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define
 #define THRESHOLD 40
 #define time1 50
 #define time2 180 
 #define time3 55
 #define time4 70
 #define time5 160
 #define time6 45
 #define TURN_LEFT OnFwd(OUT_A);OnRev(OUT_C);Wait(time1);
 #define TURN_RIGHT OnFwd(OUT_C);OnRev(OUT_A);Wait(time3);
 #define GO OnFwd(OUT_A+OUT_C);Wait(time2);

 task main ()
 {
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     SetSensor(SENSOR_1,SENSOR_LIGHT);
     SetSensor(SENSOR_2,SENSOR_TOUCH);
     SetSensor(SENSOR_3,SENSOR_LIGHT);
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     int t;
     for(t=1;t<=24;)
     { 
         while(t<=24)
         {
             OnFwd(OUT_A+OUT_C);
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             if (SENSOR_2==1)
             {
                 OnRev(OUT_A+OUT_C);
                 Wait(100)
                 Off(OUT_A+OUT_C);
                 Wait(100);
                 OnFwd(OUT_A+OUT_C);
                 Wait(100); 
             }

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             {
                 if(SENSOR_3>THRESHOLD) ¥»¥ó¥µ¡¼3¤¬Çò¤Î¤È¤­(1,3)=(Çò,Çò)
                 {
                     OnFwd(OUT_A+OUT_C);
                 }
                 else ¥»¥ó¥µ¡¼3¤¬¹õ¤Î¤È¤­ (1,3)=(Çò,¹õ)
                 { 
                     OnRev(OUT_A);
                     OnFwd(OUT_C);
                 }
             }
             else¡¡¥»¥ó¥µ¡¼1¤¬¹õ¤Î¤È¤­
             {
                 if(SENSOR_3>THRESHOLD) ¥»¥ó¥µ¡¼3¤¬Çò¤Î¤È¤­(1,3)=(¹õ,Çò)
                 {
                     OnRev(OUT_C);
                     OnFwd(OUT_A);
                 }
                 else ¥»¥ó¥µ¡¼3¤¬¹õ¤Î¤È¤­(1,3)=(¹õ,¹õ)
                 {

¸òº¹ÅÀ¼±ÊÌ(´Ø¿ô¤Ë¤è¤ë¾ì¹çʬ¤±)­¡
                     if((t!=2)&&(t!=6)&&(t!=12)&&(t!=16)&&(t!=18)&&(t!=22))
 
 t¤ÎÃͤ¬2¤Ç¤â6¤Ç¤â12¤Ç¤â16¤Ç¤â18¤Ç¤â22¤Ç¤â¤Ê¤¤¤È¤­

                     {
                         Off(OUT_A+OUT_C);
                         Wait(10);
                         t++;
                         OnFwd(OUT_A+OUT_C);
                         Wait(10);
                     }

 ¸òº¹ÅÀ¤òǧ¼±¤·¤Æ¤¤¤ë¤«¤Î¥Á¥§¥Ã¥¯¤Î¤¿¤á¡¢¾¯¤·»ß¤Þ¤ëÍѤˤ·¤Æ¤¢¤ê¤Þ¤¹¡£


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                     else if ((t==2)||(t==18))
 
 t¤ÎÃͤ¬2¤«18¤Î»þ

µíÆý¥Ñ¥Ã¥¯²óÈò¥×¥í¥°¥é¥à
                     {
                         OnRev(OUT_A+OUT_C);
                         Wait(time4);
                         TURN_LEFT;
                         GO;
                         TURN_RIGHT;
                         OnFwd(OUT_A+OUT_C);
                         Wait(time5);
                         TURN_RIGHT;
                         OnFwd(OUT_A+OUT_C);
                         Wait(130);
                         while((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))
                         { 
                             OnFwd(OUT_A+OUT_C);
                         }
                         OnFwd(OUT_A+OUT_C);
                         Wait(35);      
                         OnFwd(OUT_A);
                         OnRev(OUT_C);
                         Wait(time6);

 µíÆý¥Ñ¥Ã¥¯¤ò²óÈò¤µ¤»¤¿¸å¡¢¤É¤Á¤é¤«¤Î¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤¹¤ë¤Þ¤Çľ¿Ê¤ò¤µ¤»¤Æ¤¤¤Þ¤¹¡£
 
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                         ClearTimer(0);
                         while(Timer(0)<=20)
                         {
                             if(Timer(0)<5)
                             {
                                 OnFwd(OUT_A+OUT_C);
                                 if(SENSOR_1>THRESHOLD)
                                 {
                                     if(SENSOR_3>THRESHOLD)
                                     {
                                         OnFwd(OUT_A+OUT_C);
                                     }
                                     else
                                     {
                                         OnRev(OUT_A);
                                         OnFwd(OUT_C);
                                     }
                                 }
                                 else
                                 {
                                     if(SENSOR_3>THRESHOLD)
                                     {
                                         OnRev(OUT_C);
                                         OnFwd(OUT_A);
                                     }
                                 }   
                             }   
                             else if(Timer(0)>=5)
                             {
                                 OnRev(OUT_A+OUT_C);
                             }
                         }
                         t++;
                     }

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                     else if ((t==6)||(t==16)||(t==22))
                     {
                         OnRev(OUT_A+OUT_C);
                         Wait(time4);
                         TURN_LEFT;
                         GO;
                         TURN_RIGHT;
                         OnFwd(OUT_A+OUT_C);
                         Wait(time5);
                         TURN_RIGHT;
                         OnFwd(OUT_A+OUT_C);
                         Wait(210);      
                         OnFwd(OUT_A);
                         OnRev(OUT_C);
                         Wait(time6);
                         OnRev(OUT_A+OUT_C);
                         Wait(150);
                         t++;
                     }  

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                     else if (t==12)
                     {
                         OnRev(OUT_A+OUT_C);
                         Wait(70);
                         TURN_LEFT;
                         GO;
                         TURN_RIGHT;
                         OnFwd(OUT_A+OUT_C);
                         Wait(160);
                         TURN_RIGHT;
                         OnFwd(OUT_A+OUT_C);
                         Wait(120);
                         while((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))
                         {
                             OnFwd(OUT_A+OUT_C);
                         }
                         OnFwd(OUT_A+OUT_C);
                         Wait(60);      
                         OnFwd(OUT_A);
                         OnRev(OUT_C);
                         Wait(time6);
                         ClearTimer(0);
                         while(Timer(0)<=22)
                         {
                             if(Timer(0)<7)
                             {
                                 OnFwd(OUT_A+OUT_C);
                                 if(SENSOR_1>THRESHOLD)
                                 {
                                     if(SENSOR_3>THRESHOLD)
                                     {
                                         OnFwd(OUT_A+OUT_C);
                                     }
                                     else
                                     {
                                         OnRev(OUT_A);
                                         OnFwd(OUT_C);
                                     }
                                 }
                                 else
                                 {
                                     if(SENSOR_3>THRESHOLD)
                                     {
                                         OnRev(OUT_C);
                                         OnFwd(OUT_A);
                                     }
                                 }  
                             }
                             else if(Timer(0)>=7)
                             {
                                 OnRev(OUT_A+OUT_C);
                             }
                         }
                         t++;

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                     }   
                 }
             }
         }
     }
     Off(OUT_A+OUT_C);
 }

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**¤È¤µ¸¤¤Î¥×¥í¥°¥é¥à [#ub53fcea]

 ´ðËÜÆ°ºî¤ÈÄêµÁ
 #define FW OUT_A+OUT_C
 #define FA OUT_A
 #define FC OUT_C
 void go_st(int t)//
 { 
     OnFwd(FW); Wait(t); Off(FW);
 }
 void turn_l(int t)//
 { 
     OnFwd(FA);  Wait(t); Off(FW);
 }
 void turn_r(int t)//
 {
     OnFwd(FC); Wait(t); Off(FW);
 }
 #define EYE_L SENSOR_1
 #define EYE_R SENSOR_3
 #define BUMPER SENSOR_2
 #define THRESHOLD 40

 task main()
 {
     SetSensor(EYE_L,SENSOR_LIGHT);
     SetSensor(EYE_R,SENSOR_LIGHT);
     SetSensor(BUMPER,SENSOR_LIGHT);
     int t;
     for(0;t<=24;)
     {
         while(t<=24)
         {
             OnFwd(OUT_A+OUT_C);
 
             if((EYE_L>THRESHOLD)&&(EYE_R>THRESHOLD))//ξÊý¤¬Çò¤òǧ¼±¤¹¤ë¤ÈÁ°¿Ê
             {
                 OnFwd(OUT_A+OUT_C);
             }
 
             if((EYE_L>THRESHOLD)&&(EYE_R<THRESHOLD))//±¦¤¬¹õ¤òǧ¼±¤¹¤ë¤È±¦¤Ø¶Ê¤¬¤ë
             {
                 OnFwd(OUT_C);OnRev(OUT_A);
             }
 
             if((EYE_L<THRESHOLD)&&(EYE_R>THRESHOLD))//º¸¤¬¹õ¤òǧ¼±¤¹¤ë¤Èº¸¤Ø¶Ê¤¬¤ë
             {
                 OnFwd(OUT_A);OnRev(OUT_C);
             }
 
             if((EYE_L<THRESHOLD)&&(EYE_R<THRESHOLD))//ξÊý¤¬¹õ¤òǧ¼±¤¹¤ë¤È°ìö»ß¤Þ¤ë
             {
                 Off(OUT_A+OUT_C);
                 Wait(10);
                 t=t+1;
                 OnFwd(OUT_A+OUT_C);
                 Wait(10);
                 {
                      if((t==1)||(t==9)||(t==17))//¾å¤Î¤È¤­t¤ÎÃͤ¬£±¡¤£¹¡¤£·¤Î¤È¤­¤Î±ª²ó
                      { 
                          Off(FW);Wait(50);
                          turn_l(90);
                          Off(FA);
                          go_st(100);
                          Off(FW);
                          turn_r(110);
                          Off(FC);
                          go_st(180);
                          Off(FW);
                          turn_r(105);
                          Off(FC);
                          go_st(90);
                          Off(FW);Wait(10);
                          t=t+1;
                      }
                  }
 
                  if((t==4)||(t==12)||(t==20))//ξÊý¤¬¹õ¤Çt¤ÎÃͤ¬£´¡¤£±£²¡¤£²£°¤Î¤È¤­¤Î±ª²ó
                  {
                      Off(FW);
                      Wait(50);
                      go_st(120);
                      Off(FW);
                      turn_r(120);
                      Off(FC);
                      go_st(210);
                      Off(FW);
                      turn_r(14 0);
                      Off(FC);
                      go_st(240);
                      Off(FW);
                      turn_r(110);
                      Off(FC);
                      go_st(60);
                      Off(FW);
                      Wait(10);
                      t=t+1;
                  }
¡¡
                  if((t!=1)&&(t!=4)&&(t!=9)&&(t!=12)&&(t!=17)&&(t!=20))//t¤ÎÃͤ¬£±¡¢£´¡¤£¹¡¢£±£²¡¤£±£·¡¢£²£°¡¤¤Î¤È¤­°Ê³°¤ÏÁ°¿Ê
                  {
                      OnFwd(OUT_A+OUT_C);
                  }
 
                  if(BUMPER==1)//¥Ð¥ó¥Ñ¡¼¤¬È¿±þ¤·¤¿¤é°ìö»ß¤Þ¤ë
                  {
                      OnRev(OUT_A+OUT_C);
                      Wait(100);
                      Off(OUT_A+OUT_C);
                      Wait(100);
                  }
 
              }
 
              Off(OUT_A+OUT_C);
          }
      }
  }
 

***¶ìÏ«¤·¤¿ÅÀ [#i3720534]
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- Äɵ­¡§if((EYE_L>THRESHOLD)&&(EYE_R>THRESHOLD))¤È¤¤¤¦µ­½ÒË¡¡¢¥¹¥Þ¡¼¥È¤Ç¤¹¤Æ¤­¤Ç¤¹¡£ -- [[¤³¤µ¤«]] &new{2009-07-02 (ÌÚ) 22:41:59};
- t¤È¤¤¤¦ÊÑ¿ô¤Ï¡¢¶Ê¤¬¤ë²ó¿ô¤ò¿ô¤¨¤Æ¤¤¤ë¤Î¤Ç¤·¤ç¤¦¤«¡©t_min¤Èt_max¤Ï¿ô»ú¤òÊѤ¨¤Ê¤¤¤Î¤Ê¤é¤Ð¡¢Äê¿ô¤Ç¤â¤¤¤¤¤«¤â¤·¤ì¤Þ¤»¤ó¡£¡¡¤Þ¤¿¡¢¥¤¥ó¥Ç¥ó¥È¤ÏÄ̾ïȾ³Ñ¥¹¥Ú¡¼¥¹4ʸ»úÄøÅÙ¤òÆþ¤ì¤ë¤È¸«¤ä¤¹¤¯¤Ê¤ê¤Þ¤¹¤è¡£ -- [[¤³¤µ¤«]] &new{2009-07-10 (¶â) 12:41:58};
- t¤Ï¡¢¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤Æ¤¤¤Þ¤¹¡£°ì¼þ¤Ç8²ó¸òº¹ÅÀ¤òÄ̤ë¤Î¤Ç24²óÄ̤俤é¤È¤á¤ë¤³¤È¤Ç£³¼þ¤Ç»ß¤Þ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£ -- [[¥ê¥Ê]] &new{2009-07-19 (Æü) 03:00:07};
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