*¥á¥ó¥Ð¡¼¾Ò²ð [#e1f5406c] -¶âÌîÂÙÇ· ¹©³ØÉôÅŵ¤ÅŻҹ©³Ø²Ê ¸µ¥á¥¬¥Í -ÎëÌÚ·òÂÀ ¹©³ØÉôµ¡³£¥·¥¹¥Æ¥à¹©³Ø²Ê Dr.Mario *¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#f182aefa] -&ref(2013a/Member/yno8/Mission1/¥À¥¦¥ó¥í¡¼¥É.jpg,221¡ß166,¥í¥Ü¥Ã¥È¥¥); -¥¢¡¼¥à¤òÀÖ³°Àþ¥»¥ó¥µ¡¼¤è¤ê¾¯¤·Á°¤Ë½Ð¤¹¹©Éפò¹Ô¤Ã¤¿¤ª¤«¤²¤Ç¡¢´Ì¤ËÀÖ³°Àþ¤¬¤¢¤¿¤ê¸íºîÆ°¤¬µ¯¤¤Æ¤·¤Þ¤¦ÌäÂê¤ò²ò·è¤·¤Æ¤¤¤ë¡£¤Þ¤¿¥¢¡¼¥à¤ò²¿ÅÙ¤«²þÎɤ·¤Æ¾¯¤·±ó¤¯¤Æ¤â¼è¤ì¤ë¤è¤¦¤Ëºî¤êľ¤·¤¿¡£ -¥¢¡¼¥àÉôʬ¤ò¤Ç¤¤ë¤À¤±·Ú¤¯ºî¤Ã¤Æ¡¢¥í¥Ü¥Ã¥È¤¬Á°·¹¤·¤Ê¤¤¤è¤¦¤Ë¹©Éפ·¤Þ¤·¤¿¡£ *¥³¡¼¥¹¹¶Î¬Ë¡ [#de95ab40] ¢¨¼«Ê¬¤Ï±¦²ó¤êôÅö¤Ç¤¹ -&ref(2013a/Member/yno8/Mission1/gajga.png,870¡ß525,¥³¡¼¥¹Á´ÂÎ); -¥³¡¼¥¹¤ò¹¶Î¬¤¹¤ë¤Ë¤¢¤¿¤Ã¤ÆÆñ½ê¤¬3¤Ä¤¢¤ê¤Þ¤·¤¿¡£¡¢¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬¤Ç¤¤º¡¢£¤Ï´Ì¤òÀµ³Î¤ËÃÖ¤±¤ºÇº¤ß¤Þ¤·¤¿¡£°Ê²¼¤Ï¼«Ê¬¤Ê¤ê¤Î²ò·èË¡¤Ç¤¹¡£ -&ref(2013a/Member/yno8/Mission1/¥í¥Ü»ñÎÁ1.png,428¡ß288,1); -&ref(2013a/Member/yno8/Mission1/¤í¤Î¤¸¤ç.png,416¡ß288,wa); -Ãí°ÕÅÀ¤Î¤è¤¦¤Ë»ä¤¬½ñ¤¤¤¿¥×¥í¥°¥é¥à¤Ç¤Ï±Ô³Ñ¤Î¸òº¹ÅÀ¤Ïľ¿Ê¤Ç¤¤ë¤¬Æ߳Ѥθòº¹ÅÀ¤Ï½ÐÍè¤Þ¤»¤ó¤Î¤Ç¡¢Ãí°ÕÅÀ¤Î¾å¤Î¿Þ¤Î¤è¤¦¤Ë¡¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹õÀþ¤Î±¦Â¦¤«¤é¹õÀþ¤Îº¸Â¦¤ËÀÚ¤êÂؤ¨¤ë¤³¤È¤ÇÌäÂê¤ò²ò·è¤·¤Æ¤¤¤Þ¤¹¡£ -&ref(2013a/Member/yno8/Mission1/¤í¤Ü£ç£ä£î.png,429¡ß288,2); -¢¤Ï¡¤ÈƱÍͱԳÑÉôʬ¤À¤±¤òÄ̤ë¤è¤¦º¸±¦ÀÚ¤êÂؤ¨¤ò¹Ô¤¤¤Þ¤·¤¿¡£¤Á¤Ê¤ß¤Ë¤³¤ÎÀÚ¤êÂؤ¨¤Ï¥¿¥¤¥Þ¡¼¤ò»È¤Ã¤Æ¤ä¤Ã¤Æ¤¤¤Þ¤¹¡£¤½¤Î¤¿¤áÆ°ºî¤¬¾¯¤·ÉÔ°ÂÄê¤Ç¤·¤¿¡£ -&ref(2013a/Member/yno8/Mission1/¥í¥Ü£ë£ä£æ¤Ê£ó.png,429¡ß288,3); -£¤Ï´Ì¤òÃÖ¤¯¤¿¤á¤À¤±¤Î¹©ÉפǤ¹¡£¤É¤¦¤ä¤Ã¤ÆÀµ³Î¤Ë´Ì¤òÃÖ¤«¤»¤ë¤«Çº¤ó¤ÀËö¡¢¥«¥¦¥ó¥¿¤ò»È¤¦¤³¤È¤Ë¤·¤Þ¤·¤¿¡£¿Þ¤ÎÀÖ¤¤ÅÀÉնᤫ¤é¥«¥¦¥ó¥¿¤òµ¯Æ°¤µ¤»(¤³¤ì¤â¥¿¥¤¥Þ¡¼¤Ç)¡¢ÀÖ¤¤ÅÀ°Ê¹ß¤Ë¸òº¹ÅÀ¤¬°ì¸Ä¤Ç¤â¤¢¤ì¤Ð¥«¥¦¥ó¥È¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¹¡£¤½¤¦¤¹¤ì¤ÐÀĤ¤±ß¤«¤éÃÖ¤¯¾ì½ê¤Þ¤Ç¤Ë¤«¤«¤ë»þ´Ö¤òÁö¤é¤»¤ì¤ÐÃÖ¤±¤ë¤È»×¤Ã¤¿¤Î¤Ç¤¹¡£¤Ä¤Þ¤êÀĤ¤±ß¤Î¸òº¹ÅÀ(¤É¤Á¤é¤«¤È¤¤¤¦¤ÈT»úÏ©)¤ò¥«¥¦¥ó¥È¤·¡¢180¡ë²óž¤µ¤»´Ì¤òÃÖ¤¯°ÌÃ֤ޤǥ饤¥ó¥È¥ì¡¼¥¹¤µ¤»¤ë(¥¿¥¤¥Þ¡¼¤Ç)¤È¤¤¤¦¤³¤È¤Ç¤¹¡£¤½¤¦¤·¤Æ´Ì¤òÃÖ¤¯¤È¤¤¤¦Æñ½ê¤ò²ò·è¤·¤Þ¤·¤¿¡£ *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#d3859879] #define zone1 37 #define zone2 45 #define zone3 60 #define zone4 65 #define zensin OnFwd(OUT_BC,40) //Á°¿Ê¤·¤Þ¤¹ #define sasetu OnFwd(OUT_B,40);Off(OUT_C) //º¸ÀÞ¤·¤Þ¤¹ #define kyuusasetu OnFwd(OUT_B,40);OnRev(OUT_C,35) //º¸Àû²ó¤·¤Þ¤¹ #define usetu OnFwd(OUT_C,40);Off(OUT_B) //±¦ÀÞ¤·¤Þ¤¹ #define kyuuusetu OnFwd(OUT_C,40);OnRev(OUT_B,35) //±¦Àû²ó¤·¤Þ¤¹ #define STEP 1 #define nMAX 200 #define short_break Off(OUT_BC);Wait(1000); task main () { SetSensorLight(S3); int nOnline=0; long t0 = CurrentTick(); int n=0; -¢¬Á°¿Ê¤¹¤ë¤È¤¤Ïzensin±¦ÀÞ¤Ïusetu¤Ê¤É¤ï¤«¤ê¤ä¤¹¤¯ÄêµÁ¤·¤Þ¤·¤¿¡£ while (CurrentTick()-t0 <= 6000) { while (CurrentTick()-t0 <= 6000) { //ºÇ½é¤Î£¶Éô֤Ϲõ¤Ê¤é±¦¡¢Çò¤Ê¤éº¸¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ if (SENSOR_3 < zone1) { kyuuusetu; } else if (SENSOR_3 < zone2) { usetu; } else if (SENSOR_3 < zone3) { zensin; } else if (SENSOR_3 < zone4) { sasetu; } else { kyuusasetu; } Wait(STEP); } OnRev(OUT_A,50);Wait(500);Off(OUT_A);¡¡//´Ì¤òÄϤߤޤ¹ -¢¬¤³¤ÎwhileÀá¤Ç¤Ï´Ì¤òÄϤà¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤µ¤»¤Æ¤¤¤Þ¤¹ while (CurrentTick()-t0 <= 18000) { while(nOnline < nMAX && CurrentTick()-t0 <= 18000) { while(nOnline < nMAX && CurrentTick()-t0 <= 18000) {¡¡//nOnline¤¬nMAX¤òĶ¤¨¤ë¡¢¤â¤·¤¯¤Ï18Éðʾ夿¤Ã¤¿¤é¤³¤ÎwhileÀá¤ò¤ä¤á¤ë¡£ if (SENSOR_3 < zone1) { kyuuusetu; nOnline++; } else { if (SENSOR_3 < zone2) { usetu; } else if (SENSOR_3 < zone3) { zensin; } else if (SENSOR_3 < zone4) { sasetu; } else { kyuusasetu; } nOnline=0; } Wait(STEP); } kyuusasetu;Wait(nMAX*STEP); OnFwd(OUT_BC,40);Wait(200); nOnline=0; }sasetu;Wait(100); -¢¬18Éøå¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Îº¸±¦ÀÚ¤êÂؤ¨¡¢¤Ä¤Þ¤ê¡Ö¥×¥í¥°¥é¥à¤ÎÀâÌÀ¡×¤Î¡¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£&&(ÏÀÍýÀÑ)¤ò»È¤¦È¯ÁÛ¤ËÃ桹µ¤¤Å¤±¤º¶ìǺ¤·¤Þ¤·¤¿¡£18Éäϲ¿Å٤⬤äÆÀßÄꤷ¤Þ¤·¤¿¡£ while (CurrentTick()-t0 <= 34000) { while(nOnline < nMAX && CurrentTick()-t0 <= 34000) { if (SENSOR_3 < zone1) { kyuusasetu; nOnline++; } else { if (SENSOR_3 < zone2) { sasetu; } else if (SENSOR_3 < zone3) { zensin; } else if (SENSOR_3 < zone4) { usetu; } else { kyuuusetu; } nOnline=0; } Wait(STEP); } kyuuusetu;Wait(nMAX*STEP); OnFwd(OUT_BC,40);Wait(200); nOnline=0; }usetu;Wait(200); -¢¬¢ÍѤÎwhileÀá¤Ç¤¹¡£¡¤Ç¤ÏÀâÌÀ¤ò¾Ê¤¤Þ¤·¤¿¤¬¡¢whileÀá¤Î²¼¤Ë¡Öusetu;Wait(200);¡×¤ÈÆþ¤ì¤ë¤³¤È¤Çº¸±¦ÀÚ¤êÂؤ¨¤Î¼ºÇÔ¤ò·Ú¸º¤·¤Æ¤¤¤Þ¤¹¡£ while (CurrentTick()-t0 <= 40000) { while(nOnline < nMAX && CurrentTick()-t0 <= 40000) { if (SENSOR_3 < zone1) { kyuuusetu; nOnline++; } else { if (SENSOR_3 < zone2) { usetu; } else if (SENSOR_3 < zone3) { zensin; } else if (SENSOR_3 < zone4) { sasetu; } else { kyuusasetu; } nOnline=0; } Wait(STEP); } kyuusasetu;Wait(nMAX*STEP); OnFwd(OUT_BC,40);Wait(200); nOnline=0; } -¢¬¤³¤ì¤Ï£¤Î¿Þ¤Ç¸À¤¦ÀÖ°õ¤Î¼êÁ°¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£ÀÖ°õ¤òĶ¤¨¤ë¤È¼¡¤ÎwhileÀá¤Ë°Ü¤ê¤Þ¤¹¡£¤³¤ì¤â»þ´Ö¤ÇÀÚ¤êÂؤ¨¤Æ¤¤¤ë¤Î¤ÇÁ᤯¹Ô¤²á¤®¤ë¤È¼ºÇÔ¤·¤Þ¤¹¡£¤À¤¤¤¿¤¤40É䰤餤¤¬¼ºÇÔ¤·¤Ê¤¤(ÀÖ°õ¤ÇÀÚ¤êÂؤ¨¤Æ¤¯¤ì¤ë)ÃͤǤ·¤¿¡£ while (n<2) { while(nOnline < nMAX && n<2) { if (SENSOR_3 < zone1) { kyuuusetu; nOnline++; } else { if (SENSOR_3 < zone2) { usetu; } else if (SENSOR_3 < zone3) { zensin; } else if (SENSOR_3 < zone4) { sasetu; } else { kyuusasetu; } nOnline=0; } Wait(STEP); } kyuusasetu;Wait(nMAX*STEP); OnFwd(OUT_BC,40);Wait(200); nOnline=0;n++; } -¢¬ÀÖ°õ¤«¤éÀĤ¤±ß¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ç¡¢¸«¤Æ¤ÎÄ̤ꥫ¥¦¥ó¥¿¤ò»È¤Ã¤ÆÀĤ¤±ß(T»úÏ©)¤ò¥«¥¦¥ó¥È¤µ¤»¤Æ¤¤¤Þ¤¹¡£¥«¥¦¥ó¥È¤¹¤ë¤È´Ì¤òÃÖ¤¯°ÌÃ֤˰ÜÆ°¤¹¤ë¥×¥í¥°¥é¥à¤¬ºîÆ°¤·¤Þ¤¹¡£ OnRev(OUT_BC,50);Wait(500); OnFwd(OUT_C,50);OnRev(OUT_B,50);Wait(300); OnFwd(OUT_C,50);OnRev(OUT_B,50);until(SENSOR_3 < 50); long t1 = CurrentTick(); -¢¬¤³¤³¤Ï180¡ëÀû²ó¤µ¤»¤ë¤À¤±¤Î¥×¥í¥°¥é¥à¤Ê¤Î¤Ç¡¢¾å¤Î¹Ô¤«¤é¤¶¤Ã¤¯¤ê¤ÈÀâÌÀ¤·¤Þ¤¹¡£¤Á¤ç¤Ã¤È¸å¤í¤Ë²¼¤¬¤ë¢ªÇò¤¤Éôʬ¤Þ¤Ç»þ·×²ó¤ê¤Ë²óž¤µ¤»¤ë(90¡ë¤°¤é¤¤¤Þ¤Ç)¢ªÀÖ³°Àþ¥»¥ó¥µ¡¼¤ò»È¤Ã¤Æ¹õÀþ¤Þ¤Ç¤½¤Î¤Þ¤Þ»þ·×²ó¤ê¤Î²óž(Àµ³Î¤Ë180¡ë²óž¤µ¤»¤ë¤¿¤á) while (CurrentTick()-t1 <= 1800) { if (SENSOR_3 < zone1) { kyuusasetu; } else if (SENSOR_3 < zone2) { sasetu; } else if (SENSOR_3 < zone3) { zensin; } else if (SENSOR_3 < zone4) { usetu; } else { kyuuusetu; } Wait(STEP); } -¢¬´Ì¤òÃÖ¤¯¾ì½ê¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹(»þ´Ö¤ò¬¤ê¤Þ¤¯¤Ã¤¿·ë²Ì¡¢¤À¤¤¤¿¤¤1.8ÉÃ) usetu;Wait(270);Off(OUT_BC); OnFwd(OUT_A,50);Wait(300);Off(OUT_A); OnRev(OUT_BC,50);Wait(400); OnFwd(OUT_B,50);OnRev(OUT_C,50);Wait(300); OnFwd(OUT_B,50);OnRev(OUT_C,50);until(SENSOR_3 < 50); long t2 = CurrentTick(); -¢¬¤³¤³¤â´Ì¤ò¤ª¤¤¤¿¸å´Ì¤òÅݤµ¤Ê¤¤¤è¤¦¤Ë180¡ëÀû²ó¤µ¤»¤ë¤À¤±¤Ç¤¹¡£¾å¤Î¹Ô¤«¤é¡¢¾¯¤·¡Öusetu¡×¤µ¤»¤Æ¥í¥Ü¥Ã¥È¤ò¤Þ¤Ã¤¹¤°¤Ë¤µ¤»¤ë¢ª¥¢¡¼¥à¤ò³«¤¤¤Æ´Ì¤òÃÖ¤¯¢ª¾¯¤·¥Ð¥Ã¥¯¢ª¤µ¤Ã¤¤ÈƱÍͤË180¡ëÀû²ó while (CurrentTick()-t2 <= 3900) { if (SENSOR_3 < zone1) { kyuuusetu; } else if (SENSOR_3 < zone2) { usetu; } else if (SENSOR_3 < zone3) { zensin; } else if (SENSOR_3 < zone4) { sasetu; } else { kyuusasetu; } Wait(STEP); } Off(OUT_BC); } -¢¬ÉáÄ̤˥饤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ½Ð¸ý¤«¤é½Ð¤Æ¤Ã¤Æ¤â¤é¤Ã¤Æ¤Þ¤¹¡£ *¤Þ¤È¤á [#waf7ecb4] -¥í¥Ü¥Ã¥ÈËÜÂΤò½Å¤¯¤·¤¹¤®¤¿¤»¤¤¤ÇÆ°ºî¤Ë°ÂÄêÀ¤¬¤Ê¤¯¤Ê¤ê¡¢Æ±¤¸¥×¥í¥°¥é¥à¤Ç¤âÆü¤Ë¤è¤Ã¤ÆÀ®¸ùΨ¤¬ÊѤï¤Ã¤¿¡£¤³¤ì¤Ë¤ÏÅÅÃӤؤιÍ褬·ç¤±¤Æ¤¤¤¿¤³¤È¤â¤¢¤ê¼¡²ó¤Î²ÝÂê¤Þ¤Ç¤Ë¤·¤Ã¤«¤ê¤ÈÈ¿¾Ê¤·¤Æ¤ª¤¤¿¤¤¤È¤³¤í¤Ç¤¢¤ë¡£º£²ó¤Ï¿ôÃͤòÊѤ¨¤ÆÂн褷¤¿¤¬º£¸å¤Ï¤½¤Î¤³¤È¤ò¹Íθ¤·¤¿¥×¥í¥°¥é¥à¤¬É¬¿Ü¤Ç¤¢¤ë¡£¤Þ¤¿°ìÈֽŤ¤CPU¤ò¾¯¤·¾å¤ËÀßÃÖ¤·¤¹¤®¤¿¤¿¤áÆ°¤¤¬¤Ö¤ì¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤âÃí°Õ¤·¤¿¤¤¡£ *¼¡²ó¤Î²ÝÂê¤ÇÂçÀڤˤ·¤¿¤¤¤³¤È [#yfbd8a45] -¥í¥Ü¥Ã¥È¤Î·ÚÎ̲½ -ÅÅÃӤλÄÎ̤˺¸±¦¤µ¤ì¤Ê¤¤¥×¥í¥°¥é¥à¤ÎºîÀ® -½ÐÍè¤ë¤À¤±¶¨ÎϤ·¤Æ²ÝÂê¤ò¹¶Î¬¤¹¤ë -¥×¥í¥°¥é¥à¤è¤ê¤â¥í¥Ü¥Ã¥È¤Î¹½Â¤ -½Å¤¤¤â¤Î¤Ï²¼¤Ë