[[2009a]] Ìܼ¡ *Ìܼ¡ [#h58a79f3] #contents *¥á¥ó¥Ð¡¼ [#w1410ea6] ~Ds¡Ä¥í¥Ü¥Ã¥È£±µÚ¤Ó¥×¥í¥°¥é¥à£±Ã´Åö ~·Ã¡Ä¥í¥Ü¥Ã¥È£²µÚ¤Ó¥×¥í¥°¥é¥à£²Ã´Åö ~ËÙÆâ¡Ä¥í¥Ü¥Ã¥È£²µÚ¤Ó¥×¥í¥°¥é¥à£²Ã´Åö *¥í¥Ü¥³¥ó [#mab1b4c9] [[2009a/¥í¥Ü¥³¥ó]]¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£ *¥í¥Ü¥Ã¥È¤Î³µÍ× [#hf162777] **¥í¥Ü¥Ã¥È¡ [#ne19cb3d] #ref(2009a/A3/¥í¥Ü¥³¥ó/ËÜÂΣ±.jpg) ~¢¬¥¿¥é¥Ã¥×¤ò¤¢¤²¤¿¾õÂÖ #ref(2009a/A3/¥í¥Ü¥³¥ó/ËÜÂÎ2.jpg) ~¢¬¥¿¥é¥Ã¥×¤ò²¼¤²¤¿¾õÂÖ¤ÎËÜÂΤǤ¹¡£2¹æµ¡¤¬¥È¥é¥Ã¥×¤ò²¡¤·²¼¤²¤Æ¿Ê¤à»ÅÁȤߡ£ #ref(2009a/A3/¥í¥Ü¥³¥ó/¸÷¥»¥ó¥µ¡¼.jpg) ~¸÷¥»¥ó¥µ¡¼¤Ï¿Þ¤Î¤è¤¦¤Ë¼è¤êÉÕ¤±¤Þ¤·¤¿¡£¤Ê¤ª¡¢Ãæ±û¤Î¹õ¤¤ÉôÉʤϡ¢ #ref(2009a/A3/¥í¥Ü¥³¥ó/¥¿¥Ã¥Á¥»¥ó¥µ¡¼.jpg) ~¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤òÈ¿±þ¤µ¤»¤ë¤¿¤á¤Ë¼è¤êÉÕ¤±¤¿¤â¤Î¡£¥¿¥Ã¥Á¥»¥ó¥µ¡¼¼«ÂΤ¬¥Ð¥ó¥Ñ¡¼¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£ #ref(2009a/A3/¥í¥Ü¥³¥ó/Êä½õÎØ.jpg) ~Êä½õÎؤϾå¤Ë2¹æµ¡¤ò¾è¤»¤¿¤È¤¤Ë¸å¤í¤Ëž¤Ð¤Ê¤¤¤è¤¦¤Ë¼è¤êÉÕ¤±¤¿¤â¤Î¡£ **¥í¥Ü¥Ã¥È¢ [#o4596b4d] #ref(2009a/A3/¥í¥Ü¥³¥ó/Á´ÂÎÁü.jpg,50%) #ref(2009a/A3/¥í¥Ü¥³¥ó/¦ÌÌ.jpg,50%) Á´ÂΤÎÍͻҤǤ¹¡£ #ref(2009a/A3/¥í¥Ü¥³¥ó/¥¢¡¼¥àÁ´ÂÎ.jpg,50%) #ref(2009a/A3/¥í¥Ü¥³¥ó/¥¢¡¼¥à¤Î¥®¥¢Éôʬ.jpg,50%) µíÆý¥Ñ¥Ã¥¯¤òÄϤॢ¡¼¥à¤Ç¤¹¡£ ¿¿¤óÃæ¤Î¹õ¤¤¤â¤Î¤¬²ó¤ë¤È¡¢Î¾Â¦¤ÎÏÓ¤¬³«¤±¤¿¤ê¡¢ÊĤ᤿¤ê¤·¤Þ¤¹¡£ *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#m8b91d82] **¥í¥Ü¥Ã¥È¡¤Î¥×¥í¥°¥é¥à [#y71c52fd] #define L 43 //ïçÃͤòÀßÄê #define ON 11 //Á÷¤ë¥á¥Ã¥»¡¼¥¸¤òÀßÄê #define go OnFwd(OUT_A+OUT_C); //Á°¿Ê¤òÀßÄê #define right OnFwd(OUT_A);OnRev(OUT_C); //±¦ÀÞ¤òÀßÄê #define left OnFwd(OUT_C);OnRev(OUT_A); //º¸ÀÞ¤òÀßÄê task main() {SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤òÀßÄê SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤òÀßÄê SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤òÀßÄê int n=0;¡¡//ÊÑ¿ô¤òÀßÄê Wait(100); //¤¤¤¤Ê¤êÆ°¤¯¤ÈÌñ²ð¤«¤È»×¤¤¡¢¥¹¥¤¥Ã¥Á¤ò²¡¤·¤Æ¤«¤é¾¯¤·ÂԤäƹÔÆ°³«»Ï until(n==3){ if(SENSOR_1>L) //¤³¤³¤«¤é {if(SENSOR_3>L){OnFwd(OUT_A+OUT_C);} else {right;} } else{ if (SENSOR_3>L){left;} //¤³¤³¤Þ¤Ç¤Ï´ðËÜŪ¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤òÊÑ¿ô¤¬£³¤Ë¤Ê¤ë¤Þ¤Ç¹Ô¤¤¡¢ else{if(n==0){go;Wait(80);n++;} //°ì¤ÄÌܤθòº¹ÅÀ¡Ê¡©¡Ë¤Ïľ¿Ê else if(n==1){go;Wait(40);right;Wait(90);n++;} // Æó¤ÄÌܤϱ¦ÀÞ else if(n==2){Off(OUT_A+OUT_C);n++;} //»°¤ÄÌܤǤϰì½Ö»ß¤Þ¤ê¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤» } } } go;Wait(10);right;Wait(90); //±¦ÀÞ¤·¤Æ¡¢ go;Wait(248);left;Wait(90); //ÊɤΤؤ³¤ó¤Ç¤¤¤ë¥Ý¥¤¥ó¥È¤Ë¸þ¤«¤Ã¤Æ¡¢ until(SENSOR_2==1){go;} //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤¹¤ë¤Þ¤Ç¿Ê¤ß¡¢ Off(OUT_A+OUT_C); //È¿±þ¤·¤¿¤é¤¤¤Ã¤¿¤ó»ß¤Þ¤Ã¤Æ¡¢ PlaySound(SOUND_UP);Wait(1000);OnRev(OUT_A+OUT_C);Wait(60); //¤·¤Ð¤é¤¯ÂԤäƥ¿¥é¥Ã¥×¤ò²¼¤²¤ë¤¿¤á¾¯¤·¥Ð¥Ã¥¯¤·¤Æ Off(OUT_A+OUT_C); //½ªÎ»¡ª¡ª } **¥í¥Ü¥Ã¥È¢¤Î¥×¥í¥°¥é¥à [#d517f07b] #define L 40 #define D (SENSOR_1<L)&&(SENSOR_3<L) #define go OnRev(OUT_A+OUT_C); #define back OnFwd(OUT_A+OUT_C); #define right OnFwd(OUT_A);OnRev(OUT_C); #define left OnRev(OUT_A);OnFwd(OUT_C); #define ON 11 #define Stop Off(OUT_A+OUT_C+OUT_B); #define Catch OnRev(OUT_B); #define Put OnFwd(OUT_B); //¤è¤¯»È¤¦¤â¤Î¤Ï¡¢ÌÌÅݤˤʤé¤Ê¤¤¤è¤¦¤Ë´Êñ²½¤¹¤ë task main() { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_LIGHT); ¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤òÀßÃÖ¤¹¤ë int n=0; int m=1; ¡¡¡¡¡¡ //ÊÑ¿ô¤òÀßÄꤹ¤ë Off(OUT_A+OUT_C);Wait(2300); go;Wait(50); //23ÉÃÂԤġÊ1¹æµ¡¤¬2¹æµ¡¤ò¸þ¤³¤¦¤Þ¤Ç±¿¤Ö»þ´Ö¡Ë until(SENSOR_2==1){go;} until(D){m++;back;} if(D&&n==0){go;Wait(30);left;Wait(55);n++;Stop;} start line; ¡¡¡¡¡¡ if(D&&n==1){stop line;go;Wait(30);left;Wait(55);n++;} start line; if((SENSOR_2==1)&&(m==1)){stop line;Catch;Wait(400); right;Wait(110);m++;} start line; if(D&&n==2){go;Wait(55);n++;} if((SENSOR_2==1)&&(m==2)){stop line;Put;Wait(400);Stop;left;Wait(55);m++;} go;Wait(300);left;Wait(55);go; if((SENSOR_2==1)&&(m==3)){Catch;Wait(400);right;Wait(110);m++;} until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==4)){back;Wait(50);right;Wait(55);m++;} until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==5)){Put;Wait(400);Stop;right;Wait(55);m++;} go;Wait(300);left;Wait(55);go;Wait(30); right;Wait(55); until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==6)){Catch;Wait(400);right;Wait(110);m++;} start line; if(D&&n==3){go;Wait(55);right;Wait(55);n++;} if(D&&n==4){go;Wait(55);n++;} if(D&&n==5){go;Wait(55);left;Wait(55);n++;} if((SENSOR_2==1)&&(m==7)){stop line;Put;Wait(400);right;Wait(110);m++;} start line; if(D&&n==6){go;Wait(50);n++;} if((SENSOR_2==1)&&(m==8)){stop line;Catch;Wait(400);right;Wait(110);m++;} start line; if(D&&n==7){go;Wait(55);n++;} if((SENSOR_2==1)&&(m==9)){stop line;Put;Wait(400);back;Wait(55); right;Wait(55);m++;} until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==10)){right;Wait(55);m++;} until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==11)){Catch;Wait(400);right;Wait(110);m++;} until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==12)){left;Wait(55);m++;} until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==13)){Put;Wait(400);back;Wait(55); left;Wait(55);m++;} go;Wait(300);right;Wait(55);go;Wait(30); left;Wait(55); until(SENSOR_2==1){go;} if((SENSOR_2==1)&&(m==14)){Catch;Wait(400);right;Wait(110);m++;} start line; if(D&&n==8){go;Wait(55);left;Wait(55);n++;} if(D&&n==9){go;Wait(55);n++;} if(D&&n==10){go;Wait(55);right;Wait(55);n++;} if((SENSOR_2==1)&&(m==15)){Put;Wait(400);} Stop; } task line() //¥é¥¤¥ó¥È¥ì¡¼¥¹ { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_LIGHT); if(SENSOR_1>L) {if(SENSOR_3>L){go;} else {right;} } else{ if (SENSOR_3>L){left;} } } ÅÓÃæ¡¢ÀâÌÀ¤¬½ñ¤¤¤Æ¤¤¤Ê¤¤¤È¤³¤Ï¡¢°ÜÆ°·ÐÏ©¤Ë¤Ä¤¤¤Æ¤ÎÀâÌÀ¤Ê¤Î¤Ç¡¢ ²¼¤Î¿Þ¤ò¤ß¤ÆÍý²ò¤·¤¿Êý¤¬¤¤¤¤¤«¤Ê¤È»×¤Ã¤Æ¡¢¤¢¤¨¤Æ½ñ¤¤¤Æ¤¤¤Ê¤¤¡£¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¢¤Þ¤ê»È¤Ã¤Æ¤¤¤Ê¤¤¤æ¤¨¡¢»þ´ÖÀßÄê¤Ç¡¢¥×¥í¥°¥é¥à¤¬¤ï¤«¤ê¤º¤é¤¤¤«¤â¡Ë #ref(2009a/A3/¥í¥Ü¥³¥ó/¥í¥Ü¥³¥ó°ÜÆ°·ÐÏ©.jpg,) ÀÖ¤ÎÀþ¡§°ÜÆ°·ÐÏ© ÀĤαߡ§¥Ñ¥Ã¥¯¤òÄϤà¤È¤³¤í ÎФαߡ§¥Ñ¥Ã¥¯¤òÊü¤¹¤È¤³¤í Ã㿧¤Î»Í³Ñ¡§¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤¹¤ë¤È¤³¤í *Îɤ«¤Ã¤¿ÅÀ¡¢¹©Éפ·¤¿ÅÀ [#jff0e369] ~¤¤¤«¤Ë¾å¼ê¤¯Êɤθþ¤³¤¦Â¦¤Ë±¿¤Ö¤«¤ò¹Í¤¨¡¢¤Ê¤ë¤Ù¤¯¾®¤µ¤¤¥í¥Ü¥Ã¥È¡¢Àµ³ÎÀ¤Î¤¢¤ë¥×¥í¥°¥é¥à¡ÊÅÓÃæ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢¤½¤ì¤«¤é»þ´Ö»ØÄê¤Ê¤É¡Ë¤òÁȤá¤ë¤è¤¦¹©Éפ·¤¿¡£by Ds ¾¤Î¥°¥ë¡¼¥×¤È°ã¤¦¤È¤³¤Ï¡¢¡Ö¥¿¥Ã¥Á¥»¥ó¥µ¡¼¡×¤ò¥Õ¥ë¤Ë³èÍѤ·¤¿¤³¤È¡£ ¥é¥¤¥ó¥È¥ì¡¼¥¹¤è¤ê¤Ï¡¢»þ´ÖÀßÄê¤È¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Çµ÷Î¥¤Ê¤É¤ò¤Ï¤«¤Ã¤¿¡£by·Ã *¶ìÏ«¤·¤¿ÅÀ [#u3f12556] ~¤È¤«¤¯¥í¥Ü¥Ã¥È¤¬²õ¤ì¤ä¤¹¤«¤Ã¤¿¤Î¤Ç¡¢¤¤¤«¤Ë´è¾æ¤Ë¤¹¤ë¤«¤È¤¤¤¦¤Î¤È¡¢¾å¤Ë2¹æµ¡¤ò¾è¤»¤ÆÆ°¤¯ºÝ¤Î¥×¥í¥°¥é¥à¤Î»þ´Ö»ØÄ꤬Ìñ²ð¤À¤Ã¤¿¡£ by Ds »þ´ÖÀßÄê¤ò¥á¥¤¥ó¤Ç¤ä¤Ã¤Æ¤¤¤ë¤È¡¢¤ä¤Ã¤Ñ¤ê¡¢ÅÅÃÓ¤ÎÄ´»Ò¤Ë¤è¤Ã¤Æ¡¢Èù̯¤Ë¤º¤ì¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤Ã¤Æº¤¤Ã¤¿¡£by·Ã *È¿¾ÊÅÀ [#tbfaee3f] ~¤â¤¦¾¯¤·¥×¥í¥°¥é¥ß¥ó¥°¤Ë»þ´Ö¤ò¤«¤±¤é¤ì¤¿¤é¤è¤«¤Ã¤¿¡£ by Ds ¤â¤¦¾¯¤·¡¢Ä´À°¤Î»þ´Ö¤¬¤¢¤Ã¤¿¤Ê¤é¡¢¤¦¤Þ¤¯¤¤¤Ã¤¿¤«¤â¤·¤ì¤Ê¤¤¡£ ºÇ¸å¤ÎµÍ¤á¤¬´Å¤«¤Ã¤¿¤Î¤À¤í¤¦¡£by·Ã *¥³¥á¥ó¥È¤É¤¦¤¾ [#rdd798ad] #comment