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*¥×¥í¥°¥é¥ß¥ó¥° [#c67c8bb0] **¥¢¡¼¥à¤Î¥×¥í¥°¥é¥ß¥ó¥° [#lbd50944] #define kurot 37 #define kurok 42 #define kurog 45 #define shiro 47 #define hi 1 #define low 1 #define lift_up OnFwd(OUT_AB); #define lift_down OnRev(OUT_AB); #define tukamu OnRev(OUT_C); #define release OnFwd(OUT_C); #define MOVE_TIMEA 280 #define MOVE_TIMEB 140 #define MOVE_TIMEC 30 #define MOVE_TIMED 250 #define kousin 5 #define pdown 6 #define zensin 7 #define kyatti 8 #define anoraitore 10 #define kankan 11 #define bnoraitore 12 #define cnoraitore 13 #define bniraitore 14 #define kanhanasu 15 #define tyoikousin 16 int p=0; int n=0; int x=0; int y=0; int k=0; task main() { ClearMessage(); while(k < 1){ until(Message() == kyatti); tukamu; Wait(50); lift_up; Wait(300); k++; } ClearMessage(); SendMessage(anoraitore); Wait(10); while(k < 2){ ClearMessage(); until(Message() == kankan); lift_down; Wait(MOVE_TIMEC); Off(OUT_AB); release; Wait(50); Off(OUT_C); release; Wait(50); Off(OUT_C); k++; } ClearMessage(); SendMessage(kousin); Wait(10); ClearMessage(); while(k < 3){ until(Message() == pdown); lift_down; Wait(MOVE_TIMED); Off(OUT_AB); k++; } ClearMessage(); SendMessage(zensin); Wait(10); ClearMessage(); while(k < 4){ until(Message() == kyatti); tukamu; Wait(50); k++; } ClearMessage(); SendMessage(bnoraitore); Wait(10); ClearMessage(); while(k < 5){ until(Message() == kyatti); tukamu; Wait(50); lift_up; Wait(MOVE_TIMEA); k++; } ClearMessage(); SendMessage(cnoraitore); Wait(10); ClearMessage(); while(k < 6){ until(Message() == kankan); lift_down; Wait(MOVE_TIMEC); release; Wait(50); k++; } ClearMessage(); SendMessage(kousin); Wait(10); ClearMessage(); while(k < 7){ until(Message() == pdown); lift_down; Wait(MOVE_TIMED); Off(OUT_AB); k++; } ClearMessage(); SendMessage(zensin); Wait(10); ClearMessage(); while(k < 8){ until(Message() == kyatti); tukamu; Wait(50); k++; } ClearMessage(); SendMessage(bniraitore); ClearMessage(); while(k < 9){ until(Message() == kanhanasu); release; Wait(50); k++; } ClearMessage(); SendMessage(tyoikousin); Wait(10); Off(OUT_ABC); } **¥¿¥¤¥ä¤Î¥×¥í¥°¥é¥à [#f8abc9a4] #define kurot 37 #define kurok 42 #define kurog 45 #define shiro 47 #define hi 5 #define low 2 #define sh SetPower(OUT_AC, hi); #define sl SetPower(OUT_AC,low); #define slh SetPower(OUT_A,low); SetPower(OUT_C,hi); #define shl SetPower(OUT_A,hi); SetPower(OUT_C,low); #define sss SetPower(OUT_A,1);SetPower(OUT_C,1); #define mae sh OnFwd(OUT_AC); #define ushiro OnRev(OUT_AC); #define migi0 sl; OnFwd(OUT_C); Off(OUT_A); #define migi1 sl; OnFwd(OUT_C); OnRev(OUT_A); #define hidari0 sl; Off(OUT_C); OnFwd(OUT_A); #define hidari1 sl; OnRev(OUT_C); OnFwd(OUT_A); #define STEP 1 #define nMAX 5 #define yasumi Off(OUT_AC); Wait(100); #define cross 25 #define cross_line sl; OnFwd(OUT_AC); Wait(cross); yasumi; #define kousin 5 #define pdown 6 #define zensin 7 #define kyatti 8 #define anoraitore 10 #define kankan 11 #define bnoraitore 12 #define cnoraitore 13 #define bniraitore 14 #define kanhanasu 15 #define tyoikousin 16 int p=0; int n=0; int x=0; int y=0; sub hidarikan () { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); while(SENSOR_1 > 55){ if (SENSOR_1 < kurot){ hidari0; p++; } else { if(SENSOR_1 < kurok){ hidari0; } else if (SENSOR_1 < kurog){ mae; } else if (SENSOR_1 < shiro){ migi0; } else { migi0; } p=0; } Wait(STEP); } yasumi; migi0; Wait(nMAX*STEP*2); cross_line; n++; p=0; } sub hidaria () { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); while(n < 2){ while(p < nMAX){ if (SENSOR_1 < kurot){ hidari1; p++; } else { if(SENSOR_1 < kurok){ hidari0; } else if (SENSOR_1 < kurog){ mae; } else if (SENSOR_1 < shiro){ migi0; } else { migi1; } p=0; } Wait(STEP); } yasumi; migi1; Wait(nMAX*STEP*2); cross_line; n++; p=0; } } sub hidarib () { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); while(n < 3){ while(p < nMAX){ if (SENSOR_1 < kurot){ hidari1; p++; } else { if(SENSOR_1 < kurok){ hidari0; } else if (SENSOR_1 < kurog){ mae; } else if (SENSOR_1 < shiro){ migi0; } else { migi1; } p=0; } Wait(STEP); } yasumi; migi1; Wait(nMAX*STEP*2); cross_line; n++; p=0; } } sub hidaric () { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); while(n < 4){ while(p < nMAX){ if (SENSOR_1 < kurot){ hidari1; p++; } else { if(SENSOR_1 < kurok){ hidari0; } else if (SENSOR_1 < kurog){ mae; } else if (SENSOR_1 < shiro){ migi0; } else { migi1; } p=0; } Wait(STEP); } yasumi; migi1; Wait(nMAX*STEP*2); cross_line; n++; p=0; } } sub hidarid () { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); while(n < 7){ while(p < nMAX){ if (SENSOR_1 < kurot){ hidari1; p++; } else { if(SENSOR_1 < kurok){ hidari0; } else if (SENSOR_1 < kurog){ mae; } else if (SENSOR_1 < shiro){ migi0; } else { migi1; } p=0; } Wait(STEP); } yasumi; migi1; Wait(nMAX*STEP*2); cross_line; n++; p=0; } } task main () { int p=0; int n=0; int x=0; int y=0; int k=0; migi0;until(SENSOR_1 < 45); Off(OUT_AC); hidarikan(); ClearMessage(); SendMessage(kyatti); Wait(10); ClearMessage(); while(k < 1){ until(Message() == anoraitore); hidaria(); k++; } hidarikan(); ClearMessage(); SendMessage(kankan); Wait(10); ClearMessage(); while(k < 2){ until(Message() == kousin); OnRev(OUT_AC); Wait(10); Off(OUT_AC); k++; } ClearMessage(); SendMessage(pdown); Wait(10); ClearMessage(); while(k < 3){ until(Message() == zensin); OnFwd(OUT_AC); Wait(10); Off(OUT_AC); k++; } ClearMessage(); SendMessage(kyatti); Wait(10); ClearMessage(); while(k < 4){ until(Message() == bnoraitore); hidarib(); hidari1; Wait(50); OnFwd(OUT_AC); Wait(25); OnRev(OUT_AC); Wait(50); Off(OUT_AC); migi0; Wait(50); migi1;until(SENSOR_1 <45); Off(OUT_AC); hidarikan(); k++; } ClearMessage(); SendMessage(kyatti); Wait(10); ClearMessage(); while(k < 5){ until(Message() == cnoraitore); hidaric(); hidarikan(); k++; } ClearMessage(); SendMessage(kankan); Wait(10); ClearMessage(); while(k < 6){ until(Message() == kousin); OnRev(OUT_AC); Wait(10); Off(OUT_AC); k++; } ClearMessage(); SendMessage(pdown); Wait(10); ClearMessage(); while(k < 7){ until(Message() == zensin); OnFwd(OUT_AC); Wait(10); Off(OUT_AC); k++; } ClearMessage(); SendMessage(kyatti); Wait(10); ClearMessage(); while(k < 8){ until(Message() == bniraitore); hidarid(); hidari0; Wait(10); OnFwd(OUT_AC); Wait(15); k++; } ClearMessage(); SendMessage(kanhanasu); Wait(10); ClearMessage(); while(k < 9){ until(Message() == tyoikousin); OnRev(OUT_AC); Wait(100); Off(OUT_AC); k++; } } *·ë²Ì [#a6e03c9f] ¥í¥Ü¥³¥ó¤Î·ë²Ì¤ÏºÇ²¼°Ì¤È¤¤¤¦·ë²Ì¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬»×¤¦¤è¤¦¤Ë¤¦¤Þ¤¯¤¤¤«¤º¤Ë¡¢¥í¥Ü¥Ã¥È¤Î´Ì¤òÀѤ߾夲¤ë¤¿¤á¤Ë¥¸¥ã¥Ã¥¤òÆ°¤«¤¹¤³¤È¤ò¤ª¸«¤»¤¹¤ë¤³¤È¤·¤«¤Ç¤¤Ê¤«¤Ã¤¿¡£ *È¿¾Ê [#h23358e7] **¥í¥Ü¥Ã¥È¤ÎÀ½ºî [#hdd464c6] ¥í¥Ü¥Ã¥È¤ÎÀ½ºî¤Ë¤¢¤¿¤Ã¤Æ¤¤¤¯¤Ä¤«¤ÎÌäÂêÅÀ¤¬¤¢¤Ã¤¿¡££±¤Ä¤Ë¥í¥Ü¥Ã¥È¤ò¾¯¤·Æ°¤«¤¹¤À¤±¤Ç²õ¤ì¤Æ¤·¤à¤È¤¤¤¦¤â¤í¤µ¤¬¤¢¤Ã¤¿¡£¤â¤Ã¤È¶¯¸Ç¤Ë¤¹¤Ù¤¤Ç¤¢¤ê¡¢¹©Éפ·¤Ê¤¬¤é¥Ñ¡¼¥Ä¤òÁȤßΩ¤Æ¤ë¤Ù¤¤Ç¤¢¤Ã¤¿¡£¤Þ¤¿¥¸¥ã¥Ã¥¤òÉÕ¤±¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡¢¥í¥Ü¥Ã¥È¤¬ÉÔ°ÂÄê¤Ê¤â¤Î¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤³¤ì¤â¹©É×¼¡Âè¤Ç°ÂÄꤵ¤»¤ë¤³¤È¤¬¤Ç¤¤¿¤È»×¤ï¤ì¤ë¡£ **¥×¥í¥°¥é¥ß¥ó¥°¤ÎÀ½ºî [#wcc22ecf] ¥×¥í¥°¥é¥ß¥ó¥°¤Ç¤Ï¥á¥ó¥Ð¡¼¤¬¤È¤Æ¤â°ìÀ¸·üÌ¿¹Í¤¨¤Æ¤¯¤ì¤Æ¼«Ê¬¤Ï¾¯¤·¤Î¥µ¥Ý¡¼¥È¤·¤«¤Ç¤¤Ê¤«¤Ã¤¿¡£¤â¤¦¾¯¤·¼«Ê¬¤â¶¨ÎϤ¹¤ì¤Ð¤è¤«¤Ã¤¿¤È¿¼¤¯È¿¾Ê¤·¤Æ¤¤¤ë¡£¤Þ¤¿¡¢¥×¥í¥°¥é¥ß¥ó¥°¤ÎÄ´À°¤¹¤ë»þ´Ö¤¬¤¢¤Þ¤ê¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢Ä´À°¤¹¤ë»þ´Ö¤â¹Í¤¨¤Ê¤¬¤é¥×¥í¥°¥é¥ß¥ó¥°¤ò¤·¤Æ¤¤¤«¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤È´¶¤¸¤¿¡£ *´¶ÁÛ [#r5aa4dfa] ²ÝÂꣲ¤ÏÉÔ¹ÃÈå¤Ê¤¤·ë²Ì¤Ç½ª¤ï¤Ã¤Æ¤·¤Þ¤Ã¤ÆÈó¾ï¤Ë»ÄÇ°¤À¤Ã¤¿¡£¤â¤¦¾¯¤·»î¹Ôºø¸í¤·¤Æ¥í¥Ü¥Ã¥È¤ÎÀ½ºî¤â¥×¥í¥°¥é¥ß¥ó¥°¤â¿µ½Å¤Ë¤ä¤Ã¤Æ¤¤¤¤¿¤«¤Ã¤¿¡£¤·¤«¤·¡¢¥á¥ó¥Ð¡¼¤È½¸¤Þ¤Ã¤Æ¿§¡¹¤ÈÏ䷹礦¤³¤È¤Ç¥í¥Ü¥Ã¥È¤òºî¤Ã¤ÆÁàºî¤¹¤ë¤È¤¤¤¦³Ú¤·¤µ¤òÌ£¤ï¤¨¤¿¤³¤È¤¬¤È¤Æ¤â¤¦¤ì¤·¤«¤Ã¤¿¡£ ¡¡