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CENTER:#ref(2015b/Member/S_Toya/Mission3/A_kaishu.gif) CENTER:&size(20){Êü½Ð¤¹¤ëÆ°ºî}; #ref(2015b/Member/S_Toya/Mission3/A_keru.gif) **¥í¥Ü¥Ã¥ÈB¡Êµå¤ò²ó¼ý¤¹¤ë¥í¥Ü¥Ã¥È¡Ë [#f0ec869c] ¥í¥Ü¥Ã¥È¤Ï¡¢¥É¥é¥¤¥Ö¥Ù¡¼¥¹¤Î¤è¤¦¤Ê¥â¡¼¥¿Æó¤Ä¤«¤é¤Ê¤ë²ó¤ê¤È¡¢4¤Ä¤Î¥³¥ó¥Ù¥¢¤Î°ìÏ¢¤«¤é¹½À®¤µ¤ì¤ë¡£ ²ó¤ê¤ÏA¤ÈƱÍͤΥ饤¥ó¥È¥ì¡¼¥¹¤¬¹Ô¤¨¤ë¤è¤¦¤Ê·Á¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ ¥í¥Ü¥Ã¥ÈB¤ÎºÇ¤âÂ礤ÊÆÃħ¤Ïµå¤ò²ó¼ý¤¹¤ë¤¿¤á¤ËÍѤ¤¤ë¥³¥ó¥Ù¥¢¤Ç¤¢¤ë¡£ ³°´Ñ¤Ï²¼¿Þ¤Ç¤¢¤ë¡£ #ref(2015b/Member/S_Toya/Mission3/tsukamu06.jpg) Åö½é¡¢£Á¤«¤éÊü¤¿¤ì¤¿µå¤ò¸÷¥»¥ó¥µ¤Çõº÷¤·¤è¤¦¤È¤·¤¿¤â¤Î¤Î¡¢¸÷¥»¥ó¥µ¤Î¬ÄêÈϰϤ¬¶Ëü¤Ë¶¹¤¤¤³¤È¤¬Ê¬¤«¤Ã¤¿¤¿¤á¡¢¶ËÎϹÈϰϤεå¤ò²ó¼ý¤Ç¤¤ë¤è¤¦¤Ê·Á¤Ë¤·¤¿¡£ ¹ÈϰϤò¥«¥Ð¡¼¤·¡¢³î¤Ä´Ì¤òÅݤ¹¤³¤È¤¬¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ëü¤ÎÊý¤Ï¥´¥àÀ½¤Î´É¤Î¤è¤¦¤ÊºÙ¤¤¥Ñ¡¼¥Ä¤ò¤Ä¤±¤¿¡£¤³¤ì¤Ë¤è¤ê¡¢ÌµÍý¤Ê¤¯¥³¥ó¥Ù¥¢¤Î³°Â¦¤Ë¤¢¤ëµå¤ò¥³¥ó¥Ù¥¢¤ÎÊý¤ËͶƳ¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£ #ref(2015b/Member/S_Toya/Mission3/tsukamu05_1.jpg) *¥í¥Ü¥Ã¥ÈA¤Î¥×¥í¥°¥é¥à [#y3e4370d] ¼¡¤Ë¡¢¥×¥í¥°¥é¥à¤ÎÊý¤òÀâÌÀ¤¹¤ë¡£Äê¿ô¤ä¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ¤òÀâÌÀ¤·¤¿¤Î¤Á¤Ë¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¡¢¥á¥¤¥ó´Ø¿ô¤È½ç¡¹¤ËÀâÌÀ¤ò¹Ô¤¦ **¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ [#c6430f7d] #define shiki 48//ïçÃÍ #define tomaru(t) Off(OUT_AC);Wait(t);//£ôÉôÖÄä»ß #define FWD OnFwd(OUT_AC);//ľ¿Ê #define BACK OnRev(OUT_AC);//¸åÂà #define LEFT_t OnRev(OUT_A); OnFwd(OUT_C);//º¸Àû²ó #define LEFT Off(OUT_A); OnFwd(OUT_C);//º¸²óž #define RIGHT_t OnRev(OUT_C); OnFwd(OUT_A); //±¦Àû²ó #define RIGHT Off(OUT_C); OnFwd(OUT_A);//±¦²óž #define power(s) SetPower(OUT_A+OUT_C,s);//½ÐÎÏÀ©¸æ ¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤÎÄê¿ôÀßÄê¤Ï²ÝÂê2¤ÈƱ¤¸¤Ç¤¢¤ë¤¿¤á¡¢ÀâÌÀ¤Ï¤³¤ÎÄøÅ٤ˤ·¤Æ¤ª¤¯¡£ **¥í¥Ü¥³¥óÆȼ«¤Îµ¡¹½ [#od875156] ¤³¤ÎÀá¤Ç¤Ï²ÝÂê2¤Ç¤ÏÍѤ¤¤Ê¤«¤Ã¤¿µ¡¹½¤Ë¤Ä¤¤¤Æ¤òÀâÌÀ¤¹¤ë¡£ #define open(t) OnFwd(OUT_B);Wait(t);//ÄÞ¤ò£ôÉôֳ«¤¯²óžưºî¤ò¹Ô¤¦ #define close(t) OnRev(OUT_B);Wait(t);Off(OUT_B);//ÄÞ¤ò£ôÉôÖÊĤ¸¤ë²óžưºî¤ò¹Ô¤¦ #define stop_B Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë #define SUN 50//¥é¥ó¥¿¥ó¤Îµ±ÅÙ¤òɽ¤¹Äê¿ô #define shoot power(2);open(15);Wait(10);close(15);//µå¤ò¤±¤ê¤À¤¹Æ°ºî ¤³¤ì¤é¤ò´ð¤Ë¥×¥í¥°¥é¥à¤òÁȤó¤À¡£ **trace_0 ¡Ê¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤éÀÖ¤¤µå¤ò¸«¤Ä¤±¤ëËø¡Ë [#c27a6586] ¼¡¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ¤òÀâÌÀ¤·¤Æ¤¤¤¯¡£¤·¤«¤·¤Ê¤¬¤é¡¢µå¤ò¤È¤Ã¤Æ¤«¤éÅꤲ¤ë¤Þ¤Ç¤ÎÆ°ºî¤Ï¤Ò¤È¤Ä¤Ê¤¬¤ê¤Ç¤Ï̵¤¯¡¢ ¡µå¤ò¤È¤ë¤Þ¤Ç ¢µå¤òȯ¼Í¤¹¤ë¤Þ¤Ç ¤È¥×¥í¥°¥é¥à¤¬Ê̤ì¤Æ¤¤¤Æ¡¢¤½¤ì¤¬Æó¤Ä¤Îµå¤Ë¤ª¤¤¤Æ¤¢¤ë¤¿¤á¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤À¤±¤Ç4¤Ä¸ºß¤¹¤ë¤³¤È¤òÀè¤Ë½Ò¤Ù¤Æ¤ª¤¯¡£¿Þ¤Ë¼¨¤¹¤È²¼¿Þ¤Î¤è¤¦¤Ë¤Ê¤ë¡£ #ref(2015b/Member/S_Toya/Mission3/MAP_A.jpg) º£²ó¤ÎÀá¤Ï¡Ö¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤éÀÖ¤¤µå¤ò¸«¤Ä¤±¤ëËø¡×¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤òÀâÌÀ¤¹¤ë¡£ sub trace_0() { power(2);//½ÐÎϤò£²¤Ë¤¹¤ë ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È¤¹¤ë /*¥é¥¤¥ó¥È¥ì¡¼¥¹*/ while(1){ if (SENSOR_2 < shiki -7){ LEFT_t; } else if (SENSOR_2 < shiki -4){ LEFT; } else if (SENSOR_2 < shiki){ FWD; } else if(SENSOR_2 < shiki +4){ RIGHT; } else { RIGHT_t; } ¤³¤³¤Þ¤Ç¤Ï²ÝÂê2¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈÂçÂÎƱ¤¸¤Ç¤¢¤ë¡£¤·¤¿¤¬¤Ã¤Æ¡¢¾Ü¤·¤¤ÀâÌÀ¤Ï¾Êά¤¹¤ë¡£ if(SENSOR_1 > 335){//²óž¥»¥ó¥µ¤¬335¤ò±Û¤¨¤¿¤é power(3); close(50);//0.5ÉäÀ¤±ÄÞ¤òÊĤ¸¤ë ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È break;//trace_0½ªÎ» } } } ¤³¤ì¤¬trace_0Æȼ«¤Î¥×¥í¥°¥é¥à¤È¤Ê¤ëÉôʬ¤Ç¤¢¤ë¡£²óž¥»¥ó¥µ¤Ë¤è¤ê°ìÄê¤Î²óž¤¬¹Ô¤ï¤ì¤¿¤ÈȽÃǤµ¤ì¤¿¤éµå¤ò¤Ä¤«¤àÆ°ºî¤ò¨ºÂ¤Ë¹Ô¤¦¡£Äޤβóž¿ô¤Ï¿¤á¤ËÀßÄꤷ¤Æ¤¢¤ê¡¢¥â¡¼¥¿¤È¥®¥¢¤ËÉé²Ù¤ò¤«¤±¤Æ¤·¤Þ¤¦¤â¤Î¤Î¡¢³Î¼Â¤Ë¤Ä¤«¤ßÎ¥¤µ¤Ê¤¤¤³¤È¤¬¤µ¤»¤¿¡£ **trace_1(ÀÖµå¤òÊü¤¹Ëø) [#a64fdbb7] sub trace_1() { ClearSensor(SENSOR_1); close(10);//0.1Éõå¤òÄù¤á¤ë Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë power(2); ¡¡¡¡¡¡¡¡/*¥é¥¤¥ó¥È¥ì¡¼¥¹*/ while(1){ if (SENSOR_2 < shiki -7){ LEFT_t; } else if (SENSOR_2 < shiki -4){ LEFT; } else if (SENSOR_2 < shiki){ FWD; } else if(SENSOR_2 < shiki +4){ RIGHT; } else { RIGHT_t; } if(SENSOR_1 > 62){//²óž¥»¥ó¥µ¤¬62°Ê¾å¤Î»þºîÆ° tomaru(10);//Ää»ß¤µ¤»¤ë break;//¥È¥ì¡¼¥¹½ªÎ» } } } trace_0¤È¤Î°ã¤¤¤Ï¡¢SENSOR_1¤Î¾å¸Â¤È¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ëÁ°¤ËÇ°¤Î¤¿¤á¤â¤¦°ìÅÙÄÞ¤òÄù¤á¤Ê¤ª¤¹¤³¤È¤¯¤é¤¤¤Ç¤¢¤ë¡£¤½¤Î¾¤Ïtrace_0¤ÈƱ¤¸¤Ç¤¢¤ë¡£ **trace_2(Àĵå¤òÄϤàËø) [#ldba1061] sub trace_2() { power(1); ClearSensor(SENSOR_1); while(1){ if (SENSOR_2 < shiki -7){ RIGHT_t; } else if (SENSOR_2 < shiki -4){ RIGHT; } else if (SENSOR_2 < shiki){ FWD; } else if(SENSOR_2 < shiki +4){ LEFT; } else { LEFT_t; } if(SENSOR_1 > 44){ power(3); close(50); ClearSensor(SENSOR_1); break; } } } trace_2¤ÏÁ°½Ò¤ÎÆó¤Ä¤ÈÂçÂÎƱ¤¸¤Ç¤¢¤ë¡£²óž¥»¥ó¥µ¤Î¾å¸Â¤¬62¤Ç¤¢¤ë¤³¤È¤È¥é¥¤¥ó¥È¥ì¡¼¥¹¤òÀþ¤Î±¦Ã¼¤Ç¹Ô¤¦¤³¤È¤¬¡¢Á°Æó¤Ä¤È¤Î°ã¤¤¤Ç¤Ê¤ë¡£ **trace_3(Àĵå¤òÊü¤¹Ëø) [#r0c70456] sub trace_3() { power(2); ClearSensor(SENSOR_1); while(1){ close(1);//¾¯¤·¤À¤±ÄÞ¤òÄù¤á¤ë Off(OUT_B); if (SENSOR_2 < shiki -7){ RIGHT_t; } else if (SENSOR_2 < shiki -4){ RIGHT; } else if (SENSOR_2 < shiki){ FWD; } else if(SENSOR_2 < shiki +4){ LEFT; } else { LEFT_t; } if(SENSOR_1 > 110){ power(3); close(50); ClearSensor(SENSOR_1); break; } } } trace_3¤¬Â¾¤Î3¤Ä¤È°Û¤Ê¤ëÅÀ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¤¿¤Ó¤ËÄÞ¤òÄù¤á¤ë¤È¤³¤í¤Ë¤¢¤ë¡£º£²ótrace_3¤ÇÁö¹Ô¤¹¤ë¶è´Ö¤Ïľ³Ñ¤¬Æó¤Ä¸ºß¤¹¤ë¡£¤·¤¿¤¬¤Ã¤ÆÉáÄ̤˥饤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¤ÈÄޤǶ´¤ó¤À¤Ï¤º¤Îµå¤¬Æ¨¤²¤Æ¤·¤Þ¤¦¤Î¤Ç¤¢¤ë¡£¤è¤Ã¤Æ¡¢ËèÅÙÄù¤áÉÕ¤±¤ë¤³¤È¤Çµå¤¬Æ¨¤²¤ë¤Î¤òËɤ¤¤À¡£ ¤·¤«¤·¡¢¤³¤ì¤Ï¥í¥Ü¥Ã¥ÈËÜÂΤËÂ礤ʥÀ¥á¡¼¥¸¤òÍ¿¤¨¤ë¤³¤È¤Ë¤Ä¤Ê¤¬¤Ã¤Æ¤·¤Þ¤Ã¤¿¤¿¤á¡¢ÄÞ¤òÄù¤á¤Ê¤¯¤È¤âÄä»ß¤µ¤»¤ëÄøÅ٤Ǥâ¤è¤«¤Ã¤¿¤«¤â¤·¤ì¤Ê¤¤¤Ê¤È¶¥µ»¤Î¸å¤ËÈ¿¾Ê¤ò¤·¤¿¡£ **¸÷¸»Ãµºº [#j12be024] ¼¡¤Ë´Ì¤ò¸«¤Ä¤±¤ëÆ°ºî¤Ë¤Ä¤¤¤Æ¤ÎÀâÌÀ¤ò¤¹¤ë¡£NQC¤Ë¤ÏĶ²»ÇÈ¥»¥ó¥µ¤¬¤Ê¤¤¤¿¤á´Ì¤Î°ÌÃÖ¤òõ¤¹¤¿¤á¤Ë¡¢´Ì¤Î¾å¤Ë¤ª¤«¤ì¤¿¥é¥ó¥¿¥ó¤Î¸÷¤ò´ð¤Ëõº÷¤ò¹Ô¤¤¡¢µå¤ò¾×Æͤµ¤»¤¿¡£ ¤·¤«¤·¤Ê¤¬¤é¡¢¾¯¤·¤Ç¤â¤º¤ì¤ë¤Èµå¤Ï´Ì¤ÎÏƤò¤¹¤êÈ´¤±¤Æ¤·¤Þ¤¦¡£¤·¤¿¤¬¤Ã¤Æ¡¢º£²ó¤ÏÌÀ¤ë¤µ¤ÎºÇÂçÃͤò¬Äꤷ¡¢¤½¤³¤Ø¸þ¤«¤Ã¤Æµå¤òÊü¤¹¤³¤È¤Ç´Ì¤ÎÃæ¿´¤òÁÀ¤¦¡£ ¤·¤¿¤¬¤Ã¤Æ¡¢²óž¥»¥ó¥µ¤È¸÷¥»¥ó¥µ¤òϢư¤µ¤»¤ÆºÇÂçÃͤòÆÃÄꤹ¤ë¡£°Ê²¼¡¢¸÷¤ÎÌÀ¤ë¤µ¤ÎºÇÂçÃͤòµá¤á¡¢¤½¤ÎÊý¸þ¤Ë¥í¥Ü¥Ã¥È¤ò¸þ¤«¤»¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ sub LIGHT() { PlaySound(SOUND_UP);//Æ°ºî³ÎǧÍÑ int sun_MAX = 0;//ÌÀ¤ë¤µ¤ÎºÇÂçÃÍ int sensor_MAX = 0;//ÌÀ¤ë¤µ¤ÎºÇÂçÃͤò¼¨¤·¤¿¤È¤¤Î²óž¥»¥ó¥µ¤ÎÃÍ close(20);//µå¤¬Æ¨¤²¤Ê¤¤¤è¤¦¤Ë¡¢ºÆÅÙÄÞ¤òÄù¤áÉÕ¤±¤ë ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤Î¥ê¥»¥Ã¥È power(1);//½ÐÎÏ£± while(SENSOR_1 < 85){//SENSOR_1¤¬85¤ÇÂçÂÎ1²óž¤È¤Ê¤ë RIGHT_t;//±¦Àû²ó if(SENSOR_3 > sun_MAX){//ÌÀ¤ë¤µ¤ÎºÇÂçÃͤÎÊѹ¹¼ê³¤ sun_MAX = SENSOR_3;//¸½ºßÃϤòºÇÂçÃͤȤ·¤Æµ²± sensor_MAX = SENSOR_1//¸½ºßÃϤγÑÅÙ¤òµ²± } } tomaru(10);//°ì²óž½ªÎ»¸å¡¢°ì»þÄä»ß LEFT_t;//º¸Àû²ó until(SENSOR_1 < sensor_MAX);//³ÑÅÙ¤¬¾å¤Çµ²±¤·¤¿Ãͤˤʤë¤Þ¤Ç tomaru(10);//Ää»ß } ¤Þ¤º¡¢¸½ºßÃϤÎÌÀ¤ë¤µ¤ò¬Äꤹ¤ë¡£¤Ä¤®¤Ë»þ·×²ó¤ê¤Ç°ì²óž¤ò¤¹¤ë¡£°ì²óž¤¹¤ë´Ö¤ÇºÇ¤âÌÀ¤ë¤«¤Ã¤¿¾ì½ê¤Î³ÑÅÙ¤òµ²±¤µ¤»¤ë¡£°ì²óž¤ò¹Ô¤Ã¤¿¸å¤Ë¡¢ºÇ¤âÌÀ¤ë¤«¤Ã¤¿½ê¤Î³ÑÅÙ¤Þ¤ÇÌá¤ë¡£ ¤³¤¦¤¹¤ë¤³¤È¤Ç¡¢´Ì¤Ëµå¤¬Åö¤¿¤ë³ÎΨ¤¬¾å¤¬¤ë¡£ ¿Þ¤Ë¤¹¤ë¤È²¼¿Þ¤Î¤è¤¦¤Ë¤Ê¤ë¡£ #ref(2015b/Member/S_Toya/Mission3/LIGHT.gif) **main´Ø¿ô [#g2dac7f7] ¤¤¤è¤¤¤èmain´Ø¿ô¤ÎÀâÌÀ¤ËÆþ¤ë¡£ task main() { /*²óž¥»¥ó¥µ*/ SetSensor(SENSOR_1,SENSOR_ROTATION); /*¥È¥ì¡¼¥¹ÍÑ¥»¥ó¥µ*/ SetSensor(SENSOR_2,SENSOR_LIGHT); /*õº÷ÍÑ¥»¥ó¥µ*/ SetSensor(SENSOR_3,SENSOR_LIGHT); /*¹ÔÆ°³«»Ï*/ FWD;Wait(150);//¥¹¥¿¡¼¥È¤ÎÏȤ«¤é¤Îæ½Ð trace_0();//Àֶ̤ظþ¤«¤¦¥È¥ì¡¼¥¹ tomaru(50);//°ì»þÄä»ß trace_1();//Àֶ̤ò¥Û¡¼¥ë¥É¤·¤¿¾õÂÖ LIGHT();//¥é¥ó¥¿¥ó¤Îõº÷ shoot;//µå¤òÊü¤¹ ¤³¤³¤Þ¤Ç¤ÏÉáÄ̤ˡ¢ ''µå¤òÄϤà°ÌÃ֤ޤǿʤߡ¢µå¤òÄϤߡ¢¤½¤Î¾õÂ֤ΤޤްìÄêÄøÅٿʤߡ¢´Ì¤òõº÷¤·¡¢¥Ü¡¼¥ë¤òÊü¤¹¡£'' ¤È¤¤¤¦ÉáÄ̤Îή¤ì¤Ç¤¢¤ë¡£ ¤·¤«¤·¤Ê¤¬¤é¡¢¼¡¤ÎÀÄ¿§¤Îµå¤Ë¸þ¤«¤¦¤Þ¤Ç¤Ï¾¯¤·¹©Éפò¶Å¤é¤·¤Æ¤¤¤ë¡£ tomaru(20);//0.2ÉÃÄä»ß ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¥ê¥»¥Ã¥È RIGHT_t;//±¦Àû²ó until(SENSOR_1 > 28);//²óž¥»¥ó¥µ¤¬28°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç²óž¤ò¤¹¤ë¡£ tomaru(10);//0.1ÉÃÄä»ß ¥³¥³¤Ç¤Ï¡¢¥í¥Ü¥Ã¥ÈA¤Î¼ÖÂΤò¡¢´Ì¤ÎÊý¸þ¤«¤é±¦Êý¤Î±ß¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ëÀþ¤Ë¸þ¤«¤»¤Æ¤¤¤ë¡£ ¤³¤Î¤³¤È¤Ë¤è¤Ã¤Æ¡¢±ß¾õ¤Ë¤Ê¤Ã¤¿¥³¡¼¥¹¾å¤òÈ¿»þ·×²ó¤ê¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤Î¤ò¤·¤ä¤¹¤¯¤µ¤»¤Æ¤¤¤ë¡£ »²¹Í²èÁü(ºÆ·Ç) #ref(2015b/Member/S_Toya/Mission3/MAP_A.jpg) ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È FWD;//ľ¿Ê until(SENSOR_1 > 26);//²óž¿ô¤¬26°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç Off(OUT_B);//ÄÞ¤ò¤Õ¤é¤Ä¤«¤»¤Ê¤¤ FWD;//ľ¿Ê¤µ¤»¤ë until(SENSOR_2 < 48);//¹õ¤¤Àþ¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Ç open(7);//ÄÞ¤ò³«¤¯ Off(OUT_B);//ÄÞ¤ò»ß¤á¤ë trace_2();//¥é¥¤¥ó¥È¥ì¡¼¥¹ Àè¤Û¤É±¦²¼Êý¤ò¸þ¤«¤»¤¿¡£¤·¤«¤·¤Ê¤¬¤é¡¢ÀĤ¤µå¤¬ÃÖ¤¤¤Æ¤¢¤ë¾ì½ê¤òÄ̤餺¤Ë±ß¾õ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤Ë¤Ï¡¢º£¤¤¤ë¾ì½ê¤«¤é¶¯À©Åª¤Ëæ½Ð¤µ¤»±ß¾õ¤Ë¾è¤»¤ëɬÍפ¬¤¢¤ë¡£ ¤Þ¤º¡¢²óž¿ô¤¬26°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç¥¿¥¤¥ä¤ò¿Ê¤á¤ë¡£¤³¤Î¤³¤È¤Ë¤è¤ê¡¢¥í¥Ü¥Ã¥È¤Î¼ÖÂΤÏMAP¾å¤Î¶õÇò¤ÎÉôʬ¤Ë°ÜÆ°¤Ç¤¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ ¼¡¤Ë¡¢¹õÀþ¤òƧ¤à¤Þ¤Ç¶¯À©Åª¤Ëľ¿Ê¤µ¤»¤ë¡£ ¤½¤¦¤¹¤ë¤³¤È¤Ë¤è¤ê¡¢¹õ¤¤Àþ¤Ë¤¿¤É¤êÃ夤¤¿¥í¥Ü¥Ã¥ÈA¤Ï̵»ö¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤µ¤»¤ë¤³¤È¤¬¤Ç¤¤ë¡£ ¤Ê¤ª¡¢¸íº¹¤¬À¸¤¸¤ä¤¹¤¯À®¸ùΨ¤¬¤È¤Æ¤âÄ㤤¡£¤·¤«¤·¡¢¥³¡¼¥¹¤ÎÀ¼Á¾åNQC¤ÇÀĤ¤µå¤òºÇû·ÐÏ©¤Ç²ó¼ý¤¹¤ë¤Ë¤Ï¤³¤ÎÊýË¡¤¬ºÇŬ¤Ç¤¢¤ë¤¿¤á¹Ô¤Ã¤¿¼¡Âè¤Ç¤¢¤ë¡£ tomaru(10);//0.1ÉÃÄä»ß FWD;Wait(100);//1ÉÃÁ°¿Ê¡£ trace_3();//¥é¥¤¥ó¥È¥ì¡¼¥¹ tomaru(10);//0.1ÉÃÄä»ß LIGHT();//´Ì¤òõº÷ shoot;//¶Ì¤òÊü¤¹ trace_1();//¥é¥¤¥ó¥È¥ì¡¼¥¹ } ´ðËÜŪ¤Ë¤Ä¤«¤ó¤ÇÎ¥¤¹Æ°ºî¤Ç¤¢¤ë¡£ ÅÓÃæ¤Ç1ÉôÖľ¿Ê¤µ¤»¤ë¤Î¤Ï¸òº¹ÅÀ¤«¤é¶¯À©Åª¤Ëæ½Ð¤µ¤»¤ë¤¿¤á¤Ç¤¢¤ë¡£¤Þ¤¿¡¢ºÇ¸å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï¤³¤Î¤Þ¤Þ¤Ç¤ÏMAP¤Î¶³¦ÀþÉôʬ¤Ç¤ÎÄä»ß¤È¤Ê¤ë¤¿¤á¡¢¥í¥Ü¥Ã¥È¤òŬÅö¤Ê¾ì½ê¤Ë°ÜÆ°¤µ¤»¤ëɬÍפ¬¤¢¤Ã¤¿¡£¤·¤¿¤¬¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤ª¤³¤Ê¤¤¡¢¥í¥Ü¥Ã¥ÈA¤òŬÅö¤Ê¾ì½ê¤ËÄä»ß¤µ¤»¤¿¡£ °Ê¾å¤¬¥í¥Ü¥Ã¥ÈA¤ÎÆ°¤¤Ç¤¢¤ë¡£ *¥í¥Ü¥Ã¥ÈB [#sc73631e] ¥í¥Ü¥Ã¥ÈB¤â¥í¥Ü¥Ã¥ÈA¤ÈƱÍͤËÀè¤ËÄê¿ôÅù¤ò½Ò¤Ù¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¤òÀâÌÀ¤·¡¢ºÇ¸å¤Ëmain´Ø¿ô¤ÎÀâÌÀ¤ò¤¹¤ë¡£ **¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ [#f0a95638] #define CHECKCROSSTIME 25//¸òº¹ÅÀ¤«Èݤ«¤ò¸«Äê¤á¤ë»þ´Ö #define fwd(OUT) Off(OUT);OnFwd(OUT)//¥â¡¼¥¿¤ÎÀµ²óž #define rev(OUT) Off(OUT);OnRev(OUT)//¥â¡¼¥¿¤ÎÉé²óž #define TURNLEFT fwd(OUT_AC)//º¸Àû²ó #define LEFT Off(OUT_C);fwd(OUT_A)//º¸²óž #define TURNRIGHT rev(OUT_AC)//±¦Àû²ó #define RIGHT Off(OUT_A);rev(OUT_C)//±¦²óž #define STRAIGHT rev(OUT_C);fwd(OUT_A)//ľ¿Ê #define BACK fwd(OUT_C);rev(OUT_A)//¸åÂà #define ISNOTCROSS FastTimer(0) <= CHECKCROSSTIME || FastTimer(1) <= startime//¸òº¹ÅÀ¤«Èݤ«¤Î¾ò·ïʸ ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î»þ¤ËÍѤ¤¤é¤ì¤ëÄê¿ô **¥í¥Ü¥³¥óÆȼ«¤Îµ¡¹½ [#e5ebe7a1] #define RELEASE rev(OUT_B);//¥³¥ó¥Ù¥¢¤ÎµÕ²óž #define LOADING fwd(OUT_B);//¥³¥ó¥Ù¥¢¤Î½ç²óž ¥³¥ó¥Ù¥¢¤ò½ç²óž¤µ¤»¤ë¤³¤È¤Ë¤è¤êµå¤ò²ó¼ý¤Ç¤¡¢µÕ²óž¤µ¤»¤ë¤³¤È¤Çµå¤òÊü½Ð¤µ¤»¤ë¤³¤È¤¬¤Ç¤¤ë¡£ **¥é¥¤¥ó¥È¥ì¡¼¥¹ [#b55a58dd] ¥í¥Ü¥Ã¥ÈB¤â¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç°ÜÆ°¤ò¹Ô¤¦¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÊýË¡¤ÏA¤ÈÂçÂÎƱ¤¸¤Ç¤¢¤ë¤¿¤á¾Êά¡£ sub trace(){ ClearTimer(0); while(ISNOTCROSS){ if(FastTimer(1) < startime){ ClearTimer(0); } if(52 <= SENSOR_1){ TURNRIGHT; }else if(50 <= SENSOR_1){ RIGHT; }else if(41 <= SENSOR_1){ STRAIGHT; }else if(39 <= SENSOR_1){ LEFT; }else { TURNLEFT; } if(39 <= SENSOR_1) ClearTimer(0); } Off(OUT_AC); ClearTimer(0); Wait(100); } °ìÉô°ã¤¦¤Î¤Ï¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬¹Ô¤ï¤ì¤ë¾ò·ïʸ¤Ç¤¢¤ë¡£¤³¤Î¾ò·ïʸ¤ÏÁ°½Ò¤ÎÄê¿ô¤Ç¤¢¤ë¡£¤Ä¤Þ¤ê¡¢¥í¥Ü¥Ã¥ÈB¤¬¸òº¹ÅÀ¤òȽÃǤ·¤¿¾ì¹ç¤³¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï½ªÎ»¤·¡¢1ÉôÖÄä»ß¤¹¤ë¡£ **¸òº¹ÅÀ¤Ç¤ÎÂбþ [#dc38f254] Á°Àá¤Ç¤Ï¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤ò¼¨¤·¤¿¡£¤Ä¤®¤Ë¸òº¹ÅÀ¤òȽÃǤ·¤¿¸å¤Î¤½¤ì¤¾¤ì¤ÎÆ°ºî¤Ë¤Ä¤¤¤ÆÀâÌÀ¤ò¤¹¤ë¡£ ¤Þ¤ºÄ¾¿Ê¤Ë¤Ä¤¤¤ÆÀâÌÀ¤¹¤ë¡£ /* ľ¿Ê¤¹¤ë */ sub go_straight(){ STRAIGHT;//ľ¿Ê¤¹¤ë Wait(30);//0.3Éà ClearTimer(1);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } ľÀþ¤ÎÆ°ºî¤Ï¤¤¤¿¤Ã¤Æ¥·¥ó¥×¥ë¤Ç¤¢¤ë¡£¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é¤½¤Î¤Þ¤Þ°ìÄêÉÿôľ¿Ê¤µ¤»¤ì¤Ð¸òº¹ÅÀ¤ò±Û¤¨¡¢Ä¾¿Ê¤¬¤Ç¤¤ë¡£ ¼¡¤Ëº¸ÀޤˤĤ¤¤ÆÀâÌÀ¤¹¤ë¡£ /* º¸ÀÞ¤¹¤ë */ sub turn_left(){ ClearTimer(1);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È } ¥í¥Ü¥Ã¥ÈB¤ÏÀþ¤Îº¸Â¦¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£¤·¤¿¤¬¤Ã¤Æ¡¢º¸Àޤϥ饤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤Â³¤±¤ì¤Ð¤¤¤¤¤À¤±¤Ê¤Î¤Ç¡¢¥¿¥¤¥Þ¡¼¤Î¥ê¥»¥Ã¥È¤ò¹Ô¤¨¤Ð½½Ê¬¤Ê¤Î¤Ç¤¢¤ë¡£ º£²ó±¦ÀޤϤ·¤Ê¤«¤Ã¤¿¡£ **main´Ø¿ô [#e2e5d2af] ºÇ¸å¤Ëmain´Ø¿ô¤ÎÀâÌÀ¤ò¤¹¤ë¡£ task main(){ SetSensor(SENSOR_1,SENSOR_LIGHT);//¸÷¥»¥ó¥µ¤ò¥»¥Ã¥È ClearTimer(0);//¥¿¥¤¥Þ¡¼¤ò¥»¥Ã¥È LOADING;//¥³¥ó¥Ù¥¢¤Î½ç²óž³«»Ï go_straight();//¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¤Îæ½Ð trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ go_straight();//ľ¿Ê Off(OUT_AC);//Ää»ß Wait(2300);//23ÉÃÄä»ß¡£Ää»ß¤¹¤ë¤³¤È¤Ç¥í¥Ü¥Ã¥ÈA¤È¤Î¾×Æͤò¤µ¤±¤ë¡£ ClearTimer(1);//¥¿¥¤¥Þ¤ò¥»¥Ã¥È startime=900;//ÊÑ¿ôÀßÄê¡£ ¤³¤³¤Ç¡¢º£¡Östartime¡×¤È¤¢¤ë¤¬¡¢¤³¤ì¤Ï¸òº¹ÅÀ¤«¤É¤¦¤«¤ÎȽÃǤò¤»¤º¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë»þ´Ö¤Î¤³¤È¤Ç¤¢¤ë¡£ trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ startime=300;//3Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë go_straight();//ľ¿Ê trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ go_straight();//ľ¿Ê trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ go_straight();//ľ¿Ê startime=1400;//14Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ startime=300;//3Éôָòº¹ÅÀȽÃǤò̵»ë TURNRIGHT;//±¦Àû²ó Wait(10); Off(OUT_AC);//Ää»ß RELEASE;//¥³¥ó¥Ù¥¢¤òµÕ²óž¤·¤Æ¡¢µå¤òÇӽС£ Wait(300);//3Éà ¤³¤ì¤Ç°ì¼þ¤¬½ªÎ»¤È¤Ê¤ë¡£¶¥µ»Ãæ¤Ç¤Ï¤³¤³¤Þ¤Ç¤ÎÆ°ºî¤Ç°ì¶èÀÚ¤ê¤È¤·¤¿¡£ ¤·¤«¤·¤Ê¤¬¤é¡¢¥í¥Ü¥Ã¥ÈB¤òôÅö¤·¤¿ugwis·¯¤ÏËü¤¬°ì¤Î¤¿¤á¤ÎÆó¼þÌܤò¤âÍÑ°Õ¤·¤Æ¤¤¤Æ¤¯¤ì¤¿¡£Î®ÀФǤ¢¤ë¡£»Ä¤ê¤ÎÉôʬ¤¬Æó½µÌÜ¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ugwis·¯¤Î´èÄ¥¤ê¤ò¤³¤³¤Ëµ¤·¤Æ¤ª¤¯¡£ Wait(300); BACK; Wait(100); Wait(100);//1ÉøåÂà TURNRIGHT; Wait(40); LOADING; ClearTimer(0); trace(); turn_left(); startime=900; trace(); startime=300; go_straight(); trace(); go_straight(); trace(); go_straight(); startime=1400; trace(); startime=300; Wait(40);//0.4Éñ¦Àû²ó LOADING;//¥³¥ó¥Ù¥¢½ç²óž³«»Ï ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ turn_left();//º¸ÀÞ startime=900;//9Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ startime=300;//3Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë go_straight();//ľ¿Ê trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ go_straight();//ľ¿Ê trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ go_straight();//ľ¿Ê startime=1400;//14Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹ startime=300;//3Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë TURNRIGHT; Wait(10); Off(OUT_AC); RELEASE; Wait(300); Wait(10);//±¦Àû²ó0.1Éà Off(OUT_AC);//Ää»ß RELEASE;//¥³¥ó¥Ù¥¢µÕ²óž¤Ë¤è¤ê¡¢µåÊü½Ð Wait(300);//3Éôֵղóž go_straight(); Wait(10); Off(OUT_ABC); Wait(10);//ľ¿Ê0¡¤1Éà Off(OUT_ABC);//Á´Æ°ºîÄä»ß } *´¶ÁÛ [#d35d9d43] ¥Æ¥¹¥È´ü´Ö¤Ç¤¢¤Ã¤¿¤¿¤á¡¢¤¤¤Ä¤â¤è¤ê½àÈ÷»þ´Ö¤¬¤È¤Æ¤âû¤«¤Ã¤¿¡£¤½¤Î¤¿¤á¡¢ÌÚÍˤÏÌë¹¹¤«¤·¤ò¤·¤Æ¥í¥Ü¥Ã¥ÈÀ½ºî¤ò¤·¡¢Íâ¶âÍˤϸáÁ°Ãæ¤Ë½¸¤Þ¤ê¡¢¼ø¶È³«»Ï¤Þ¤Ç4¿Í¤ÇÎϤò¹ç¤ï¤»¤ä¤Ã¤Æ¤¤¤¿¡£Åö»þ¤ÏÈó¾ï¤ËÂçÊѤǤ¢¤Ã¤¿¤¬º£»×¤¦¤È¤È¤Æ¤âÎɤ¤»×¤¤½Ð¤Ç¤¢¤ë¡£¤Þ¤¿¡¢ºÇ¸å¤ÎºÇ¸å¤Ë4¿Í¤Ç½¸¤Þ¤Ã¤Æ¶¨ÎϤ·°ì¤Ä¤ÎÌÜɸ¤Ë¸þ¤«¤¦¤³¤È¤¬¤Ç¤¤¿¤Î¤Ï¡¢¤«¤Ê¤êÎɤ¤·Ð¸³¤È¤Ê¤Ã¤¿¡£ ¤Þ¤¿¡¢º£²ó»ä¤Ï¥í¥Ü¥Ã¥ÈA¤Î¥×¥í¥°¥é¥à¤ò¼ç¤ËÀ¯ºö¤ò¿Ê¤á¤¿¡£¤·¤¿¤¬¤Ã¤Æ¾¤ÎÀâÌÀ¤¬¤ª¤í¤½¤«¤Ë¤Ê¤Ã¤Æ¤¤¤ë¤È¤³¤í¤¬ËŤ餺¤â¤Ê¤¤¤È¤Ï¸À¤¤¤¬¤¿¤¤¡£¤è¤Ã¤Æ¥í¥Ü¥Ã¥ÈËÜÂΤˤĤ¤¤Æ¤Ïcst321·¯¡¢sun16·¯¤ÎÊǤò¡¢¥í¥Ü¥Ã¥ÈBno¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Ïugwis·¯¤ÎÊǤòÆɤó¤Ç¤¤¤¿¤À¤¯¤È¤è¤ê¾Ü¤·¤¤¤³¤È¤¬½ñ¤¤¤Æ¤¢¤ë¤Ï¤º¤Ê¤Î¤Ç¡¢¤½¤Á¤é¤ò»²¾È¤·¤Æ¤¤¤¿¤À¤¤¿¤¤¡£ ºÇ¸å¤Þ¤Ç¤ªÀ¤Ïäˤʤ俳§¤µ¤ó¤È¤É¤³¤«¤ÇºÆ³«¤Ç¤¤ëÆü¤ò´ê¤Ã¤Æ¡£ ¼¡²ñ¤¦Æü¤Þ¤Ç¡¢¤ª¸µµ¤¤Ç¡£