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#contents
*1¡¢²ÝÂê3¤ÎÆâÍÆ [#f7e8d4ab]
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**¶ìÏ«¤·¤¿¤È¤³¤í [#w2e30dd0]
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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]
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**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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- 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

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