);
      OnRev(OUT_B);
      Wait(80);
      Off(OUT_A+OUT_B);
      Wait(50);
      ClearMessage();
      
      PlaySound(SOUND_CLICK);
      OnFwd(OUT_A+OUT_B); 
      turn_r();
      OnFwd(OUT_B);
      OnRev(OUT_A);
      Wait(25);
      Off(OUT_A+OUT_B); 
      OnFwd(OUT_A+OUT_B); 
      Wait(35); 
      line();
      turn_r();   
      Off(OUT_A+OUT_B); 
      OnRev(OUT_A+OUT_B);
      Wait(200);
      Off(OUT_A+OUT_B);
      SendMessage(SIGNAL_8);
     ClearMessage(); 
     until(Message() == SIGNAL_9); 
      SendMessage(SIGNAL_5);
      ClearMessage();
      until(Message() == SIGNAL_6);
      OnFwd(OUT_A+OUT_B);
      Wait(200);
      Off(OUT_A+OUT_B);
       SendMessage(SIGNAL_7); 
      Wait(200); 
      OnRev(OUT_A+OUT_B); 
      Wait(200); 
      Off(OUT_A+OUT_B);  
      OnFwd(OUT_A+OUT_B);
      Wait(150);
      Off(OUT_A+OUT_B);
      
  
 }



¤â¤¦°ì¤Ä¤ÎRCX
 #define SIGNAL 11
 #define SIGNAL_2 12
 #define SIGNAL_3 13
 #define SIGNAL_4 14
 #define SIGNAL_5 15
 #define SIGNAL_6 16
 #define SIGNAL_7 17
 #define SIGNAL_8 18
 #define SIGNAL_9 19
 #define SIGNAL_A 21
 #define SIGNAL_B 22
 
 
 task main(){
   SetSensor(SENSOR_1,SENSOR_ROTATION);
   SetSensor(SENSOR_2,SENSOR_TOUCH);
   SetSensor(SENSOR_3,SENSOR_TOUCH);
   ClearMessage();
   
  while(true){
   if(Message() == SIGNAL){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¡SIGNAL¤ò¼õ¿®¤·¤¿¤È¤­
     PlaySound(SOUND_CLICK);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ÏÓ¤ò³«¤¯
     OnFwd(OUT_A);
     until(SENSOR_1 == 90);
       Off(OUT_A);
       Wait(50);
      ClearMessage();
       SendMessage(SIGNAL_2);
      }
   if(Message() ==  SIGNAL_3){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGNAL_3¤ò¼õ¿®¤·¤¿¤È¤­
     ClearSensor(SENSOR_1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ÏÓ¤òÊĤ¸¡¢´Ì¤ò»ý¤Á¾å¤²¤ë
     OnRev(OUT_A);
     until(abs(SENSOR_1) == 68);
       ClearSensor(SENSOR_1);
       Off(OUT_A);
       Wait(30);
       OnFwd(OUT_B+OUT_C);
       Wait(30);
       Off(OUT_B+OUT_C);
       SendMessage(SIGNAL_4);
       ClearMessage();
   }
   if(Message() ==  SIGNAL_5){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGANAL_5¤ò¼õ¿®¤·¤¿»þ
     OnRev(OUT_C+OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡´Ì¤ò»ý¤Á¾å¤²¤Ê¤¬¤éÏÓ¤ò³«¤¯
     Wait(30);
     Off(OUT_C+OUT_B);
     OnFwd(OUT_A);
     until(abs(SENSOR_1) == 65);
       Off(OUT_A);
       Wait(50);
       SendMessage(SIGNAL_6);
       ClearSensor(SENSOR_1);
       ClearMessage();
   }
   if(Message() ==  SIGNAL_7){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//signal_7¤ò¼õ¿®¤·¤¿¤È¤­
   ClearSensor(SENSOR_1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ÏÓ¤òÊĤ¸¤ë
      OnRev(OUT_A);
     until(abs(SENSOR_1) == 90);
       Off(OUT_A);
       Wait(50);
       ClearMessage();
   }
   if(Message() ==  SIGNAL_8){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGNAL_8¤ò¼õ¿®¤·¤¿¤È¤­
     OnFwd(OUT_B+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡´Ì¤ò»ý¤Á¾å¤²¤ë
      Wait(30);
      Off(OUT_B+OUT_C);
     SendMessage(SIGNAL_9); 
     }
   if(SENSOR_2 == 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¡²£±¤¬²¡¤µ¤ì¤¿¤È¤­
     SendMessage(SIGNAL_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡SIGNAL_A¤òÁ÷¿®¤¹¤ë
   }
   if(SENSOR_3 == 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¡²£²¤¬²¡¤µ¤ì¤¿¤È¤­
     SendMessage(SIGNAL_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡SIGNAL_B¤òÁ÷¿®¤¹¤ë
   }
  }
 }
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