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¢ª1.»æ¥Ñ¥Ã¥¯¤ò±ª²ó¤¹¤ë¡¢¤¢¤ë¤¤¤Ï»æ¥Ñ¥Ã¥¯¤ò¤â¤È¤Î°ÌÃÖ¤ËÌᤷ¤¿¤Î¤Á¥³¡¼¥¹¤ËÌá¤Ã¤Æ¿Ê¤à
int sem_2; //¥¿¥¹¥¯À©¸æ¤ÎÊÑ¿ô¡¡¾Ü¤·¤¯¤Ï²¼¤ÇÀâÌÀ
int sem_3; //¥¿¥¹¥¯À©¸æ¤ÎÊÑ¿ô¡¡¾Ü¤·¤¯¤Ï²¼¤ÇÀâÌÀ
int count; //¸òº¹ÅÀ¤ò¿ô¤¨¤ë
int dodge; //¥¿¥¹¥¯À©¸æ¤ÎÊÑ¿ô¡¡¾Ü¤·¤¯¤Ï²¼¤ÇÀâÌÀ
int timer; //¥¿¥¤¥Þ¡¼¡Ê£°¡Ë¤ÎÃͤòÊݸ¤¹¤ë
int timer_2; //¥¿¥¤¥Þ¡¼¡Ê£±¡Ë¤ÎÃͤòÊݸ¤¹¤ë
int time; //Èò¤±¤ë¤Þ¤Ç¤Ë¿Ê¤ó¤À»þ´Ö¤òÊݸ¤¹¤ë
#define straight_time 130;
#define dodge_to_back Off(OUT_A+OUT_C);OnRev(OUT_A+OUT_C);Wait(100);Off(OUT_A+OUT_C);Wait(200);OnFwd(OUT_A+OUT_C);Wait(80);
//¢¬Åö¤¿¤Ã¤¿»þ¤Ë¸å¤í¤ØÈò¤±¤ë
#define turn_left ClearTimer(0);OnFwd(OUT_A+OUT_C);Wait(time);sem_3=1;time=straight_time;OnFwd(OUT_A);OnRev(OUT_C);Wait(105);dodge -= 2;sem_3=0;
//¢¬Á°¿Ê¤·¤ÆÊý¸þž´¹¤ò¤¹¤ë
#define turn_right sem_3=1;time=straight_time;OnRev(OUT_A);OnFwd(OUT_C);Wait(105);dodge -= 2;sem_3=0; //Êý¸þž´¹¤ò¤¹¤ë
task main()
{
count=0; //³ÆÊÑ¿ô¤Î½é´üÃͤòÀßÄê
sem_2=0;
sem_3=0;
dodge=10;
timer=0;
timer_2=0;
time=straight_time;
SetSensor(SENSOR_1, SENSOR_LIGHT);//¥»¥ó¥µ¡¼£±¤È£³¤ò¸÷¥»¥ó¥µ¡¼¤Ë
SetSensor(SENSOR_2, SENSOR_TOUCH);//¥»¥ó¥µ¡¼£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ËÀßÄê
SetSensor(SENSOR_3, SENSOR_LIGHT);//
start dodging;
start dodging_2;
Wait(100); //¥Ü¥¿¥ó¤ò²¡¤·¤Æ¤«¤é£±ÉÃÂÔ¤Ä
while( sem_2 == 0 )
{
while(true)
{
if (count >= 12) //¸òº¹ÅÀ¤ÎÄ̤俲ó¿ô¤ò¿ô¤¨¤ë
{ //12²óÄ̤俤é
sem_2=4; //½ª¤ê¤Ê¤Î¤Ç»ß¤Þ¤ë
StopAllTasks();
Off(OUT_A+OUT_C);
}
else
{
OnFwd(OUT_A+OUT_C);
}
if (SENSOR_2 == 1) //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
{ //¸å¤í¤ËÈò¤±¤Æ»ß¤Þ¤ë
dodge_to_back;
ClearTimer(0);
until ((SENSOR_2 == 1) ||(Timer(0) == 20)) //¤â¤¦°ìÅÙÁ°¤Ë½Ð¤Æ
{
OnFwd(OUT_A+OUT_C);Wait(20);Off(OUT_A+OUT_C) //¤Þ¤¿Åö¤¿¤Ã¤¿¤é
}
if (SENSOR_2 == 1) //µíÆý¥Ñ¥Ã¥¯¤À¤È»×¤ï¤ì¤ë¤Î¤Ç
{
Off(OUT_A+OUT_C);
sem_3=1; //µíÆý¥Ñ¥Ã¥¯²óÈòÍѤËsem_2¤È
sem_2=3; //sem_3¤ÎÃͤòÊѹ¹¤¹¤ë
}
}
else //Åö¤¿¤é¤Ê¤«¤Ã¤¿¤éÁê¼ê¤ÎNQC¤À¤Ã¤¿¤È
{ //»×¤ï¤ì¤ë¤Î¤Ç¤½¤Î¤Þ¤Þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤¹¤ë
}
if ((SENSOR_1< 45 ) &&(SENSOR_3< 40))//¸÷¥»¥ó¥µ¡¼¤¬Î¾ÊýÈ¿±þ¤·¤¿¤é
{ //¸òº¹ÅÀ¤À¤È»×¤ï¤ì¤ë¤Î¤Ç
Off(OUT_A+OUT_C);
Wait(30);
count++; //count¤ÎÃͤò£±Áý¤ä¤·¤ÆÁ°¿Ê
OnFwd(OUT_A+OUT_C);
Wait(30);
}
else
{
if (SENSOR_1< 45) //º¸¤Î¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
{ //¿ÊÏ©¤¬±¦¤Ë¥º¥ì¤Æ¤¤¤ë¤Î¤Ç
OnRev(OUT_A); //º¸¤Ë½¤Àµ
}
if (SENSOR_3< 40) //±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
{ //¿ÊÏ©¤¬º¸¤Ë¥º¥ì¤Æ¤¤¤ë¤Î¤Ç
OnRev(OUT_C); //±¦¤Ë½¤Àµ
}
}
}
}
}
//¤³¤³¤«¤é²¼¤ÏµíÆý¥Ñ¥Ã¥¯¤¬¤¢¤Ã¤¿»þ¤ÎÈò¤±¤ë¥×¥í¥°¥é¥à
task dodging()
{
while(sem_2 == 3)
{
Off(OUT_A+OUT_C);
if (dodge == 10)
{
OnRev(OUT_A+OUT_C); //¤Á¤ç¤Ã¤È²¼¤¬¤Ã¤Æ
Wait(30); // ¢£---µíÆý¥Ñ¥Ã¥¯
sem_3=0; // ¢«
turn_right; //Êý¸þž´¹¤·¤ÆÁ°¿Ê¡¡¡¡¡¡¡¡ ¢¬¡¡¡¡¡¡
}
if (dodge == 8)
{
turn_left; //Êý¸þž´¹¤·¤Æ¡¡¡¡¡¡¡¡¢¬¢£
OnFwd(OUT_A+OUT_C); //Á°¿Ê¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢¬¢«
Wait(120);
}
if (dodge == 6)
{ // ¢¬¢ª
turn_left; //Êý¸þž´¹¤·¤ÆÁ°¿Ê¡¡¡¡¡¡¡¡¢¬¢£
}
if (dodge == 4)
{
ClearTimer(0); // ¢¬
turn_right; //Êý¸þž´¹¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢£
dodge = 10;
}
sem_2=0; //Èò¤±½ª¤ï¤Ã¤¿¤Î¤Çsem_2¤ò£°¤Ë¤¹¤ë
}
}//µíÆý¥Ñ¥Ã¥¯¤òÈò¤±¤Æ¤¤¤ë¤È¤¤ËÁê¼ê¤ÈÅö¤¿¤Ã¤¿¤È¤¤Î¥×¥í¥°¥é¥à
task dodging_2()
{
while(true)
{
while(sem_2 == 3)
{
while(sem_3 == 0)
{
if (SENSOR_2 == 1)
{
stop dodging;
ClearTimer(1);
timer=Timer(0);
dodge_to_back;
timer_2=Timer(1);
time=straight_time-10-timer-timer_2;//Èò¤±¤¿»þ´Ö¤ò·×»»¤·¤ÆºÆÀßÄê¡¡¤Ê¤¼¤«0.1É交ì¤Æ¤·¤Þ¤¦¤Î¤Ç½¤Àµ¤·¤Þ¤¹
start dodging;
}
}
}
}
}
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***¤æ¤¦¤ [#qcf47aee]
¢ª2.»æ¥Ñ¥Ã¥¯¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ó¤Ç¹Ô¤¡¢¤½¤Î¸òº¹ÅÀ¤Ë»æ¥Ñ¥Ã¥¯¤ò»Ä¤·¤Æ¤µ¤é¤Ë¹õ¤¤Àþ¤Ë±è¤Ã¤Æ¿Ê¤à
int a;
#define BORDER 45 //ïçÃͤò45¤ËÄêµÁ
int flag = 0;
task main ()
{
a=0;
SetSensor ( SENSOR_1, SENSOR_LIGHT );
SetSensor ( SENSOR_2, SENSOR_TOUCH );
SetSensor ( SENSOR_3, SENSOR_LIGHT ); //£±¤È£³¢ª¸÷¥»¥ó¥µ¡¢£²¢ª¥¿¥Ã¥Á¥»¥ó¥µ
Wait ( 100 ); //µ¯Æ°¤·¤Æ¤«¤é£±ÉÃÂÔµ¡
while ( flag < 13 ){ //¸òº¹ÅÀ¤ò13²óÄ̤ë¤Þ¤Ç¤Î¥ë¡¼¥×
if ( SENSOR_2 == 1 ){ if (a == 0){ //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤¿¤é
OnRev(OUT_A+OUT_C);
Wait(50); //¤¤¤Ã¤¿¤ó¶ÛµÞ²óÈò¤·¤Æ
Off(OUT_A+OUT_C);
Wait(300); //£³ÉÃÂÔµ¡¤·¤Æ
OnFwd(OUT_A+OUT_C);
Wait(30); //¤â¤È¤Î¾ì½ê¤ËÌá¤ë
ClearTimer(0);
until ((SENSOR_2==1) || (Timer(0)>2 ))OnFwd(OUT_A+OUT_C);}
if(SENSOR_2==1){a=1; //¥¿¥Ã¥Á¥»¥ó¥µ¤¬ºÆ¤ÓÈ¿±þ¤·¤¿¤é
OnFwd(OUT_B);
Wait(50); //¥Ï¥µ¥ßµ¯Æ°¡ù
}
else if(SENSOR_2==0){
if(SENSOR_1 > BORDER ){
if( SENSOR_3 > BORDER ){
OnFwd(OUT_A+OUT_C);
}
else{
OnFwd(OUT_A);
Wait(5);
OnRev(OUT_C);
Wait(5);
}
}
else{
if(SENSOR_3 > BORDER){
OnRev(OUT_A);
Wait(5);
OnFwd(OUT_C);
Wait(5);
}
else{
Off(OUT_A+OUT_C);
Wait(150);
OnRev(OUT_B);
Wait(50);
Off(OUT_B);
OnRev(OUT_A+OUT_C);
Wait(100);
Off(OUT_A+OUT_C);
OnFwd(OUT_A);
Wait(50);
Off(OUT_A);
OnFwd(OUT_C);
Wait(150);
Off(OUT_C);
OnFwd(OUT_A);
Wait(50);
Off(OUT_A);a=0;
}
}
}
}
else{
if ( SENSOR_1 > BORDER ){ //±¦¥»¥ó¥µ¤¬Çò¤Ç
if ( SENSOR_3> BORDER ){ //º¸¥»¥ó¥µ¤âÇò¤Ê¤é(L1 R1)
OnFwd(OUT_A+OUT_C); //ľ¿Ê¤¹¤ë
}
else { //º¸¥»¥ó¥µ¤¬¹õ¤Ê¤é(L0 R1)
OnFwd(OUT_A);
Wait(5);
OnRev(OUT_C);
Wait(5); //º¸¤Ë¶Ê¤¬¤ë
}
}
else { //±¦¥»¥ó¥µ¤¬¹õ¤Ç¤Ç
if ( SENSOR_3> BORDER ){ //º¸¥»¥ó¥µ¤¬Çò¤Ê¤é(L1 R0)
OnRev (OUT_A);
Wait(5);
OnFwd(OUT_C);
Wait(5); //±¦¤Ë¶Ê¤¬¤ë
}
else { //ξ¥»¥ó¥µ¤¬¹õ¤Ê¤é(L1 R1)
Off(OUT_A+OUT_C); //¸òº¹ÅÀ¤È»×¤ï¤ì¤ë¤Î¤Ç»ß¤Þ¤Ã¤Æ
Wait(50); //0.5ÉÃÂÔµ¡¤·¤Æ
OnFwd(OUT_A+OUT_C); //ľ¿Ê¤·»Ï¤á¤Æ
Wait(20); //0.2ÉÃľ¿Ê¤·¤Æ
flag++; //¸òº¹ÅÀ¥«¥¦¥ó¥¿¤Ë£±Â¤¹
}
}
}
}
Off(OUT_A+OUT_C);
}
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- »ä¤Î´Ä¶¤À¤È¥³¡¼¥¹¤Î²èÁü¤¬¸«¤é¤ì¤Þ¤»¤ó¡Ä(?_?)¥×¥í¥°¥é¥à¤Ç¤«¤Ê¤ê¹âÅ٤ʤ³¤È¤ò¤·¤Æ¤¤¤ë¤è¤¦¤Ê¤Î¤Ç¡¢¤â¤Ã¤ÈÀâÌÀ¤òÆþ¤ì¤Æ¤¤¤¿¤À¤«¤Ê¤¤¤È¤µ¤Ã¤Ñ¤ê¡Ätask¤òÍøÍѤµ¤ì¤Æ¤¤¤ë¤è¤¦¤Ç¤¹¤¬¡¢¤É¤ó¤Ê¤È¤¤Ë¡¢¤É¤Îtask¤¬Æ±»þ¤ËÆ°¤¯¤Î¤Ç¤·¤ç¤¦¡©¡ÊƱ»þ¤ËÆ°¤¯task¤¬¤Ê¤¤¤Î¤Ê¤é¡¢task¤Ë¤¹¤ë°ÕÌ£¤Ï¤¢¤Þ¤ê¤¢¤ê¤Þ¤»¤ó¡Ä¡£¡Ë -- [[¤³¤µ¤«]] &new{2009-07-02 (ÌÚ) 22:29:31};
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- task¤ÎÆ°¤¤¬¤è¤¯¤ï¤«¤ê¤Þ¤·¤¿¡£¾õÂÖ¤ò¤¢¤é¤ï¤¹ÊÑ¿ô¤Î»È¤¤Êý¤ò¤â¤¦¾¯¤·¹©Éפ·¤¿¤é¡¢if¤Î{}¤ò¸º¤é¤»¤ë¤«¤â¤·¤ì¤Þ¤»¤ó¡£Á´ÂÎŪ¤Ë¹âÅÙ¤Ê¥×¥í¥°¥é¥à¤È¾Ü¤·¤¤ÀâÌÀ¤¬¤¢¤Ã¤Æ¹âɾ²Á¤Ç¤¹¡£ -- [[¤³¤µ¤«]] &new{2009-07-10 (¶â) 12:29:43};
#comment