[[2015b/Member]]
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#contents
*¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥í¥Ü¥Ã¥È [#p5d41d92]
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**Áö¹Ô¤¹¤ë·ÐÏ© [#i456d28d]
#ref(2015b/Member/rmsun/Mission2/2015b-mission2.png,716*500, ·ÐÏ©)
¾å¤Î¿Þ¤ò¡¢¡ÖBÃÏÅÀ ¢ª P±¦ÀÞ ¢ª Q±¦ÀÞ ¢ª Pº¸ÀÞ ¢ª Qº¸ÀÞ ¢ª Qľ¿Ê ¢ª Pľ¿Ê ¢ª AÃÏÅÀ¡×¤Î½ç¤ËÁö¹Ô¤¹¤ë

*¥í¥Ü¥Ã¥ÈËÜÂÎ [#oc260a58]
½é´ü¥í¥Ü¥Ã¥È¤Ë¸÷¥»¥ó¥µ¤òÉÕ¤±¤¿¹½Â¤
#ref(2015b/Member/rmsun/Mission2/IMG_1320.JPG, 480*360)
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*ÄêµÁ¡¢¥µ¥Ö¥ë¡¼¥Á¥ó [#fc43c816]
**¥Þ¥¯¥í [#ed90eab8]
 #define THRESHOLD 50		//ïçÃÍ
 #define STEP 1		//Wait¤Î°ú¿ô¤È¤·¤Æ»È¤¦
**°ú¿ô¤òÊÑ¿ô¤ËÂåÆþ¤¹¤ë¡Öscan_move¡×¡Öscan_angle¡× [#cfa984f0]
***scan_move¤Ç»È¤¦¤¿¤á¤ÎÊÑ¿ô [#nd1c0e86]

ÊÑ¿ôtarget...¸òº¹ÅÀ¤«¤É¤¦¤«¤òȽÊ̤¹¤ë¤¿¤á¤Î¿ôÃÍ

ÊÑ¿ôspeed3...¥í¥Ü¥Ã¥È¤¬Ä¾¿Ê¤¹¤ë¤È¤­¤Î¡¢¥â¡¼¥¿¤Î¥Ñ¥ï¡¼
 int target;	//¸òº¹ÅÀ¤«¤É¤¦¤«¤òȽÃǤ¹¤ë¤È¤­¡¢´ð½à¤È¤¹¤ë¿ôÃÍ
 int speed3;	//ľ¿Ê¤¹¤ë¤È¤­¤Î¡¢¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤Ë»ÈÍÑ
***°ú¿ô¤Ç¤È¤Ã¤¿Ãͤò¡¢target, speed3¤ËÂåÆþ¤¹¤ë¡Öscan_move¡× [#jaf76196]
 sub scan_move(int aim, int power) {	//°ú¿ô¤Ë¤È¤Ã¤¿Ãͤò¡¢target, speed3¤ËÂåÆþ¤¹¤ë
 	target = aim;					//°ú¿ôaim¤ò¡¢target¤ËÂåÆþ
 	speed3 = power;				//°ú¿ôpower¤ò¡¢speed3¤ËÂåÆþ
 }
***scan_angle¤Ç»È¤¦¤¿¤á¤ÎÊÑ¿ô [#l26dabd8]

¼¡¤Î£³¤Ä¤ÎÊÑ¿ô¤Ï¡¢¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿¸å¡¢¤É¤ó¤ÊÆ°ºî¤ò¤¹¤ë¤Î¤«¤ò·è¤á¤ë¡£
 int R_ang;	//¸òº¹ÅÀ¤Ç±¦Àû²ó¤¹¤ë¤È¤­¤Î¡¢¥â¡¼¥¿¤Î²óž³Ñ
 int L_ang;	//¸òº¹ÅÀ¤Çº¸Àû²ó¤¹¤ë¤È¤­¤Î¡¢¥â¡¼¥¿¤Î²óž³Ñ
 int GO_ang;	//¸òº¹ÅÀ¤Çľ¿Ê¤¹¤ë¤È¤­¤Î¡¢¥â¡¼¥¿¤Î²óž³Ñ
***°ú¿ô¤Ç¤È¤Ã¤¿Ãͤò¡¢L_ang, GO_ang, R_ang¤ËÂåÆþ¤¹¤ë¡Öscan_angle¡× [#bad74399]
 sub scan_angle(int l, int g, int r) {	//°ú¿ô¤Ë¤È¤Ã¤¿Ãͤò¡¢L_ang, GO_ang, R_ang¤ËÂåÆþ
 	L_ang = l;					//°ú¿ôl¤ò¡¢L_ang¤ËÂåÆþ
 	GO_ang = g;					//°ú¿ôg¤ò¡¢GO_ang¤ËÂåÆþ
 	R_ang = r;					//°ú¿ôr¤ò¡¢R_ang¤ËÂåÆþ
 }
**º¸Àû²ó¡¢±¦Àû²ó¡¢Ä¾¿Ê¤ò¤¹¤ë¡Öturn_left¡×¡Öturn_right¡×¡Ögo_forward¡× [#n86fb666]
***¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤ò°ú¿ô¤Ë¤È¤Ã¤Æ¡¢º¸Àû²ó¤¹¤ë¡Öturn_left¡× [#jd7c11d9]
 sub turn_left(int speedA, int speedB) {	//º¸¤Ë¶Ê¤¬¤ë
 	OnFwd(OUT_B,speedA); 			//°ú¿ôspeedA¤Î¥Ñ¥ï¡¼¤Ç¡¢¥â¡¼¥¿B¤òÁ°Å¾
 	OnRev(OUT_C,speedB);				//°ú¿ôspeedB¤Î¥Ñ¥ï¡¼¤Ç¡¢¥â¡¼¥¿C¤ò¸åž
 }
***¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤ò°ú¿ô¤Ë¤È¤Ã¤Æ¡¢±¦Àû²ó¤¹¤ë¡Öturn_right¡× [#i434e9e0]
 sub turn_right(int speedA, int speedB) {	//±¦¤Ë¶Ê¤¬¤ë
 	OnFwd(OUT_C,speedB); 			//°ú¿ôspeedB¤Î¥Ñ¥ï¡¼¤Ç¡¢¥â¡¼¥¿C¤òÁ°Å¾
 	OnRev(OUT_B,speedA);				//°ú¿ôspeedA¤Î¥Ñ¥ï¡¼¤Ç¡¢¥â¡¼¥¿B¤ò¸åž
 }
***¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤ò°ú¿ô¤Ë¤È¤Ã¤Æ¡¢Ä¾¿Ê¤¹¤ë¡Ögo_forward¡× [#hcbd6781]
 sub go_forward(int speed3) {		//¤Þ¤Ã¤¹¤°¿Ê¤à
 	OnFwd(OUT_BC,speed3);			//speed3¤Î¥Ñ¥ï¡¼¤Ç¡¢¥â¡¼¥¿BC¤òÁ°Å¾
 }
**¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿¤È¤­¤ÎÆ°ºî¡Öcross_action¡× [#x441724f]
¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿ºÝ¡¢1ÉôÖÄä»ß¤·¤¿¤¢¤È¡¢¤½¤Î¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë or ±¦ÀÞ¤¹¤ë or º¸ÀÞ¤¹¤ë

¡Öcross_action¡×¤Ï¡¢¡Öscan_ang¡×¤ÇÃͤ¬ÂåÆþ¤µ¤ì¤¿¡ÖL_ang¡×¡ÖR_ang¡×¡ÖGO_ang¡×¡¢¤½¤ì¤Ë²Ã¤¨¤Æ¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤È¤·¤Æ¡Öspeed1¡×¤ò°ú¿ô¤Ë¤È¤ë
 sub cross_action(int speed1, int L_ang, int R_ang, int GO_ang) { //¸òº¹ÅÀ¤ËÆþ¤Ã¤¿»þ¤ÎÆ°ºî(count¤¬2¤È7¤Î¤È¤­°Ê³°)
 	Off(OUT_BC);								 //¥â¡¼¥¿¡¼Ää»ß
 	Wait(1000);								 //1Éô֡ݭ¡
 	RotateMotorEx(OUT_BC, speed1, L_ang, -100, true, true);		 //speed1¤Î¥Ñ¥ï¡¼¤Ç¡¢L_ang¤Î³ÑÅÙʬ¡¢¤½¤Î¾ìº¸Àû²ó¡Ý­¢
 	Wait(100);								 //´Ö¤ËWait¤ò¶´¤Þ¤Ê¤¤¤È¸íºîÆ°¤¹¤ë¤¿¤á
 	RotateMotorEx(OUT_BC, speed1, R_ang, 100, true, true);		 //speed1¤Î¥Ñ¥ï¡¼¤Ç¡¢R_ang¤Î³ÑÅÙʬ¡¢¤½¤Î¾ì±¦Àû²ó¡Ý­£
 	Wait(100);								 //¸íºîÆ°¤òËɤ°¤¿¤á
 	RotateMotorEx(OUT_BC, speed1, GO_ang, 0, true, true);		 //speed1¤Î¥Ñ¥ï¡¼¤Ç¡¢GO_ang¤Î³ÑÅÙʬ¡¢Ä¾¿Ê¡Ý­¤
 }
¾å¤Î¥×¥í¥°¥é¥à¤ÎÆ°ºî¤òÀâÌÀ¤¹¤ë¤È

­¡1Éô֥í¥Ü¥Ã¥È¤òÄä»ß¤µ¤»¤ë

­¢¥â¡¼¥¿¤òL_angÅٲ󞤵¤»¤Æ¡¢¤½¤Î¾ìº¸Àû²ó

­£¥â¡¼¥¿¤òR_angÅٲ󞤵¤»¤Æ¡¢¤½¤Î¾ì±¦Àû²ó

­¤¥â¡¼¥¿¤òGO_angÅٲ󞤵¤»¤Æ¡¢Ä¾¿Ê

¤Î½ç¤Ë¼Â¹Ô¤µ¤ì¤ë

¡Ö¥â¡¼¥¿¤¬0ÅÙÆ°¤¯ = Æ°¤«¤Ê¤¤¡×¤È¹Í¤¨¤ë¤È

¡¦R_ang = 0, GO_ang = 0¤Î¤È¤­¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë(­¢¤¬¼Â¹Ô¤µ¤ì¤ë)

¡¦L_ang = 0, R_ang = 0¤Î¤È¤­¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë(­¤¤¬¼Â¹Ô¤µ¤ì¤ë)

¡¦L_ang = 0¤Î¤È¤­¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë(­£¢ª­¤¤Î½ç¤Ç¼Â¹Ô¤µ¤ì¤ë)
*¥á¥¤¥ó´Ø¿ô [#pc00e5c2]
 task main()
 {
**¥á¥¤¥ó´Ø¿ô¤Ç¿·¤·¤¯»È¤¦ÊÑ¿ô [#e21b6be8]

ÊÑ¿ôcount...¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿²ó¿ô¤òÂåÆþ

ÊÑ¿ôtacho...¥â¡¼¥¿B¤Î²óž¿ô¤òÃßÀѤ¹¤ë
 	SetSensorLight(S2);
 	int speed1 = 20;  		//¥â¡¼¥¿¤Î¥Ñ¥ï¡¼ÍÑ
 	int speed2 = 15;  		//¥â¡¼¥¿¤Î¥Ñ¥ï¡¼ÍÑ(speed1¤è¤ê¾¯¤·¼å¤¤)
 	int count = 0;    		//²¿²ó¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿¤«¤òÂåÆþ¤¹¤ë
 	int tacho = 0;    		//¡Ö¤½¤Î¾ì¤Çº¸Àû²ó¤¹¤ë¡×Æ°ºî¤ò¤·Â³¤±¤¿¤È¤­¤Î¡¢²óž³Ñ¤Î¹ç·×
 	long t;	    		//¥¿¥¤¥Þ¡¼¤ò»È¤¦¤È¤­¤Ë»ÈÍÑ
**count < 8 ¤Î´Ö¤À¤±·«¤êÊÖ¤¹ [#vd93a9c5]
 	while (count < 8){		//count < 8¡¡¤Î´Ö¡¢¥ë¡¼¥×¤ò³¤±¤ë

***¸òº¹ÅÀ¤´¤È¤ËÆ°ºî¤òÊѤ¨¤ë [#p37e981a]
¤³¤³¤Ç¤ÎÁàºî¤Ï¡¢¡Ö¸òº¹ÅÀ¤ÎȽÊ̡פä¡Ö¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿ºÝ¤ÎÆ°ºî¡×¤Ë±Æ¶Á¤òµÚ¤Ü¤¹
 		switch(count) {  	 //count¤ÎÃͤˤè¤Ã¤ÆÆ°ºî¤¬ÊѤï¤ë
             //Îã:case count¤ÎÃÍ : scan_move(target¤ÎÃÍ,speed3¤ÎÃÍ); scan_angle(º¸Àû²ó¤¹¤ë³ÑÅÙ,ľ¿Ê¤¹¤ë³ÑÅÙ,±¦Àû²ó¤¹¤ë³ÑÅÙ);
 		 case 0  : scan_move(20, 50); scan_angle(0, 70, 50); break;
 		 case 1  : scan_move(28, 60); scan_angle(0, 80, 20); break;
 		 case 2  : scan_move(10000, 40); break;
 		 case 3  : scan_move(20, 45); scan_angle(40, 0, 0); break;
 		 case 4  : scan_move(30, 50); scan_angle(160, 0, 0); break; 
 		 case 5  : scan_move(20, 50); scan_angle(0, 50, 0); break;
 		 case 6  : scan_move(20, 60); break;
 		 case 7  : scan_move(25, 40); scan_angle(0, 0, 0); break;
 		 default : break;
 		} 		
count¤ÎÃͤ«¤é¡¢º£²¿¸ÄÌܤθòº¹ÅÀ¤Ë¤¤¤ë¤Î¤«¤òȽÃÇ

Î㤨¤Ð¡¢count¤¬0¤Î¤È¤­¤Ï¡¢¡Ö1¸ÄÌܤθòº¹ÅÀ¤Þ¤Ç¤Î¡¢¥í¥Ü¥Ã¥È¤Î¥¹¥Ô¡¼¥É¡×¤È¡¢¡Ö1¸ÄÌܤθòº¹ÅÀ¤ÎȽÊÌ´ð½à¡×¡¢¡Ö1¸ÄÌܤθòº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿¤È¤­¤ÎÆ°ºî¡×¤òÀßÄꤹ¤ë
&ref(2015b/Member/rmsun/Mission2/2015b-mission2a.png,480*335);
&ref(2015b/Member/rmsun/Mission2/2015b-mission2c.png,480*335);

¾å¿Þ¤è¤ê¡¢Üô(count=0)¢ª²«(count=1)¢ª²«ÎÐ(count=2)¢ªÎÐ(count=3)¢ª¿å¿§(count=4)¢ªÀÄ(count=5)¢ª»ç(count=6)¢ªÀÖ(count=7)¤Î½ç¤Ë¿Ê¤à

count=2¤Î»þ¤À¤±¤Ï¡¢¸òº¹ÅÀ¤ËÅþ㤹¤ëÁ°¤Ëcount¤¬ÀÚ¤êÂؤï¤ë¡£
***¹õ¤¤Àþ¤Ë±è¤Ã¤ÆÆ°¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à [#w024bec7]
                t = CurrentTick();	//¤³¤³¤Ç¸½ºß»þ¹ï¤òt¤ËÂåÆþ(CurrentTick() - t¡¡¤È»È¤¦¤³¤È¤Ç¡¢·Ð²á»þ´Ö¤¬¤ï¤«¤ë)		

 		while ((tacho < target) && ((count != 2) || (CurrentTick() - t < 22500))) {	//¡Ö¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥ë¡¼¥×¡×
 		/*¡Ötarget(»ØÄꤷ¤¿³ÑÅÙ)¤ò¥¿¥¤¥ä¤Î²óž¿ô¤¬Ä¶¤¨¤Ê¤¤¡× ¤Þ¤¿¤Ï ¡Öcount=2¤Î¤È¤­¤Ë¡¢22.5É÷вᤷ¤Æ¤¤¤Ê¤¤¡×
 		¡¡¡¡ ¢¬¤Î¾ò·ï¤òËþ¤¿¤·¤Æ¤¤¤ë´Ö¤À¤±¥ë¡¼¥×¤ò³¤±¤ë*/
 
 		//¤Ä¤Þ¤ê¡¢count != 2¤Î»þ¤Ï¡¢tacho >= target¤òËþ¤¿¤¹¤È¤­¤Ë¥ë¡¼¥×¤òÈ´¤±½Ð¤¹
                          count = 2¤Î»þ¤Ï¡¢22.5É÷вᤷ¤¿¤È¤­¤Ë¥ë¡¼¥×¤òÈ´¤±½Ð¤¹

 		     	if (SENSOR_2 < THRESHOLD -15){  		//¸÷¥»¥ó¥µ¤Î¿ôÃͤ¬¡¢THRESHOLD-15¤è¤êÄ㤤¤È¤­                       		
 				turn_left(speed1, speed1); 			//º¸±¦¤Î¥â¡¼¥¿¤òspeed1¤Çº¸Àû²ó(¤½¤Î¾ì¤Çº¸²óž)
 							
 			} else if (SENSOR_2 < THRESHOLD -7) {	//¸÷¥»¥ó¥µ¤Î¿ôÃͤ¬¡¢THRESHOLD-7¤è¤êÄ㤤¤È¤­						
 				tacho = 0;					//tacho(turn_left1¤·Â³¤±¤¿»þ¤Î¡¢¥¿¥¤¥ä¤Î²óž³Ñ¤Î¹ç·×)¤ò0¤Ë¤¹¤ë¡Ý­¡
 				turn_left(speed1, speed2);			//±¦¥â¡¼¥¿¤òspeed1¡¢º¸¥â¡¼¥¿¤òspeed2(speed1¤è¤ê¾¯¤·¼å¤¤)¤Ë¤·¤Æ¡¢º¸Àû²ó
 	
 			} else if (SENSOR_2 < THRESHOLD +7){	//¸÷¥»¥ó¥µ¤Î¿ôÃͤ¬¡¢THRESHOLD+7¤è¤êÄ㤤¤È¤­
 				tacho = 0;					//tacho¤ò0¤Ë¤¹¤ë¡Ý­¡
 				go_forward(speed3);				//º¸±¦¤Î¥â¡¼¥¿¤òspeed3¤Ë¤·¤Æ¡¢Ä¾¿Ê
 
 			} else if (SENSOR_2 < THRESHOLD +15){	//¸÷¥»¥ó¥µ¤Î¿ôÃͤ¬¡¢THRESHOLD+15¤è¤êÄ㤤¤È¤­
 				tacho = 0;					//tacho¤ò0¤Ë¤¹¤ë¡Ý­¡
 				turn_right(speed1, speed2);			//±¦¥â¡¼¥¿¤òspeed2¡¢º¸¥â¡¼¥¿¤òspeed1¤Ë¤·¤Æ¡¢±¦Àû²ó
 		
 			} else {					//¸÷¥»¥ó¥µ¤Î¿ôÃͤ¬¡¢THRESHOLD+15¤è¤ê¹â¤¤¤È¤­
 				tacho = 0;					//tacho¤ò0¤Ë¤¹¤ë¡Ý­¡
 				turn_right(speed1, speed1);			//º¸±¦¤Î¥â¡¼¥¿¤òspeed1¤Ç±¦Àû²ó(¤½¤Î¾ì¤Ç±¦²óž)
 				
 			}		
			Wait(STEP);					//STEP(0.001)ÉäÀ¤±Æ°¤¯
 			if (SENSOR_2 >= THRESHOLD-15) {		//¸÷¥»¥ó¥µ¤Î¿ôÃͤ¬¡¢THRESHOLD-15¤è¤ê¹â¤¤¤È¤­ (=¤½¤Î¾ì¤Çº¸²óž¤·¤Æ¤¤¤Ê¤¤¤È¤­)
 				ResetTachoCount(OUT_B);			//¥â¡¼¥¿¤Î²óž¿ô¤ò¥ê¥»¥Ã¥È(¤½¤Î¾ì¤Çº¸²óž¤·¤¿¤È¤­°Ê³°¤Ï¥ê¥»¥Ã¥È)¡Ý­¢
 			} 
 			tacho += MotorTachoCount(OUT_B);		//tacho¤Ë¡¢¥â¡¼¥¿¤Î²óž³Ñ¤òÂåÆþ(¡Ö¤½¤Î¾ì¤Çº¸²óž¤·¤¿»þ¡×¤Î²óž³Ñ¤·¤«ÂåÆþ¤µ¤ì¤Ê¤¤)¡Ý­£
 		}							
tacho¤Ï¡¢¡Ö¥â¡¼¥¿B¤¬²óž¤·¤¿³ÑÅ١פòÃßÀѤ¹¤ë¤¿¤á¤ÎÊÑ¿ô¡£tacho¤Ë¤Ä¤¤¤Æ

­¡¡ÖSENSOR_2 < THRESHOLD(ïçÃÍ) - 15¡×°Ê³°¤Î¤È¤­¡¢tacho¤ò0¤Ë¤¹¤ë¡£

­¢¡ÖSENSOR_2 < THRESHOLD(ïçÃÍ) - 15¡×°Ê³°¤Î¤È¤­¡¢TachoCountB(¥â¡¼¥¿B¤¬²óž¤·¤¿³ÑÅÙ)¤ò0¤Ë¥ê¥»¥Ã¥È¤¹¤ë

­£tacho += MotorTachoCount(OUT_B) ¤Ï¡¢¡Ö¥â¡¼¥¿B¤¬²óž¤·¤¿³ÑÅ١פòtacho¤ËÄɲ䷤Ƥ¤¤ë¤³¤È¤òɽ¤·¤Æ¤¤¤ë

¤Î­¡,­¢,­£¤¬À®¤êΩ¤Ä

­¢¡¢­£¤è¤ê¡¢tacho¤Ë0°Ê³°¤ÎÃͤ¬ÂåÆþ¤µ¤ì¤ë¤Î¤Ï¡¢¡ÖSENSOR_2 < THRESHOLD - 15¡×¤òËþ¤¿¤¹¤È¤­(¥í¥Ü¥Ã¥È¤¬¤½¤Î¾ì¤Çº¸Àû²ó¤¹¤ë¤È¤­)¤À¤±¤Ç¤¢¤ë

­¡¤è¤ê¡¢°ìÅ٤Ǥâ¡ÖSENSOR_2 < THRESHOLD - 15¡×¤òËþ¤¿¤µ¤Ê¤«¤Ã¤¿¤é¡¢tacho¤Ï0¤Ë¥ê¥»¥Ã¥È¤µ¤ì¤ë¡£

¤Ä¤Þ¤ê¡¢tacho > target¤È¤Ê¤ë¤Î¤Ï¡¢Ï¢Â³Åª¤Ë¡ÖSENSOR_2 < THRESHOLD - 15¡×¤òËþ¤¿¤·Â³¤±¤Æ¤¤¤ë(¤½¤Î¾ìº¸Àû²ó¤¬¡¢Ï¢Â³¤·¤Æµ¯¤³¤Ã¤Æ¤¤¤ë)¤È¤­¤À¤±

***¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿ºÝ¤ÎÆ°ºî [#iaee8719]

 		//¢­¢­°Ê²¼¤Ï¡Ö¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥ë¡¼¥×¡×¤òÈ´¤±¤À¤·¤¿»þ¤ÎÆ°ºî¢­¢­
 		if ((count != 2) && (count != 7)) {	//count¤ÎÃͤ¬¡¢2or7°Ê³°¤Î¤È¤­
 			cross_action(speed1, L_ang, R_ang, GO_ang);  //¥µ¥Ö¥ë¡¼¥Á¥ócross_action(¸òº¹ÅÀ¤ÎºÝ¤ÎÆ°ºî)¤ò¼Â¹Ô
 		}

  		count++;	//count¤Ë1¤ò²Ã¤¨¤ë	
 		tacho = 0;	//tacho¤ò0¤Ë¤¹¤ë
 		ResetTachoCount(OUT_B);	//¥â¡¼¥¿¤Î²óž³Ñ¤ò¥ê¥»¥Ã¥È(¸òº¹ÅÀ¤ÎÆ°ºî¤Î»þ¤Î¡¢¥â¡¼¥¿¤Î²óž³Ñ¤ò¥ê¥»¥Ã¥È)	
 	}
**¤¹¤Ù¤Æ¤Î¥ë¡¼¥×¤¬½ª¤ï¤Ã¤¿¸å¤ÎÆ°ºî [#p21d902b]
 	//¢­¢­°Ê²¼¤Ï¡¢¤¹¤Ù¤Æ¤Î¥ë¡¼¥×¤¬½ª¤ï¤Ã¤¿»þ¤ÎÆ°ºî¢­¢­	
 	Off(OUT_BC);  //¥í¥Ü¥Ã¥È¤òÄä»ß¤µ¤»¤ë
 	
 }
*¥á¥¤¥ó´Ø¿ô¤Î¤Þ¤È¤á [#t51b7b45]
¥×¥í¥°¥é¥à¤ò°ì¤Ä°ì¤ÄÀâÌÀ¤·¤¿¤¿¤á¡¢¥×¥í¥°¥é¥à¤ÎÁ´ÂÎÁü¤¬¤Ä¤«¤á¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤Ê¤Î¤Ç¡¢while¥ë¡¼¥×¤ä¡¢ÊÑ¿ô¤ÎÂåÆþ´Ø·¸¤òÃæ¿´¤Ë¤Þ¤È¤á¤¿¤â¤Î¤òºÜ¤»¤ë
 /*task main()
 { 	
 	count = 0;	//¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿²ó¿ô¤òÂåÆþ¤¹¤ë
 	tacho = 0;	//¥â¡¼¥¿B¤Î²óž³Ñ¤Î¹ç·×
 	long t;
 	while (count < 8){		//count < 8¡¡¤Î´Ö¡¢¥ë¡¼¥×¤ò³¤±¤ë
 		switch(count) {  	 //count¤ÎÃͤˤè¤Ã¤ÆÆ°ºî¤òÊѤ¨¤ë
		 /*count¤´¤È¤Ç¡¢­¡target(¸òº¹ÅÀ¤ÎȽÃÇ´ð½à)
			         ­¢speed3(ľ¿Ê»þ¤Î¥Ñ¥ï¡¼)
			         ­£L_ang, R_ang, GO_ang(¸òº¹ÅÀ¤ËÅö¤¿¤Ã¤¿ºÝ¤ÎÆ°ºî)
		                 ¤ò·è¤á¤ë*/                 
 		}
 		while ((tacho < target) && ((count != 2) || (CurrentTick() - t < 22500))) {	//¡Ö¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥ë¡¼¥×¡×
			//¸÷¥»¥ó¥µ¤ò»È¤Ã¤Æ¡¢¼ÂºÝ¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹
                	¡¡¡¡¡¡¡¡//(SENSOR_2 >= THRESHOLD-15)¤Î¤È¤­¤Ï¡¢tacho = 0
			//¥â¡¼¥¿B¤¬Æ°¤¤¤¿¤È¤­¡¢¤½¤Î²óž¿ô¤¬¡ÖMotorTachoCount(OUT_B)¡×¤ËÂåÆþ¤µ¤ì¤ë
		 	if (SENSOR_2 >= THRESHOLD-15) {		//¸÷¥»¥ó¥µ¤Î¿ôÃͤ¬¡¢THRESHOLD-15¤è¤ê¹â¤¤¤È¤­ (=¤½¤Î¾ì¤Çº¸²óž¤·¤Æ¤¤¤Ê¤¤¤È¤­)
 				ResetTachoCount(OUT_B);			//¥â¡¼¥¿¤Î²óž¿ô¤ò¥ê¥»¥Ã¥È(¤½¤Î¾ì¤Çº¸²óž¤·¤¿¤È¤­°Ê³°¤Ï¥ê¥»¥Ã¥È)
 			} 
 			tacho += MotorTachoCount(OUT_B);		//tacho¤Ë¡¢¥â¡¼¥¿¤Î²óž¿ô¤òÂåÆþ(¡Ö¤½¤Î¾ì¤Çº¸²óž¤·¤¿»þ¡×¤Î²óž³Ñ¤·¤«ÂåÆþ¤µ¤ì¤Ê¤¤)
 
 		}							
 		//¢­¢­°Ê²¼¤Ï¡Ö¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥ë¡¼¥×¡×¤òÈ´¤±¤À¤·¤¿»þ¤ÎÆ°ºî¢­¢­
 		if ((count != 2) && (count != 7)) {	//count¤ÎÃͤ¬¡¢2or7°Ê³°¤Î¤È¤­
 			cross_action(speed1, L_ang, R_ang, GO_ang);  //¥µ¥Ö¥ë¡¼¥Á¥ócross_action(¸òº¹ÅÀ¤ÎºÝ¤ÎÆ°ºî)¤ò¼Â¹Ô
 		}
 		
 		count++;	//count¤Ë1¤ò²Ã¤¨¤ë	
 		tacho = 0;	//tacho¤ò0¤Ë¤¹¤ë
 		ResetTachoCount(OUT_B);	//¥â¡¼¥¿¤Î²óž³Ñ¤ò¥ê¥»¥Ã¥È(¸òº¹ÅÀ¤ÎÆ°ºî¤Î»þ¤Î¡¢¥â¡¼¥¿¤Î²óž³Ñ¤ò¥ê¥»¥Ã¥È)	
 	}
 	//¢­¢­°Ê²¼¤Ï¡¢¤¹¤Ù¤Æ¤Î¥ë¡¼¥×¤¬½ª¤ï¤Ã¤¿»þ¤ÎÆ°ºî¢­¢­	
 	Off(OUT_BC);
 	
 } */
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