[[2010a]]
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#contents
*1¡¢²ÝÂê3¤ÎÆâÍÆ [#f7e8d4ab]
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*2¡¢»ä¤¿¤Á¤Î¥í¥Ü¥Ã¥È [#j22529ab]
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**¶ìÏ«¤·¤¿¤È¤³¤í [#w2e30dd0]
¶Ì¤òȯ¼Í¤¹¤ëÁõÃÖ¤ò¤¤¤«¤Ë°ÂÄꤷ¤Æ¤Ä¤±¤ë¤«¤Ë¶ìÏ«¤·¤Þ¤·¤¿¡£
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*3¡¢»ä¤¿¤Á¤Î¥×¥í¥°¥é¥à [#q5d4d0f3]
**üñ¡¢¤â¤í¤Î¥×¥í¥°¥é¥à [#i33bf730]
#define go OnFwd(OUT_A+OUT_C); //¿Ê¤à
#define turn_right OnFwd(OUT_C);OnRev(OUT_A);¡¡¡¡ ¡¡//±¦¤Ë¶Ê¤¬¤ë
#define turn_left OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡ ¡¡//º¸¤Ë¶Ê¤¬¤ë
#define tomaru Off(OUT_A+OUT_C); //»ß¤Þ¤ë
#define back OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡//Ìá¤ë
#define goes OnFwd(OUT_A+OUT_C);Wait(40);¡¡¡¡¡¡ ¡¡//0¡¢4Éÿʤà
#define nageru OnFwd(OUT_B);Wait(10);¡¡¡¡¡¡¡¡¡¡ ¡¡//Åꤲ¤ë
¡¡ ¾åµ¤ÎÄêµÁ¤òÍѤ¤¤Þ¤·¤¿¡£
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
SetSensorMode(SENSOR_1,SENSOR_MODE_RAW);
SetSensorMode(SENSOR_3,SENSOR_MODE_RAW);
int lmax = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//¸÷¤ÎÊÑ¿ô
int tmax = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//»þ´Ö¤ÎÊÑ¿ô
ClearTimer(0);
while(FastTimer(0)<800)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡//°ì¼þ²ó¤ê°ìÈÖ¸÷¤Î¶¯¤¤Ãͤò¬Äꤹ¤ë
{
turn_right;
if(SENSOR_1>lmax){
lmax = SENSOR_1;
tmax = FastTimer(0);
}
}
turn_left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//°ìÈÖ¸÷¤Î¶¯¤¤°ÌÃ֤عԤ¯
Wait(800-tmax);
PlaySound(SOUND_UP) ; Wait(20);
while(true){
if((SENSOR_1 < lmax-5)||(SENSOR_3 < lmax-5 )){¡¡ ¡¡//ξÊý¤Î¸÷¥»¥ó¥µ¡¼¤¬lmax¤ò²¼²ó¤ë»þ¤É¤Á¤é¤«¤Î¥»¥ó¥µ¡¼¤¬lmax¤ò»Ø¤¹¤Þ¤Ç¿Ê¤à¡£
go;
until((SENSOR_1 == lmax-5)&&(SENSOR_3 == lmax-5));
PlaySound(SOUND_UP) ; Wait(20);
nageru;
}
else if((SENSOR_1 == lmax)||(SENSOR_3 < lmax)){ ¡¡//±¦¥»¥ó¥µ¡¼¤¬lmax¤ò²¼²ó¤ë»þlmax¤Ë¤Ê¤ë¤Þ¤Ç±¦²óž¤ò¤µ¤»¤ë¡£
turn_right;
until ((SENSOR_1 == lmax-5)||(SENSOR_3== lmax-5)); //º¸¥»¥ó¥µ¡¼¤¬lmax¤ò²¼²ó¤ë»þlmax¤Ë¤Ê¤ë¤Þ¤Çº¸²óž¤ò¤µ¤»¤ë¡£
PlaySound(SOUND_UP) ; Wait(20);
turn_right;Wait(6);
nageru;
}
else if((SENSOR_1 < lmax)||(SENSOR_3 == lmax)){
turn_left;
until ((SENSOR_1 == lmax-5)||(SENSOR_3== lmax-5));
turn_left; Wait(6);
nageru;
}
}
}
***¤â¤í¤ÎÈ¿¾Ê [#b46a2a40]
¡¡¥×¥í¥°¥é¥ß¥ó¥°¤Ç¥»¥ó¥µ¡¼£±¤È£²¤¬È¿±þ¤·¤¿¤éÅꤲ¤í¤È¤¤¤¦¥×¥í¥°¥é¥à¤Ë¤·¤¿¤¬¡¢¸÷¸»¤òÆ°¤«¤¹Á°¤Ëȯ¼Í¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤Ã¤¿¡£º£»×¤¦¤È¥¿¥¤¥Þ¡¼¤ò»È¤¤²¿Éðʾåξ¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤éÅꤲ¤í¤È¤·¤¿¤Û¤¦¤¬Àµ³ÎÀ¤Ï¹â¤«¤Ã¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«¤È´¶¤¸¤¿¡£
**üò¡¢¥ä¥Þ¥â¥È¤Î¥×¥í¥°¥é¥à [#z8a5b3ed]
¡¡²¼µ¤Î¥×¥í¥°¥é¥à¤Ï¡¢¼ÂºÝ¤Ë¤Ï»î¤»¤Æ¤¤¤Þ¤»¤ó¡£
#define ss1 SENSOR_1 //¡¡¸÷¡¦¥»¥ó¥µ
#define ss3 SENSOR_3 //¡¡¸÷¡¦¥»¥ó¥µ
#define go_front OnFwd(OUT_A+OUT_C); //¡¡Á°¿Ê
#define STOP Off(OUT_A+OUT_C); //¡¡Ää»ß
#define t_r OnFwd(OUT_C);OnRev(OUT_A);¡¡//¡¡±¦¤Ë¶Ê¤¬¤ë
#define t_l OnFwd(OUT_A);OnRev(OUT_C);¡¡//¡¡º¸¤Ë¶Ê¤¬¤ë
#define throw OnFwd(OUT_B);Wait(10);¡¡¡¡// ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
#define RUN_TIME 800¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // 80ÉôÖÆ°¤¯
¡¡ ¾åµ¤ÎÄêµÁ¤òÍѤ¤¤Þ¤·¤¿¡£
task main()
{
SetSensor(ss1,SENSOR_LIGHT); //¡¡ss1¤ò¸÷¡¦¥»¥ó¥µ¤Ë
SetSensor(ss3,SENSOR_LIGHT); //¡¡ss3¤ò¸÷¡¦¥»¥ó¥µ¤Ë
int lmax = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡¸÷¤ÎÊÑ¿ô
int tmax = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡»þ´Ö¤ÎÊÑ¿ô
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // Timer(0) ¤ò¥ê¥»¥Ã¥È
while(FastTimer(0)<RUN_TIME)¡¡¡¡¡¡¡¡¡¡//¡¡°ì¼þ²ó¤ê°ìÈÖ¸÷¤Î¶¯¤¤Ãͤò¸÷¡¦¥»¥ó¥µ¤¬´¶ÃΤ·¤¿ÃͤȤ½¤Î»þ¤Î»þ´Ö¤ò¹¹¿·Ëô¤Ï¬Äꤹ¤ë
{
t_l;
if(ss3>lmax){
lmax = ss3;
tmax = FastTimer(0);
}
}
t_l;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡ºÆÅÙ²ó¤ê°ìÈÖ¸÷¤Î¶¯¤¤°ÌÃ֤عԤ¯
Wait(tmax);
STOP; //¡¡Ää»ß
go_front;
Wait(15); //¡¡0.15ÉôÖÁ°¿Ê
STOP; //¡¡Ää»ß
throw; //¡¡¥Ö¥í¥Ã¥¯¤òȯ¼Í
while(FastTimer(0)<RUN_TIME)¡¡¡¡¡¡¡¡¡¡//¡¡º£Å٤ϡ¢µÕ¤Ë°ì¼þ²ó¤ê°ìÈÖ¸÷¤Î¶¯¤¤Ãͤò¸÷¡¦¥»¥ó¥µ¤¬´¶ÃΤ·¤¿ÃͤȤ½¤Î»þ¤Î»þ´Ö¤ò¹¹¿·Ëô¤Ï¬Äꤹ¤ë
{
t_r;
if(ss1>lmax){
lmax = ss1;
tmax = FastTimer(0);
}
}
t_r;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡ºÆÅÙ²ó¤ê°ìÈÖ¸÷¤Î¶¯¤¤°ÌÃ֤عԤ¯
Wait(tmax);
STOP; //¡¡Ää»ß
go_front;
Wait(15); //¡¡0.15ÉôÖÁ°¿Ê
STOP; //¡¡Ää»ß
throw; //¡¡¥Ö¥í¥Ã¥¯¤òȯ¼Í
}
***¥ä¥Þ¥â¥È¤ÎÈ¿¾Ê [#gc856882]
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*4¡¢Á´ÂΤÎÈ¿¾Ê [#b3b0b49f]
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*5¡¢¥³¥á¥ó¥ÈÍó [#p57548d7]
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-¤Þ¤À½ª¤ï¤Ã¤Æ¤¤¤Ê¤¤¤ß¤¿¤¤¤Ê¤Î¤Ç¡¢´°À®¤·¤¿¤é¤Þ¤¿¸«¤Þ¤¹¡£-- [[FI]]&br;
- ¾¯¤·¼êľ¤·¤·¤Æ¤ª¤¤Þ¤·¤¿¡£(¼ÙËâ¤Ê¤é¤³¤Î¥³¥á¥ó¥È¤òºï½ü¤·¤Æ·ë¹½¤Ç¤¹¡£) -- [[¥«¥ï¥·¥Þ]] &new{2010-08-02 (·î) 06:00:15};
- ¼ÂºÝ¤Ë»î¤µ¤Ê¤¯¤Æ¤â¤è¤¤¤Î¤Ç¡¢¤â¤¦°ì¿Í¤â¥×¥í¥°¥é¥à¤ò¤Ï¤Ã¤Æ¤¯¤À¤µ¤¤ -- [[FI]] &new{2010-08-15 (Æü) 20:49:23};
- ¥×¥í¥°¥é¥à¤Î³ÆÉôʬ¤¬²¿¤ò¤·¤Æ¤¤¤ë¤Î¤«¤Ï¤ï¤«¤ë¤Î¤Ç¡¢¤É¤Î²ÝÂê¤òÁªÂò¤·¡¢Á´ÂΤȤ·¤Æ¤É¤Î¤è¤¦¤ÊÀïά¤òÁª¤ó¤À¤«¤¬¤Ï¤Ã¤¤ê¤È¤ï¤«¤ë¤è¤¦¤ÊÀâÌÀ¤òÌܻؤ·¤Æ¤ß¤Æ¤¯¤À¤µ¤¤ -- [[FI]] &new{2010-08-19 (ÌÚ) 22:10:00};
#comment