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Off(OUT_B); RotateMotorEx(OUT_AC,speed,850,0,true,true);¡¡¡¡¡¡//Á°¿Ê while (msg != GO) { ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿®¹æ£±¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂԤäƤí Off(OUT_ABC); Wait(1); ReceiveRemoteNumber(MAILBOX1,true,msg); } } void move2() { RotateMotor(OUT_C,speed,-320);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¤·¤Æ´Ì¤ÎÊý¤ò¸þ¤± OnFwd(OUT_AC,1); Wait(1); } void move3(){ RotateMotorEx(OUT_AC,speed,-200,0,true,true);¡¡¡¡¡¡//´Ì¤Ë¶á¤Å¤± } void catch(){ long t = 0; SetSensorLowspeed(S4); SendResponseNumber(MAILBOX1,ready); ¡¡//¿®¹æ£²¤òÁ÷¿® while(true) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÀÖ³°Àþ¤¬È¿±þ¤¹¤ë¤«¡¢°ìÄê»þ´Ö¤¿¤Ã if (SensorUS(S4) >= 30 && t <= 500){¡¡¡¡¡¡//¤¿¤éÏÓ¤ò¹ß¤í¤» t++; Wait(1); } else { RotateMotor(OUT_B,80,140); break; } } OnFwd(OUT_B,10); } void move4() { OnFwd(OUT_AC,1); Wait(1); RotateMotorEx(OUT_AC,speed,600,0,true,true);¡¡¡¡¡¡//¸åÂष¤í Off(OUT_B); } void AfterCatch() { RotateMotor(OUT_C,speed,-340);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ¢¤ì OnFwd(OUT_AC,1); Wait(1); RotateMotorEx(OUT_AC,speed,-900,0,true,true); } **¥¿¥¹¥¯¥á¥¤¥ó [#c5fd46f5] task main() { move1(); move2(); move3(); catch(); move4(); AfterCatch(); } *Æ°¤Êý [#mb819146] #ref(2015b/Member/velocity/Mission3/moving.png,50%,Æ°¤Êý) ÄûÀµ: º¸Â¦¤ÎÀÄ»ú¤Î¥¦¢ªÀÖ»ú¤Î¥¦ ¡¡¡¡ º¸Â¦¤Î²¼¤Ë¤¢¤ëÀÖ»ú¤Î¥¢ª§ *ºÇ¸å¤Ë [#b739bbd9] **¹©É×ÅÀ [#p44662f6] -¥Ü¡¼¥ë¤È¥¢¥ë¥ß´Ì¤ÎȽÊÌ ½é¤á¡¢¤É¤³¤Ë¥Ü¡¼¥ë¤¬¤¢¤ë¤Î¤«¡¢¤É¤³¤Ë¥¢¥ë¥ß´Ì¤¬¤¢¤ë¤Î¤«¤òȽÊ̤·¡¢¥Ü¡¼¥ë¤À¤±¤ò²ó¼ý¤¹¤ë¤È¤¤¤¦¤³¤È¤ò¹Í¤¨¤Æ¤¤¤¿¡£¤·¤«¤·¡¢¥Ü¡¼¥ë¤È¥¢¥ë¥ß´Ì¤ò¤É¤¦¸«Ê¬¤±¤ë¤«¤Ç¹Ô¤µÍ¤Þ¤Ã¤¿¡£ ¤½¤³¤ÇȽÊ̤òÄü¤á¡¢Î¾Êý¥¥ã¥Ã¥Á¤·¡¢¥¢¥ë¥ß´Ì¤À¤±Æ¨¤¬¤¹¤È¤¤¤¦ÊýË¡¤ò¹Í¤¨¤¿¡£¤·¤¤¤Æ¸À¤¦¤È½Å¤µ¡¢Æ°¤¤ä¤¹¤µ¤ÇȽÊ̤·¤¿¤È¸À¤¨¤ë¤À¤í¤¦¡£ ¾Ü¤·¤¯¤Ï¡Ö»ÅÁȤߤΥ¥ã¥Ã¥Á¤Î¹àÌܡפ˿ޤòÍѤ¤¤ÆÀâÌÀ¤·¤Æ¤¢¤ë¡£ -¥¥ã¥Ã¥Á¤Î¥¿¥¤¥ß¥ó¥° ¥Ú¥¢¤Î¥í¥Ü¥Ã¥È¤«¤éÍ褿¥Ü¡¼¥ë¤ò¤É¤¦Ç§¼±¤¹¤ë¤«¡¢ºÇ½é¤Ï»þ´ÖÀ©¸æ¤Ç¤ä¤Ã¤Æ¤¤¤¿¡£¤·¤«¤·ÅÅÃӤλÄÎ̤ˤè¤Ã¤ÆÊѤï¤Ã¤Æ¤¤Æ¤·¤Þ¤¦¤¿¤áÀÖ³°Àþ¤ò»È¤Ã¤¿Ç§¼±¤Ø¤ÈÊѤ¨¤¿¡£ ÀÖ³°Àþ¥»¥ó¥µ¡¼¤ÎÁ°¤ò²£Àڤꥥã¥Ã¥Á¥¾¡¼¥ó¤ËÆþ¤ë¤È¤½¤ì¤òÀÖ³°Àþ¥»¥ó¥µ¡¼¤¬´¶ÃΤ·¤ÆÏÓ¤ò²¼¤í¤¹¤È¤¤¤¦»ÅÁȤߤǤ¢¤ë¡£ #ref(2015b/Member/velocity/Mission3/sesororder.jpg,50%,ÀÖ³°Àþ) -£²Âæ¤Î¥í¥Ü¥Ã¥È¤ÎÏ¢·È º£²ó¤Ï¥í¥Ü¥Ã¥È¤ò£²Âæ»È¤Ã¤Æ¤¤¤ë¤¿¤á¡¢¤½¤ì¤¾¤ì¤¬¥Ú¥¢¤Î¥í¥Ü¥Ã¥È¤ò°Õ¼±¤·¤ÆÆ°¤«¤Ê¤¯¤Æ¤Ï¤¤¤±¤Ê¤¤¡£¤Ä¤Þ¤ê¼ÙËâ¤ò¤·¤Æ¤Ï¤¤¤±¤Ê¤¤¤È¤¤¤¦¤³¤È¤À¡£¥Ú¥¢¤Î¥í¥Ü¥Ã¥È¤ÏÀÖ³°Àþ¤Ç¥¢¥ë¥ß´Ìõ¤·¡¢¥¢¥ë¥ß´Ì¤ÎÊý¤Ë¥Ü¡¼¥ë¤òÅꤲ¤ë¤È¤¤¤¦»ÅÁȤߤǤ¢¤ë¡£¤·¤«¤·¤³¤Á¤é¤Î¥í¥Ü¥Ã¥È¤¬Â礤¤¤¿¤á¤Ë¡¢¥¢¥ë¥ß´Ì¤ÎÁ°¤Ç¹½¤¨¤Æ¤¤¤ë¤³¤Á¤é¤Î¥í¥Ü¥Ã¥ÈÈ¿±þ¤·¤Æ¤·¤Þ¤¤¡¢´Ö°ã¤Ã¤¿Êý¸þ¤Ë¥Ü¡¼¥ë¤òÅꤲ¤Æ¤·¤Þ¤¦¤È¤¤¤¦¤³¤È¤¬Â¿È¯¤·¤¿¡£ ¤½¤³¤Ç»×¤¤¤Ä¤¤¤¿¤Î¤¬ÄÌ¿®¤Ç¤¢¤ë¡£»äã¤Î¥í¥Ü¥Ã¥ÈB¤ÏA¤¬¥¢¥ë¥ß´Ì¤Î°ÌÃÖ¤òÇÄ°®¤·¤Æ¤«¤é¥¢¥ë¥ß´Ì¤ÎÁ°¤Ç¹½¤¨¤ë¤³¤È¤È¤·¤¿¡£ A¤¬¥¢¥ë¥ß´Ì¤òõ¤¹ ¢ A½àÈ÷OK¡ª¡Ê¿®¹æ¤òÁ÷¤ë¡Ë ¢ B½Ðȯ ¢ B¹½¤¨¤ë ¢ B½àÈ÷OK¡ª¡Ê¿®¹æ¤òÁ÷¤ë¡Ë ¢ A¥Ü¡¼¥ëÅꤲ¤ë ¢ ¥Ü¡¼¥ë¡¢¥¥ã¥Ã¥Á¥¾¡¼¥ó¤Ë¿¯Æþ ¢ B¥¥ã¥Ã¥Á ¤È¤¤¤¦Î®¤ì¤Ç¤¢¤ë¡£ **ÊÉ [#l2fd43a4] -¥í¥Ü¥Ã¥È¤Î·Á¾õ ¾å¤Ç¤â½Ò¤Ù¤¿¤¬¡¢Â礤¤¥í¥Ü¥Ã¥È¤È¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç¥Ð¥é¥ó¥¹¤ò¼è¤ë¤³¤È¤¬Æñ¤·¤«¤Ã¤¿¡£ÊÒÊý¤Î¥¿¥¤¥ä¤¬É⤤¤Æ¤·¤Þ¤¤¶Ê¤¬¤ë¤³¤È¤¬¤Ç¤¤Ê¤¤¤Ê¤É¤Î»Ù¾ã¤¬À¸¤¸¤¿¡£¤½¤Î²ò·èºö¤È¤·¤Æ¤¢¤ÎŤ¤¿î¤ò¤Ä¤±¤¿¡£ ·Á¾õ¤Ç¤ÎÌäÂêÅÀ¤Ï½Å¤µ¤À¤±¤Ç¤Ê¤«¤Ã¤¿¡£ÏӤΰìÉô¤¬¥³¡¼¥¹¤Î»æ¤Îü¤Ë°ú¤Ã¤«¤«¤ë¤È¤¤¤¦¤³¤È¤¬¤¢¤Ã¤¿¡£ ¤³¤ì¤Ë´Ø¤·¤Æ¤Ï»æ¤ò¥Æ¡¼¥×¤Ç¸ÇÄꤹ¤ë¤³¤È¤Ç²ò·è¤¹¤ë¡£ -ÀÖ³°Àþ¤Î¸íºîÆ° ¿ô²ó¤Ë°ì²óÀÖ³°Àþ¤¬È¿±þ¤·¤Ê¤¯¡¢¥Ü¡¼¥ë¤¬Íè¤Æ¤¤¤ë¤Î¤ËÏÓ¤ò¹ß¤í¤µ¤Ê¤¤¤³¤È¤¬¤¢¤Ã¤¿¡£¤½¤³¤Ç¤½¤Î¸íºîÆ°¤ò¤Ê¤¯¤¹¤¿¤á¡¢¤¢¤ë°ìÄê»þ´ÖÈ¿±þ¤¬¤Ê¤«¤Ã¤¿¤éÏÓ¤ò¹ß¤í¤·¤Æ¼¡¤ÎÆ°ºî¤Ë¹Ô¤¯¤è¤¦¤Ë¤·¤¿¡£ ËÜÅö¤Ï¥Ü¡¼¥ë¤¬Íè¤Æ¤¹¤°ÊĤ¸¤¿Êý¤¬³Î¼Â¤Ë¥Ü¡¼¥ë¤òÊá¤Þ¤¨¤é¤ì¤ë¤Î¤À¤¬¡¢¤â¤·¤â¤Î¾ì¹ç¤Ë¤½¤Ê¤¨¤Æ¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤ª¤¤¤¿¡£ **²þÁ±ÅÀ¡¦·çÅÀ [#j3714d85] ²¿ÅÙ¤â½Ò¤Ù¤Æ¤¤¤ëÄ̤ꡢÂ礤µ¤Ç¤¢¤ë¡£¤ä¤Ï¤ê¥í¥Ü¥Ã¥È¤Ï¤Ç¤¤ë¤À¤±¥³¥ó¥Ñ¥¯¥È¤Ëºî¤ë¤Ù¤¤À¤È»×¤¦¡£¤·¤«¤·º£²ó¤Î¹½Â¤¤Ç¤ÏÂ礤¤¤³¤È¤ò³è¤«¤·¤¿¹½Â¤¤Ê¤Î¤Ç¡¢¾®¤µ¤¯ºî¤ë¾ì¹ç¤Ï¹½Â¤¼«ÂΤòÇ㤨¤ëɬÍפ¬¤¢¤ë¡£ ¤½¤·¤Æ°ìÈÖ¤ÎÌäÂê¤Ï¥Ü¡¼¥ë¤Î¥¥ã¥Ã¥Á¥ß¥¹¤Ç¤¢¤ë¡£¼ÂºÝËÜÈ֤ϥ¥ã¥Ã¥Á¥ß¥¹¤ò¤·¤Æ¤·¤Þ¤Ã¤¿¡£¥¢¥ë¥ß´Ì¤È°ì½ï¤Ë³°¤Ë½Ð¤Æ¤·¤Þ¤¦¤È¤¤¤¦¤³¤È¤¬¤Þ¤ì¤Ëµ¯¤³¤Ã¤¿¡£¤³¤ì¤Ë´Ø¤·¤Æ¤Ï¥Ü¡¼¥ë¤¬Åö¤¿¤ë°ÌÃÖ¤ò¤â¤Ã¤ÈÀµ³Î¤Ë¤¹¤ë¤³¤È¤Ç¤³¤¦¤¤¤¦¤³¤È¤¬¤Ê¤¯¤Ê¤ë¤È»×¤¦¡£¥¥ã¥Ã¥Á¤¹¤ë¦¤È¤·¤Æ¤Ç¤¤ë¤³¤È¤ÏÏÓ¤ò²¼¤í¤·¤¿¸å¡¢ÏÓ¤ÎÃæ¤Ç´í¤Ê¤¤°ÌÃÖ´Ø·¸¤Ë¤Ê¤é¤Ê¤¤¤è¤¦ÏÓ¤ò¿¶¤ë¤È¤¤¤¦¤³¤È¤â¤Ç¤¤¿¤À¤í¤¦¡£ **´¶ÁÛ [#zf9ff89d] ²ÝÂ꣱¤Ï¥í¥Ü¥Ã¥ÈÃæ¿´¡¢²ÝÂꣲ¤¬¥×¥í¥°¥é¥àÃæ¿´¡¢¤½¤·¤Æ²ÝÂꣳ¤Ï¥í¥Ü¥Ã¥È¡¢¥×¥í¥°¥é¥àξÊý½Å»ë¤·¤¿²ÝÂê¤È¤Ê¤Ã¤Æ¤¤¤ë¤È´¶¤¸¤¿¡£º£²ó¤Ïº£¤Þ¤Ç¤Ç°ìÈÖÂçÊѤʲÝÂê¤À¤Ã¤¿¡£º£¤Þ¤Ç¤Î£²¤Ä¤Î²ÝÂê¤È°ã¤¤¡¢¤¤¤í¤¤¤í¤Ê¹ÔÆ°¤òÁȤ߹ç¤ï¤»¤Ê¤¯¤Æ¤Ï¤¤¤±¤Ê¤¤¡£°ÜÆ°¡¢¥Ü¡¼¥ë¤òÅꤲ¤ë½¦¤¦¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢¡¢¡¢¤½¤Îʬ¥×¥í¥°¥é¥à¤âÆñ¤·¤¯¤Ê¤Ã¤Æ¤¤¤¿¡£¤³¤Î£³²ó¤Î²ÝÂê¤Ç¥×¥í¥°¥é¥à¤ò½ñ¤¯µ»½Ñ¤¬¾å¤²¤é¤ì¤¿¤È»×¤¦¡£task main¤ÎÃæ¤ò´Êñ¤Ë¤Ç¤¤¿¤Î¤âÀ®Ä¹¤À¤Ê¤È»×¤Ã¤¿¡£