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OnFwdSync(OUT_BC,speed,0); //0.4ÉÃÁ°¿Ê Wait(400); PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌÄ¤ë ¤³¤ì¤ÇºÇ½é¡Ê¥¹¥¿¡¼¥È°ÌÃ֡ˤιõÀþ¤ÎÏȤò²£ÃǤ·¤Þ¤·¤¿¡£ Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); OnFwdSync(OUT_BC,speed,0); //¥í¥Ü¥Ã¥ÈÁ°¿Ê until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç PlaySound(SOUND_CLICK);¡¡¡¡//Åþ㤹¤ë¤È¥Ô¥Ã¤È²»¤¬ÌÄ¤ë £²ËçÌܤλæ¤Î¹õÀþ¤ÎÏȤ˸þ¤«¤¤¤Þ¤¹¡£ Off(OUT_BC); //²»¤¬ÌĤ俤ΤÁ0.5ÉÃÄä»ß Wait(500); OnFwd(OUT_B,speed); //B¡Ê±¦¥¿¥¤¥ä¡Ë¤¬Á°Å¾¡¢C¡Êº¸¥¿¥¤¥ä¡Ë¤¬¸åž¢ªº¸Àû²ó OnRev(OUT_C,speed); until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç PlaySound(SOUND_CLICK);¡¡¡¡¡¡//Åþ㤹¤ë¤È¥Ô¥Ã¤È²»¤¬ÌÄ¤ë ¥í¥Ü¥Ã¥È¤¬¹õÀþ¾å¤Ë¤¢¤ë¾õÂ֤Ǻ¸Àû²ó¤·¤Þ¤¹¡£¤Û¤Ü£¹£°ÅÙÀû²ó¤·¡¢¥í¥Ü¥Ã¥È¤Ïº¸¸þ¤¤Ë¤Ê¤ê¤Þ¤¹¡£ Off(OUT_BC); //0.7ÉÃÄä»ß Wait(700); OnFwd(OUT_B,speed);¡¡¡¡//0.18Éú¸Àû²ó OnRev(OUT_C,speed); Wait(180); PlaySound(SOUND_CLICK); //¥Ô¥Ã¤È²»¤¬ÌÄ¤ë ¤³¤ì¤ÏÈùÄ´À°¤Î¤¿¤á¤ÎÀû²ó¤Ç¤¹¡£ Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); OnFwdSync(OUT_BC,speed,0); //1.1ÉÃÁ°¿Ê Wait(1100); PlaySound(SOUND_CLICK); //¥Ô¥Ã¤È²»¤¬ÌÄ¤ë ¹õÀþ¤Î¾å¤Ë¤¤¤ë¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤Æ¹õÀþ¤Î³°¤Ë½Ð¤·¤Þ¤¹¡£ Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); OnFwdSync(OUT_BC,speed,0);¡¡¡¡//¥í¥Ü¥Ã¥ÈÁ°¿Ê until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç PlaySound(SOUND_CLICK);¡¡¡¡//Åþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); OnFwdSync(OUT_BC,speed,0); //0.5ÉÃÁ°¿Ê Wait(500); PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌÄ¤ë ¤³¤³¤Þ¤Ç¤Ç1²ó¹õÀþ¤ò²£ÃǤ·¤Æ¤¤¤Þ¤¹¡£ Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); OnFwdSync(OUT_BC,speed,0);¡¡//¥í¥Ü¥Ã¥ÈÁ°¿Ê until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç PlaySound(SOUND_CLICK);¡¡ //Åþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌÄ¤ë ¡¡ Off(OUT_BC); //²»¤¬ÌĤ俸å0.5ÉÃÄä»ß Wait(500); OnFwdSync(OUT_BC,speed,0); //0.6ÉÃÁ°¿Ê Wait(600); PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); ¤³¤ì¤¬2²ó¤á¤Î¹õÀþ¤Î²£ÃǤˤʤê¤Þ¤¹¡£ ¤³¤Î»þÅÀ¤Ç¡¢¥í¥Ü¥Ã¥È¤Ï2Ëç¤Î»æ¤ò½ÄÃǤ·¤Æ¤¤¤ë¹õÀþ¾å¤Ë¤¢¤ê¤Þ¤¹¡£ OnFwd(OUT_B,speed); //º¸Àû²ó OnRev(OUT_C,speed); until(SENSOR_1 < black);¡¡//¹õÀþ¾å¤ËÍè¤ë¤Þ¤Ç PlaySound(SOUND_CLICK);¡¡//¹õÀþ¾å¤ËÅþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); ¤³¤ì¤Ç¥³¥Ã¥×¤ÎÌܤÎÁ°¤Þ¤Ç¥í¥Ü¥Ã¥È¤¬Íè¤Þ¤¹¡£ OnRevSync(OUT_BC,speed,0); //2Éøå¿Ê Wait(2000); ¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬¶á¤¹¤®¤ë¤¿¤á¡¢¤¤¤Ã¤¿¤ó²¼¤¬¤ê¤Þ¤¹¡£ OnFwdSync(OUT_BC,speed,0); //¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬12¥»¥ó¥Á°Ê²¼¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê until(SensorUS(S3) <= 12); Ķ²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ¥³¥Ã¥×¤ò¤Ä¤«¤à¤Î¤ËºÇŬ¤Ê12¥»¥ó¥Á¤Þ¤Ç¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤Þ¤¹¡£ Off(OUT_BC); //0.1ÉÃÄä»ß Wait(100); RemoteStartProgram(1,"z_slave.rxe"); //»Òµ¡¤ÈÄÌ¿® ¤³¤Î¸å¡¢¿Æµ¡¤È»Òµ¡¤¬ÄÌ¿®¤·¤Æ¥×¥í¥°¥é¥à¡Öz_slave.rxe¡×¤ò»Òµ¡¤Ë¼Â¹Ô¤µ¤»¤Þ¤¹¡£ ¸å¤Ë¾Ò²ð¤¹¤ë»Òµ¡¤Î¥×¥í¥°¥é¥à¤ò¸«¤ë¤Èʬ¤«¤ê¤Þ¤¹¤¬¡¢¤³¤ì¤Ï¥¢¡¼¥à¤ò²¼¤²¤Æ¥³¥Ã¥×¤ò¤Ä¤«¤ß¡¢ ºÆ¤Ó¥¢¡¼¥à¤ò¾å¤²¤ëÆ°ºî¤Ç¤¹¡£ while(msg != 11){ //»Òµ¡¤«¤é11¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤Ã¤¿¤é ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡//¿Æµ¡Æâ¤ÎMAILBOX1¤ò¶õ¤Ë¤¹¤ë¡Êtrue) } PlaySound(SOUND_CLICK); //¥Ô¥Ã¤È²»¤¬ÌÄ¤ë »Òµ¡¤¬¤¤Á¤ó¤ÈÆ°ºî¤ò¤·¤¿¤³¤È¤ò²»¤Ç³Îǧ¤·¤Æ¡¢¼¡¤ÎÆ°ºî¤Ë°Ü¤ê¤Þ¤¹¡£ °Ê²¼¤Ï¡¢¥³¥Ã¥×¤Î¿§¤Ë¤è¤Ã¤Æ¥í¥Ü¥Ã¥È¤ÎÆ°¤¤¬ÊѤï¤ê¤Þ¤¹¡£ if(SENSOR_4 < A){ //¥³¥Ã¥×¤¬¹õ¤À¤Ã¤¿»þ¡¡ OnFwdSync(OUT_BC,speed,0);¡¡ //¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¡¡ until(SensorUS(S3) <= 18); Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß Wait(100); RemoteStartProgram(1,"z_slave-2.rxe");¡¡¡¡//»Òµ¡¤ÈÄÌ¿® ¥³¥Ã¥×¤¬¹õ¤Î¾ì¹ç¤Ë¤Ï1¤Ë±¿¤Ö¤Î¤ÇÁ°¿Ê¤µ¤»¡¢¥×¥í¥°¥é¥à¡Öz_slave-2.rxe¡×¤ò»Òµ¡¤Ë¼Â¹Ô¤µ¤»¤Þ¤¹¡£ ¤³¤ì¤Ï¥³¥Ã¥×¤ò»ý¤Ã¤¿¥¢¡¼¥à¤ò²¼¤²¤Æ¥³¥Ã¥×¤ò½Å¤Í¤ëÆ°ºî¤Ç¤¹¡£ while(msg != 12){ //12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò»Òµ¡¤«¤é¼õ¤±¼è¤Ã¤¿¤é ReceiveRemoteNumber(MAILBOX1,true,msg); //MAILBOX1¤ò¶õ¤Ë¤¹¤ë¡¡ } PlaySound(SOUND_CLICK);¡¡¡¡¡¡//¥Ô¥Ã¤È¤¤¤¦²»¤¬ÌĤë }else if(SENSOR_4 < B){ //¥³¥Ã¥×¤¬Ã㿧¤Î»þ OnFwdSync(OUT_BC,speed,0);¡¡¡¡//2ÉÃÁ°¿Ê¡¡ Wait(2000); PlaySound(SOUND_CLICK);¡¡¡¡ //¥Ô¥Ã¤È²»¤¬ÌĤë Off(OUT_BC); //0.5ÉÃÄä»ß Wait(500); OnFwd(OUT_B,speed);¡¡¡¡¡¡¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤Çº¸Àû²ó OnRev(OUT_C,speed); until(SensorUS(S3) < 18); PlaySound(SOUND_CLICK);¡¡¡¡//µ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤ롡 Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß Wait(100); RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿®¡¢¥³¥Ã¥×¤ò½Å¤Í¤ë Ã㿧¤Î¥³¥Ã¥×¤Î¾ì¹ç¤Ïº¸Àû²ó¤·¤Æ½Å¤Í¤ë¥³¥Ã¥×¤òõ¤·¤Þ¤¹¡£ while(msg != 12){ //»Òµ¡¤«¤é12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤Ã¤¿¤é ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡//MAILBOX1¤ò¶õ¤Ë¤¹¤ë } PlaySound(SOUND_CLICK);¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë }else{ //¤½¤ì°Ê³°¡Ê¥³¥Ã¥×¤¬Çò¡Ë¤Î¤È¤ OnFwdSync(OUT_BC,speed,0);¡¡//6ÉÃÁ°¿Ê Wait(6000); OnFwd(OUT_B,speed);¡¡¡¡¡¡¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬30¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÀû²ó OnRev(OUT_C,speed); until(SensorUS(S3) < 30); PlaySound(SOUND_CLICK);¡¡¡¡//30¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß Wait(100); OnFwdSync(OUT_BC,speed,0);¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¡¡ until(SensorUS(S3) <= 18);¡¡//18¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß Wait(100); RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿® Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß Wait(100); RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿® while(msg != 12){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ReceiveRemoteNumber(MAILBOX1,true,msg); } PlaySound(SOUND_CLICK); } } ¥³¥Ã¥×¤¬Çò¤¤¾ì¹ç¡¢¿Þ¤Î¥³¥Ã¥×3¤ò¤Ä¤«¤à¤¿¤á¤Ë¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤Þ¤¹¡£ ¥³¥Ã¥×¤Ë¶á¤Å¤¤¤¿¸å¤ÎÆ°ºî¤ÏA.B¤ÈƱ¤¸¤Ç¤¹¡£ *¥¹¥é¡¼¥Ö¡Ê»Òµ¡¡Ë¤Î¥×¥í¥°¥é¥à [#adf47af3] task main() { PlaySound(SOUND_CLICK); //¥Ô¥Ã¤È²»¤¬ÌĤë OnFwd(OUT_A,70); //2.8ÉÃ¥¢¡¼¥à¤ò²¼¤²¤ë Wait(2800); Off(OUT_A);¡¡ OnRev(OUT_C,20);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.8Éäǥ³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî Wait(800); Off(OUT_C); OnRev(OUT_A,60);¡¡¡¡¡¡¡¡¡¡//2.8ÉÃ¥¢¡¼¥à¤ò¾å¤²¤ë Wait(2800); Off(OUT_A); SendResponseNumber(MAILBOX1,11);¡¡//¿Æµ¡¤Ë11¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë Wait(1000); PlaySound(SOUND_CLICK);¡¡¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë } ¤³¤ì¤Ï¥³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî¤Ç¤¹¡£ task main() { PlaySound(SOUND_CLICK); //¥Ô¥Ã¤È²»¤¬ÌĤë OnFwd(OUT_A,60);¡¡¡¡¡¡¡¡¡¡¡¡//0.9ÉÃ¥¢¡¼¥à¤ò²¼¤²¤ë Wait(900); Off(OUT_A);¡¡ OnFwd(OUT_C,20);¡¡¡¡¡¡¡¡¡¡//0.7Éäǥ³¥Ã¥×¤ò¥¢¡¼¥à¤«¤éÎ¥¤¹ Wait(700); Off(OUT_C); OnRev(OUT_A,80);¡¡¡¡¡¡¡¡//1.8ÉÃ¥¢¡¼¥à¤ò¾å¤²¤ë Wait(1800); Off(OUT_A); SendResponseNumber(MAILBOX1,12);¡¡//¿Æµ¡¤Ë12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë Wait(1000); PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë } ¤³¤ì¤Ï¥³¥Ã¥×¤ò½Å¤Í¤ëÆ°ºî¤Ç¤¹¡£ *È¿¾Ê [#n56a9213] ²ÝÂꣲ¤Ç¤Ï4¿Í¥°¥ë¡¼¥×¤Ç¤Î¼è¤êÁȤߤÀ¤Ã¤¿¤Î¤Ç¤¹¤¬¡¢1¿Í¤Î¿Í¤ËÉéô¤ò¤«¤Ö¤»¤Æ¤·¤Þ¤¤ ¼«Ê¬¤¬¹×¸¥¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤¬Â礤ÊÈ¿¾ÊÅÀ¤Ç¤¹¡£´üËö»î¸³¤Î´ü´Ö¤ËÆþ¤ëÁ°¤Ë4¿ÍÁ´°÷¤ÇÌäÂêÅÀ¤ò À°Íý¤·¡¢°ì¿Í¤Ò¤È¤ê¤ÎÌò³ä¤òÌÀ³Î¤Ë¤·¤Æ¤ª¤¯¤Ù¤¤À¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£ ¥í¥Ü¥Ã¥ÈËÜÂΤκîÀ®¤È²ÝÂê¤ò¤³¤Ê¤¹¤¿¤á¤Î²þÎɤϤä¤Ã¤Æ¤¤¤Æ¤È¤Æ¤â³Ú¤·¤«¤Ã¤¿¤Ç¤¹¡£ ¥×¥í¥°¥é¥ß¥ó¥°¤ÎÌ̤Ǥϼ«Ê¬¤ÏÉÔ´°Á´Ç³¾Æ¤Ç¤·¤¿¤¬¡¢Íèǯ°Ê¹ß¤ÎÊÙ¶¯¤Ë¤â¤³¤Î¹ÖºÂ¤Ç³Ø¤ó¤À¤³¤È¤Ï ³è¤«¤»¤ë¤Î¤Ç¤Ï¤Ê¤¤¤«¤È»×¤¤¤Þ¤¹¡£ ÂçÊѤʤ³¤È¤â¿¤«¤Ã¤¿¤Ç¤¹¤¬¡¢Á´ÂΤȤ·¤Æ¤È¤Æ¤âÎɤ¤·Ð¸³¤Ë¤Ê¤Ã¤¿¥¼¥ß¤Ç¤·¤¿¡£