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&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æµ¡½é´ü£².JPG);~ ¡ÚÆó¹æµ¡¥¢¡¼¥à½é´ü¡Û~ È¢¤ò¤Ä¤«¤à¤Ë¤Ï¡©¤È¹Í¤¨Å·¥Ñ¤¬ºÇ½é¤Ë¥µ¥¯¤Ã¤Èºî¤Ã¤¿Êª¡£~ ·ë¶É¼ÂÍѤˤÏÀ®¤é¤Ê¤«¤Ã¤¿¤¬´ðËÜŪ¤ÊÉôʬ¤ÏÊѤï¤é¤º¡£~ Ä¥ÎϤÀ¤±¤òµá¤á¤ÆÎØ¥´¥à¤òÍøÍѤ·¤¿¤ï¤±¤Ç¤Ï¤Ê¤¤¡¢¤Î¤¬¥Ý¥¤¥ó¥È¤«¡£~ &ref(2011b/A1/¥í¥Ü¥³¥ó/ºÇ½é´ü¥¢¡¼¥à.JPG); *¥×¥í¥°¥é¥à [#pf042337] **°ì¹æµ¡ [#ke5f40e4] »æ¥Ñ¥Ã¥¯¤ò±¿¤ó¤Ç¤¯¤ë¥×¥í¥°¥é¥à¤À¤¬¡¢£±¼þÌܤȣ²¼þÌܰʹߤǤÏÆ°ºî¤¬°ã¤¦¤¿¤á¤ä¤ä¤³¤·¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£~ ¤µ¤é¤Ë¡¢´Ø¿ô¤ÇÂÔ¤Á»þ´ÖÀßÄꤷ¤¿¤â¤Î¤ò²óž¤Ë»È¤Ã¤¿¤ê¡¢¤½¤ÎµÕ¤ò¤·¤¿¤ê¤·¤Æ¤¤¤¿¤Î¤Ç¤´¤Á¤ã¤´¤Á¤ã¤·¤Æ¤¤¤ë¡£~ »þ´Ö¤¬¤¢¤ì¤Ð¤â¤Ã¤È¸«¤ä¤¹¤¯¤Þ¤È¤á¤¿¤«¤Ã¤¿¤Ê¤È»×¤¤¤Þ¤¹¡£~ ~ ¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û #define SE_R SENSOR_1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SENSOR_1¤òSE_R(±¦¥»¥ó¥µ¤Î°Õ)¤È¾Êά #define SE_C SENSOR_2¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾å»²¾È #define SE_L abs(SENSOR_3)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //SENSOR_3(²óž¥»¥ó¥µ)¤ÎÃͤÎÀäÂÐÃͤòSE_L¤È¾Êά #define WAIT_TIME 50¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê¡ #define WAIT_TIME_1 75¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê¢ #define WAIT_TIME_2 7¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔ¤Á»þ´ÖÀßÄê£ #define TURN_1 41¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê¡ #define TURN_2 45¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê¢ #define TURN_3 3¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¿ôÀßÄê£ #define TH 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê #define go OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê¤ògo¤ÈÄêµÁ #define back OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂà¤òback¤ÈÄêµÁ #define turn_right OnFwd(OUT_C);OnRev(OUT_A);¡¡¡¡//±¦ÀÞ¤òturn_right¤ÈÄêµÁ #define turn_left OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡ //º¸ÀÞ¤òturn_left¤ÈÄêµÁ int i=1,j,k,line;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÍÍ¡¹¤Ê¾ìÌ̤ǻȤ¦ÊÑ¿ô¤òÄêµÁ void Clear_Sensor()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤Î¥ê¥»¥Ã¥È { ClearSensor(SENSOR_3); PlaySound(SOUND_FAST_UP); Off(OUT_AC);Wait(WAIT_TIME); } void arm_open()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯ { OnRev(OUT_B); Wait(WAIT_TIME); Off(OUT_B); } ¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û task main() { SetSensor(SENSOR_1,SENSOR_TOUCH); ¡¡¡¡//¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ SetSensor(SENSOR_2,SENSOR_LIGHT); ¡¡¡¡//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ SetSensor(SENSOR_3,SENSOR_ROTATION); ¡¡¡¡//¥»¥ó¥µ¡¼£³¤ò²óž¥»¥ó¥µ¤ÈÄêµÁ Clear_Sensor(); ¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤ò¥ê¥»¥Ã¥È back; until(SE_L >= 175); ¡¡¡¡//¸åÂà //»æ¥Ñ¥Ã¥¯³ÎÊÝ¤Þ¤Ç¤Î¥×¥í¥°¥é¥à// for(i = 1;i <= 3;i++){ ¡¡¡¡//{}Æâ¤ò£³²ó·«¤êÊÖ¤¹(»æ¥Ñ¥Ã¥¯¤ò£³²ó±¿¤Ö) Clear_Sensor(); arm_open(); //¥¢¡¼¥à¤ò³«¤¯ turn_right; until(SE_R == 1); //¥¿¥Ã¥Á¥»¥ó¥µ¤¬Êɤˤ¢¤¿¤ë¤Þ¤Ç±¦²óž Clear_Sensor(); if(i == 1){ //1¼þÌܤϥé¥ó¥¿¥ó²¡¤·¤Æ¤«¤éÌá¤ë while(SE_L <= 450){ ¡¡¡¡//¥é¥ó¥¿¥ó¤ò²¡¤·ÀÚ¤ë¤Þ¤Ç¡¢{}Æâ¤ò·«¤êÊÖ¤¹ go; //Á°¿Ê if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢ Off(OUT_C); ¡¡¡¡//º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ until(SE_R == 0); ¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë } } Clear_Sensor(); while(SE_L <= 95){ ¡¡ ¡¡//»æ¥Ñ¥Ã¥¯¤Î°ÌÃÖ¤ËÌá¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹ back; //¸åÂà if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢ Off(OUT_A); ¡¡¡¡//±¦¥¿¥¤¥ä¤ò»ß¤á¤Æ until(SE_R == 0); ¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë } } }else{ ¡¡//2¼þÌܰʹߤϻæ¥Ñ¥Ã¥¯¤Þ¤ÇÁ°¿Ê while(SE_L <= 300){ ¡¡¡¡//»æ¥Ñ¥Ã¥¯¤Þ¤Ç°ÜÆ°¤¹¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹ go; ¡¡¡¡//Á°¿Ê if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬°Ê²¼Î¬ Off(OUT_C); //º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ until(SE_R == 0); //Êɤ«¤éÎ¥¤ì¤ë } } } Clear_Sensor(); turn_left; until(SE_L >= TURN_2); //º¸¤Ë90¡î²óž Clear_Sensor(); if(i == 1){ //¼þ²ó¤´¤È¤Ë»æ¥Ñ¥Ã¥¯¤Þ¤Ç¤Îµ÷Î¥¤¬°ã¤¦¤¿¤á¡¢¤½¤ì¤¾¤ì¿Ê¤àµ÷Î¥¤òÊÑ¿ô¤ÇÄêµÁ line = 115; }else if(i == 2){ line = 160; }else{ line = 205; } go; until(SE_L >= line); //Á°¿Ê Off(OUT_AC); OnFwd(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤ÇÊÝ»ýÎ϶¯²½) Clear_Sensor(); back; until(SE_L >= 55); //¼ã´³¸åÂà Clear_Sensor(); turn_left; until(SE_L >= TURN_3); //µ°Æ»½¤Àµ¤Î¤¿¤á¤ï¤º¤«¤Ëº¸²óž Clear_Sensor(); back; until(SE_L >= line); //ÊɤޤǸåÂष¤Æ¡¢³ÑÅÙ¤òÀ°¤¨¤ë //»æ¥Ñ¥Ã¥¯¤ò±¿¤Ö¥×¥í¥°¥é¥à// Clear_Sensor(); go; until(SE_L >= TURN_1); //Á°¿Ê Clear_Sensor(); turn_left; until(SE_L >= WAIT_TIME); //º¸²óž if(i == 1){ //£±¼þÌܤȣ²¼þÌܰʹߤǤϻæ¥Ñ¥Ã¥¯¤òÃÖ¤¯°ÌÃÖ¤¬°ã¤¦¤¿¤á¡¢¾ò·ïʬ´ô line = 170; k = 4; ¡¡¡¡//Á°¿ÊÃæ¤Ëµ°Æ»½¤Àµ¤òÆþ¤ì¤ë¤¿¤á¡¢¢¨£±¤Îforʸ¤Î·«¤êÊÖ¤·²ó¿ôk¤òÀßÄê }else{ line = 240; k = 5; ¡¡¡¡//¤Ä¤¤¤Ç¤Ë¡¢¤Î¤Á¤Î°ÜÆ°µ÷Î¥¢¨£²¤âÀßÄꤷ¤Æ¤¤¤ë } for(j = 1;j <= k;j++){ //j¤¬£±¤«¤ék¤Ë¤Ê¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤·(¢¨£±) Clear_Sensor(); go; until(SE_L >= 80); ¡¡¡¡//¾¯¤·Á°¿Ê Clear_Sensor(); turn_left; until(SE_L >= TURN_3); ¡¡ ¡¡¡¡//¤ï¤º¤«¤Ëº¸²óž } go; until(SE_L >= 80); //ºÇ¸å¤Ë¤â¤¦¾¯¤·Á°¿Ê Clear_Sensor(); turn_right; //±¦ÀÞ(³ÑÅ٤ϣ±¼þÌܤȤ½¤ì°Ê³°¤Ç°Û¤Ê¤Ã¤Æ¤¤¤ë) if(i == 1){ until(SE_L >= TURN_2); ¡¡¡¡//£±¼þÌܤÏ90¡î }else{ until(SE_L >= TURN_1); ¡¡¡¡//£²¼þÌܰʹߤÏ90¡î¤è¤ê¤ä¤äÀõ¤¯ } Clear_Sensor(); go; //Á°¿Ê(Á°¿Ê¤â»þ´Ö¤¬°Û¤Ê¤ë) if(i == 1){ Wait(WAIT_TIME_1); ¡¡¡¡//£±¼þÌܤÏÂÔ¤Á»þ´Ö¡¤À¤±ÂԤ俸塢 until(SE_C <= TH);until(SE_C > TH); ¡¡¡¡//¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç }else{ until(SE_L >= 110); ¡¡¡¡//£²¼þÌܰʹߤϤ¢¤ëÄøÅٿʤ᤿¤é¡¢ for(j = 1;j <= 2;j++){ ¡¡¡¡//°ÌÃÖÄ´À°¤Î¤¿¤á{}Æâ¤ò£²²ó·«¤êÊÖ¤¹ turn_right; Wait(WAIT_TIME_2); //¤ï¤º¤«¤Ë±¦²óž go; Wait(WAIT_TIME_2); //¤ï¤º¤«¤ËÁ°¿Ê } } Off(OUT_AC); OnRev(OUT_B); //¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯) if(i == 1){ Wait(WAIT_TIME); }else{ Wait(WAIT_TIME_2); ¡¡¡¡//£²¼þÌܰʹߤϤ¹¤Ç¤Ë¤¢¤ë»æ¥Ñ¥Ã¥¯¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¡¢¾¯¤·¤À¤±³«¤¯ } Off(OUT_B); Clear_Sensor(); go; until(SE_L >= 20); //¤¤ì¤¤¤ËÃÖ¤¯¤¿¤á»æ¥Ñ¥Ã¥¯¤ò¾¯¤·²¡¤¹ Off(OUT_AC); //»æ¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¥×¥í¥°¥é¥à// OnRev(OUT_C);until(SE_L >= WAIT_TIME_2); //»æ¥Ñ¥Ã¥¯¤ò°ú¤¤º¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ë¡¢¤ï¤º¤«¤Ëº¸¥¿¥¤¥ä¤ò¸åÂà Off(OUT_C); back; until(SE_C <= TH);until(SE_C > TH); //¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà until(SE_L >= 70); //¹¹¤Ë¾¯¤·¸åÂà if(i != 1){ //£±¼þÌܰʳ°¤Ï¡¢ until(SE_L >= 20); ¡¡¡¡//¤Þ¤¿¹¹¤Ë¸åÂà(£±¼þÌܤȳÑÅÙ¤¬°ã¤¦¤¿¤á¡¢¢¨£³¤Ç»æ¥Ñ¥Ã¥¯¤ËÅö¤¿¤é¤Ê¤¤°ÌÃ֤ޤDz¼¤²¤ë) } Clear_Sensor(); OnFwd(OUT_B); Wait(WAIT_TIME);Off(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë turn_right; until(SE_L >= TURN_2); //±¦²óž Clear_Sensor(); go; //ÀѤ߾夲¥í¥Ü¥Ã¥È¤ÎÁ°¤Þ¤ÇÁ°¿Ê(¢¨£²) until(SE_L >= line); Clear_Sensor(); turn_right; //±¦²óž¤·¤ÆÄÌ¿®Éô¤ò¹ç¤ï¤»¤ë if(i == 1){ //£±¼þÌܤȣ²¼þÌܰʹߤdzÑÅÙ¤¬°ã¤¦¤¿¤á¡¢²óžµ÷Î¥¤¬°Û¤Ê¤ë until(SE_L >= TURN_2); }else{ until(SE_L >= TURN_1); } Clear_Sensor(); turn_right; //ÄÌ¿®Ãæ¤Ï±¦²óž(¢¨£³) while(SE_L <= 100){ //£±²óžȾ¤¹¤ë´Ö¡¢{}Æâ¤ò·«¤êÊÖ¤¹ SendMessage(11); ¡¡¡¡//ÄÌ¿®¤òÁ÷¤ê³¤±¤ë } Clear_Sensor(); back; until(SE_C <= TH);until(SE_C > TH);Wait(20); //¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà } //£±¼þ½ª¤ï¤ê Off(OUT_AC); ¡¡¡¡//¤¹¤Ù¤Æ½ª¤ï¤Ã¤¿¤é»ß¤Þ¤ë } **Æó¹æµ¡ [#b23d3a26] °ì¹æµ¡¤«¤éÄÌ¿®¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¡¢¤Þ¤º1²óÌܤϽêÄê¤Î°ÌÃ֤˥ѥ寤¬ÃÖ¤±¤ë¤è¤¦¤ËÄ´À°¤¹¤ë¡£~ £²²óÌܰʹߤϡ¢1¹æµ¡¤«¤éÄÌ¿®¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¡¢³°Â¦¤ËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤ò»ý¤Á¾å¤²¡¢¥Ñ¥Ã¥¯¤ò1²óÌܤËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤Î¾åÃʤËÃÖ¤¯¡£~ ~ ¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û #define BLACK 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê #define SIGNALON 11 //ÄÌ¿®»þ¤ËÁ÷¿®¤¹¤ë¿ôÃͤòÀßÄê #define WAIT_TIME 100 //ÂÔ¤Á»þ´Ö¤Ë»È¤¦¿ôÃͤòÀßÄê int black =0; //¹õÀþ¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ int step =1; //¼þ²ó¿ô¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ ¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û task main() {SetSensor(SENSOR_1,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ SetSensor(SENSOR_2,SENSOR_LIGHT); //¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ SetSensor(SENSOR_3,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ //ÂÔµ¡°ÌÃ֤˰ÜÆ°¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à// while(black!=2){ //¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥× if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//ÇòÀþ¤Î¾å¤Ê¤é¹õÀþ¤Þ¤Ç¿Ê¤á¤ë if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;} ¡¡¡¡//¹õÀþ¤Î¾å¤Ê¤éÇòÀþ¤Þ¤Ç¿Ê¤á¤Æ¡¢black¤ò+1 } Wait(WAIT_TIME); //»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯¤È¤¤Ë¤Ë¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤°ÌÃ֤ޤǰÜÆ° Off(OUT_A); //»ß¤Þ¤ë black =0; //black¤ÎÃͤò¥ê¥»¥Ã¥È //£±ÃÊÌܤòÀ°¤¨¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à// ClearMessage(); //ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È until ((Message() == SIGNALON)||(SENSOR_3 == 1)); //ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä PlaySound(SOUND_CLICK); //ÄÌ¿®À®¸ù¤Î¹ç¿Þ¡¡¥Ô¥í¥ê¥í¥ê¡Á OnRev(OUT_B); //¥¢¡¼¥à¤ò²¼¤²»Ï¤á¤ë OnFwd(OUT_A);until(SENSOR_2 <= BLACK);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK); //¸½ºß¤ÎÇò¤«¤é¡¢¹õ¢ªÇò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤòÌ᤹ Off(OUT_A); until(SENSOR_3 == 1); //²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤¬²¼¤¬¤ë¤Þ¤ÇÂÔ¤Ä Off(OUT_B); OnFwd(OUT_C);Wait(50); //¥¢¡¼¥à¤òÊĤ¸¤ë(»æ¥Ñ¥Ã¥¯¤òÀ°¤¨¤ë) OnRev(OUT_C);Wait(10); //³«¤¯ Off(OUT_C); OnFwd(OUT_B);until(SENSOR_1 == 1); //¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤ò¾å¤²¤ë Off(OUT_B); OnRev(OUT_A);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK); //¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë Off(OUT_A); step++; //¼þ²ó¿ô¤ò£±¤Ä¾å¤²¤ë //ÀѤ߾夲¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à// while(step<=3) //£²ÃÊÌܤȣ³ÃÊÌܤϡ¢Æ±¤¸¥×¥í¥°¥é¥à¤ò¥ë¡¼¥×¤µ¤»¤ë { ClearMessage(); //ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È until ((Message() == SIGNALON)||(SENSOR_3 == 1)); //ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä PlaySound(SOUND_CLICK); //¥Ô¥í¥ê¥í¥ê¡Á¢ö while(black!=2) //¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥× { if(SENSOR_2 > BLACK){OnFwd(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//º£Å٤Ͻé´ü°ÌÃÖ¤ÎÊý¸þ¤ËÌ᤹ if(SENSOR_2 <= BLACK){OnFwd(OUT_A);until(SENSOR_2 > BLACK);black++;} } until(SENSOR_2 <= BLACK); //¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë Off(OUT_A); black =0; //black¤ÎÃͤò¥ê¥»¥Ã¥È OnRev(OUT_B);until(SENSOR_3 == 1); //¥¢¡¼¥à¤ò²¼¤²¤ë Off(OUT_B); OnFwd(OUT_C);Wait(10); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤Ç¡¢ÊÝ»ýÎ϶¯²½) OnFwd(OUT_B);until(SENSOR_1 == 1); //¥¢¡¼¥à¤ò¾å¤²¤ë Off(OUT_B); while(black!=2) //¹õÀþ¤ò£²²ó°Ê²¼Î¬ { if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//ÂÔµ¡°ÌÃÖ¤ÎÊý¸þ¤Ë¿Ê¤á¤ë if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;} } OnFwd(OUT_A);until(SENSOR_2 <= BLACK); //¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë Off(OUT_A); black =0; if(step==2) //£²ÃÊÌܤÀ¤±¡¢¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë { OnRev(OUT_B); Wait(400); ¡¡¡¡//£´Éô֤λþ´ÖÂÔ¤Á Off(OUT_B); } OnRev(OUT_C);Wait(10); //¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÎ¥¤¹) Off(OUT_C); if(step==2) //£²¼þÌܤξì¹ç¤Ï¡¢¥¢¡¼¥à¤òºÆ¤Ó¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¾å¤²¤ë {OnFwd(OUT_B);until(SENSOR_1 == 1);Off(OUT_B);} OnRev(OUT_A);until(SENSOR_2 >= BLACK);until(SENSOR_2 < BLACK); //¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¿Ê¤á¤ë Off(OUT_A); step++; //¼þ²ó¿ô¤ò£±¾å¤²¤ë } OnRev(OUT_A); //ºÇ¸å¤Ë¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë Wait(WAIT_TIME); Off(OUT_A); } *´¶ÁÛ [#o3f93cd4] -¤À¤¤~ ¡¡¥×¥í¥°¥é¥à¤Ï¥¢¥¤¥Ç¥¢Ä̤ê¤Ë´°À®¤·¤¿¤¬¡¢¥í¥Ü¥³¥óËÜÈ֤ǤÏ1¹æµ¡¤¬£²¤ÄƱ»þ¤ËµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤á¤Ê¤«¤Ã¤¿¤¿¤á¡¢1¹æµ¡¤Ë1¤Ä¤Ç¤â¤Ä¤«¤á¤ë¤è¤¦¤Ê¹½Â¤¤Ë¤·¤¿¤«¤Ã¤¿¡£¥í¥Ü¥Ã¥È´ØÏ¢¤Ë¤Ä¤¤¤ÆÂô»³³Ø¤Ö¤³¤È¤¬¤Ç¤¤¿¤Î¤Ç¡¢À§Èó¥í¥Ü¥Ã¥È´ØÏ¢¤Ë¤Ä¤¤¤Æ¸¦µæ¤·¤Æ¤¤¤¤¿¤¤¡£ -¤°¤ÃP~ ¡¡¥í¥Ü¥³¥ó¤Þ¤Ç¤Ë¤Ï¿¤¯¤Î»þ´Ö¤¬¤¢¤Ã¤¿¤Ë¤â´Ø¤ï¤é¤º¡¢¥í¥Ü¥Ã¥ÈËÜÂΤ˻þ´Ö¤ò¤«¤±¤¹¤®¤Æ¤·¤Þ¤¤¡¢¥×¥í¥°¥é¥à¤ÎÈùÄ´À°¤Ê¤É¤Ë¤«¤±¤ë»þ´Ö¤¬¾¯¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤Î¤Þ¤ÞËÜÈÖ¤ËÄ©¤à¤³¤È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢»×¤¤Ä̤ê¤Î·ë²Ì¤ò»Ä¤»¤Ê¤«¤Ã¤¿¤³¤È¤Ë¤Ï²ù¤¤¤¬»Ä¤ë¤·¡¢¥Á¡¼¥à¤ÎÃç´Ö¤Ë¤â¿½¤·Ìõ¤Ê¤¤¤È»×¤Ã¤¿¡£¤¹¤ß¤Þ¤»¤ó¡¨¤À¤±¤É¡¢°ì½ï¤Ë¥í¥Ü¥Ã¥È¤òºî¤ë¤Î¤Ï¤È¤Æ¤â³Ú¤·¤«¤Ã¤¿¡£¤¢¤ê¤¬¤È¤¦¡ª~ ¡¡ºÇ¸å¤Ë¤³¤Î¡Ö¥í¥Ü¥Æ¥£¥¯¥¹ÆþÌ祼¥ß¡×¤òÄ̤·¤Æ¡¢¥Á¡¼¥à¤Ç¤Îºî¶È¤Î¶¨ÎϤÎÂçÀÚ¤µ¤ä³Ú¤·¤µ¡¢»ÄÇ°¤Ê¤¬¤é°ì½ï¤Ë¤Ê¤é¤Ê¤«¤Ã¤¿¿Í¤È¤â¡¢È¯É½¤äÂзè¤òÄ̤·¤ÆÍÍ¡¹¤Ê¥¢¥¤¥Ç¥¢¤Ë´¶¿´¤·¤¿¤ê¡¢¶¥¤¤¹ç¤¦³Ú¤·¤µ¤â¼Â´¶¤Ç¤¤Þ¤·¤¿¡£¤³¤Î¤è¤¦¤Êµ¡²ñ¤òÍ¿¤¨¤Æ¤¯¤ì¤¿¾¾ËÜÀèÀ¸¤Ë¤Ï¤È¤Æ¤â´¶¼Õ¤·¤Æ¤¤¤Þ¤¹¡ª%%¤È¡¢¥´¥Þ¤ò¤¹¤Ã¤Æ¤ß¤¿¤ê¡Ä%% -ÆóµÜ~ ¡¡ºÇ½ª²ÝÂê¤È¤¤¤¦¤³¤È¤Ç¡¢¤³¤ì¤Þ¤Ç¤ÎÈ¿¾ÊÅÀ¤ò¸ʬ¤ËÀ¸¤«¤¹¤Î¤¬¸Ä¿ÍŪ¤ÊÌÜɸ¤È¤Ê¤ê¤Þ¤·¤¿¡£¤Þ¤º¡¢¸«¹þ¤ß¤Î¤Ê¤¤ÌÜɸ¤Ë¸þ¤«¤ï¤Ê¤¤Íͤ˥³¥ó¥»¥×¥È¤ò³Î¤«¤Ê¤â¤Î¤Ë¡£¶¨µÄ¤ò½Å¤Í¡¢ÊýË¡¤È¤·¤Æ¤Ï¤«¤Ê¤ê¾åÅù¤Ê¤â¤Î¤ËÀ®¤Ã¤¿¤È»×¤¨¤Þ¤¹¡£¤·¤Æ¡¢Æ°ºî¤â³Î¼Â¤Ë¤¹¤ë¤È¤Ï¤Ã¤¤ê¤·¤Æ¤¤¤ì¤Ð¥×¥í¥°¥é¥à¤â½ñ¤°×¤«¤í¤¦¡¢¤È¥Þ¥·¥ó¼«ÂΤˡ¡¤«¡¡¤Ê¡¡¤ê¡¡¤Î»þ´Ö¤ò³ä¾ù¡£¥¹¥¿¡¼¥È¥À¥Ã¥·¥å¤âÁ᤯2½µÌܤˤϤۤܳÎÄꤷ¤¿¹½Áۤ˸þ¤±¤ÆÀ©ºî¤¬¿Ê¤ß¤Þ¤·¤¿¡£¤³¤³¤Þ¤Ç¤Ï¸ʬ¤Ë³Ø½¬¸ú²Ì¤òȯ´ø¡£¤â¤¦¤³¤³¤Þ¤Ç¤ÇÉáÄ̤μø¶È¤Ê¤éñ°Ì¤¬Ì㤨¤½¤¦¤Ê¤â¤Î¤Ç¤¢¤ë¡ª(¸ØÄ¥)¡¡¤½¤ì¤Ç¤âµ¯¤³¤ëÌäÂê¤Ï²ÝÂê¤Î¥¹¥±¡¼¥ë¤Ëȼ¤¦¡¢µ¡ÂΤε¬ÌϤˤè¤ë¤â¤Î¤Ð¤«¤ê¡Ä¤·¤«¤·ÅٽŤʤë¥È¥é¥Ö¥ë¤Ë¤â3¿Í¤¤¤ì¤Ð¤Ê¤ó¤È¤ä¤é¡£°ì¿Í¤Ç¤Ï¨ºÂ¤Ë¤Ï²ò·è½ÐÍè¤Ê¤«¤Ã¤¿¤À¤í¤¦ÌäÂê¤â¸³°Á᤯Âнè¤Ç¤¤Þ¤·¤¿¡£¤³¤Î¥¼¥ß¡¢³ÛḬ̀ʾå¤Ë¶µºà¤ÏÆ»¶ñ¤Ç¡¡³Ë¤ÏÊ̤ˤ¢¤ë¤Ê¤¡¤È¤·¤ß¤¸¤ß»×¤¨¤Þ¤·¤¿¡£ *¥³¥á¥ó¥È [#q6641aae] ¤´°Õ¸«¡¢¤´´¶ÁÛ¤¬¤¢¤ì¤ÐÀ§Èó¥³¥á¥ó¥È¤ò¤É¤¦¤¾¢ #comment ¤³¤Î¥Ú¡¼¥¸¤ËÍè¤Æ¤¯¤ì¤¿¿Í¡¡&counter;¡¡¿Í