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²ÝÂê1¤Î¸òº¹ÅÀ¤Ë¤¢¤ëµíÆý¥Ñ¥Ã¥¯¤ò¤è¤±¤ë¤È¤¤¤¦¥×¥í¥°¥é¥à¤òºîÀ® **¥ê¥Ê¤Î¥×¥í¥°¥é¥à [#af3194de] 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 () { ¥»¥ó¥µ¡¼ÄêµÁ SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_LIGHT); ´Ø¿ôÄêµÁ int t; for(t=1;t<=24;) { while(t<=24) { OnFwd(OUT_A+OUT_C); ¥¿¥Ã¥Á¥»¥ó¥µ¡¼ÄêµÁ 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); } ¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë¿¨¤ì¤¿¤È¤³¤í¤«¤é1Éôָå¤í¤Ë²¼¤¬¤Ã¤Æ»ß¤Þ¤Ã¤¿¸å¡¢ Ʊ¤¸¤È¤³¤í¤Ë¤Þ¤ÇÁ°¿Ê¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹ ¥é¥¤¥ó¥È¥ì¡¼¥¹ if(SENSOR_1>THRESHOLD) ¥»¥ó¥µ¡¼1¤¬Çò¤Î¤È¤ { 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¡£ ¸òº¹ÅÀ¼±ÊÌ(´Ø¿ô¤Ë¤è¤ë¾ì¹çʬ¤±)¢ 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¡£ ¤½¤·¤Æ¤½¤Î¸å¤Ë¾¯¤·¿Ê¤ó¤Ç¤¤¤ë¤Î¤Ï¡¢¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤¬¼ÖÎؤè¤ê¤â¤«¤Ê¤êÁ°¤Ê¤Î¤Ç¡¢ ¤½¤³¤Ç²óž¤·¤Æ¤Ï¡¢¸÷¥»¥ó¥µ¡¼¤Î´Ö¤«¤é¥é¥¤¥ó¤¬½Ð¤Æ¤·¤Þ¤¦¤«¤é¤Ç¤¹¡£ ¤³¤ì¤Ë¤è¤ê¡¢Àþ¤ò°ìÅٽФ¿¸å¤Ç¤â¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤ä¤¹¤¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£(1) µíÆý¥Ñ¥Ã¥¯½¤Àµ 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++; } ½é¤á0.5Éô֥饤¥ó¥È¥ì¡¼¥¹¤µ¤»¤ë¤³¤È¤Ë¤è¤ê¡¢¼ÖÂΤò¥é¥¤¥ó¤ÈÊ¿¹Ô¤Ë¤·¤Æ¤¤¤Þ¤¹¡£ ¤½¤Î¸å¤Ë1,5Éô֥Х寤ò¤µ¤»¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡¢ ½é¤áµÕ¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤è¤¦¤«¤È»×¤¤¤Þ¤·¤¿¤¬¡¢¼ÖÂΤÎÁ°Êý¤Ë¸÷¥»¥ó¥µ¡¼¤¬¤Ä¤¤¤Æ¤¤¤ë¤¿¤á¤«¼ºÇÔ¤·¤¿¤¿¤á¤³¤¦¤·¤Þ¤·¤¿ ¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤Ç²¡¤·¤Æ¤·¤Þ¤Ã¤¿µíÆý¥Ñ¥Ã¥¯¤ò¸µ¤Î°ÌÃÖ¤ËÌ᤹¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£ ¤½¤Î¤¿¤á¤Ë¥¦¥Ã¥Ç¥£¤Î¸å¤í¤Ë¥¢¡¼¥à¤Ï¤Ä¤¤Þ¤·¤¿¡£(1) ¸òº¹ÅÀ¼±ÊÌ(´Ø¿ô¤Ë¤è¤ë¾ì¹çʬ¤±)£ 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++; } ¤³¤Î¸òº¹ÅÀ¤Ï¡¢Á°²ó¤È°ã¤¤¸òº¹ÅÀ¤Î±ü¤ËľÀþ¤¬Ã»¤¯¡¢±ª²ó¤·¤¿¸å¤Ë¥é¥¤¥ó¤Ë¿¨¤ì¤µ¤»¤ë¥×¥í¥°¥é¥à¤Ç¤Ï¡¢ ¤¦¤Þ¤¯¤¤¤¤Þ¤»¤ó¤Ç¤·¤¿¡¢¤Ê¤Î¤Ç¤³¤Î¸òº¹ÅÀ¤À¤±¤Ï¤¹¤Ù¤Æ»þ´Ö¤Ç»Ø¼¨¤ò¤·¤Æ ¾å¤ÈƱ¤¸¤è¤¦¤ÊÆ°¤¤ò¤µ¤»¤Æ¤¤¤Þ¤¹¡£(2) ¸òº¹ÅÀ¼±ÊÌ(´Ø¿ô¤Ë¤è¤ë¾ì¹çʬ¤±)¤ 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++; ¤³¤Î¸òº¹ÅÀ¤Ç¤Ï±ü¤ÎľÀþ¤Ë¿¨¤ì¤ëÁ°¤Ë¾¤ÎľÀþ¤Ç¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Æ¤·¤Þ¤¤¡¢ 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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] ´Ø¿ô¤¬Á´¤¯Ê¬¤«¤é¤Ê¤¯¤Æ¤¤¤í¤¤¤íÄ´¤Ù¤¿¤ê¤·¤Þ¤·¤¿¡£ *´¶ÁÛ [#h5135d56] ***¥ê¥Ê [#va365914] Á°²ó¤È°ã¤¤¥×¥í¥°¥é¥à¤ÏÆñ¤·¤¤¤È»×¤Ã¤Æ¤¤¤Þ¤·¤¿¤¬¡¢º£²ó¤â¥í¥Ü¥Ã¥È¤Ç¤«¤Ê¤ê¶ìÏ«¤ò¤·¤Þ¤·¤¿ ¤½¤ì¤Ë²Ã¤¨¤Æ¥×¥í¥°¥é¥à¤âÂçÊѤÀ¤Ã¤¿¤¿¤á ¤¹¤´¤¯¤¹¤´¤¯ÂçÊѤʻפ¤¤ò¤·¤Þ¤·¤¿¤¬ ¤«¤í¤¦¤¸¤ÆÀ®¸ù¤µ¤»¤ë¤³¤È¤¬¤Ç¤¤Æ¤è¤«¤Ã¤¿¤È»×¤¤¤Þ¤·¤¿¡£¡¡ ***¤È¤µ¸¤ [#jd5cf18b] ´Ø¿ô¤¬°ÕÌ£ÉÔÌÀ¤¹¤®¤ÆÍý²ò¤¹¤ë¤Î¤Ë¤È¤Æ¤â¶ìÏ«¤·¤Þ¤·¤¿¡£ ¶õ¤¤¤Æ¤¤¤ë¤¹¤Ù¤Æ¤Î»þ´Ö¤ò¥³¥ì¤ËÈñ¤ä¤¹Àª¤¤¤Çºî¤Ã¤Æ¤¤¤¿¤Î¤Ç¤¹¤¬¡¢¥®¥ê¥®¥ê¤Þ¤Ç¤«¤«¤Ã¤Æ¤è¤¦¤ä¤¯´°À®¤·¤Þ¤·¤¿¡£ µ®½Å¤Ê»þ´Ö¤ò³ä¤¤¤Æ¥×¥í¥°¥é¥à¤ÎÀâÌÀ¤ò¤·¤Æ¤¯¤ì¤¿¥ê¥Ê¤µ¤ó¤Ë¤ÏËÜÅö¤Ë´¶¼Õ¤·¤Æ¤¤¤Þ¤¹¡£ ²¿¤È¤¤¤Ã¤Æ¤â¤È¤Ë¤«¤¯¤È¤Æ¤âÂçÊѤǤ·¤¿¡£ *¡ù¤ò¤È¤ë¤¿¤á¤Ë(¥³¥á¥ó¥È) 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