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OnRev(OUT_C);//±¦Àû²ó #define hidarisenkai OnFwd(OUT_C); OnRev(OUT_A);//º¸Àû²ó #define power(s) SetPower(OUT_AC,s); //¥â¡¼¥¿¡¼¤Î½ÐÎϤ¬Êѹ¹²Äǽ #define sound1 PlaySound(SOUND_UP); #define sound2 PlaySound(SOUND_DOWN);Wait(100); #define GO(t) OnFwd(OUT_AC); Wait(t); Off(OUT_AC);//Á°¿Ê»þ´ÖÊѹ¹²Äǽ #define SIGNALGRAB 100 #define SIGNALBACK 200 #define back(u) OnRev(OUT_AC); Wait(u); Off(OUT_AC);//¸åÂà»þ´ÖÊѹ¹²Äǽ ¥µ¥Ö¥ë¡¼¥Á¥ó sub trace2()//¸òº¹ÅÀ¤ÎȽÃǤʤɤϲÝÂ궤λþ¤ÈƱÍÍ { ClearTimer(0); while (FastTimer(0)<=25){ if (SENSOR_1 > 49){//±¦Àû²ó migisenkai; ClearTimer(0); } else if (SENSOR_1 > 44){//±¦ÀÞ turn_right; ClearTimer(0); } else if (SENSOR_1 > 40){//Á°¿Ê go_forward; ClearTimer(0); } else if (SENSOR_1 > 36){//º¸ÀÞ turn_left; ClearTimer(0); } else if (SENSOR_1 > 33){//º¸Àû²ó hidarisenkai;//¥¿¥¤¥Þ¤ò¥ê¥»¥Ã¥È¤·¤Ê¤¤ } } Off(OUT_AC); } sub hidari1() { sound1; go_forward; Wait(20); hidarisenkai; Wait(40); turn_left; Wait(30); } sub hidari2() { sound2; go_forward; Wait(20); hidarisenkai; Wait(40); turn_left; Wait(30); } ¥¿¥¹¥¯¥á¥¤¥ó task main() { SetSensor(SENSOR_1, SENSOR_LIGHT); power(4);//¥â¡¼¥¿¡¼¤Î½ÐÎϤòÄ´À°¡£²ÝÂ궤λþ¤Ï0¤Ç¤¢¤Ã¤¿¤¬¡¢0¤Î¾ì¹ç¤Ç¤Ï½ÐÎϤ¬Â¤ê¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢Á°²ó¤Î²ÝÂê¤Î¤È¤¤è¤ê¤â½ÐÎϤò¹â¤á¤¿¡£ ClearMessage(); GO(100);//¥¹¥¿¡¼¥ÈÏȤ«¤éÁ°¿Ê trace2();//A-F¶è´Ö hidari1();//F¤òº¸ÀÞ trace2();//F-Q¶è´Ö hidari2();//Q¤òº¸Êý¸þ trace2();//Q-R¶è´Ö hidari1();//R¤òº¸ÀÞ¤·¡¢T¤Ë¸þ¤«¤¦ trace2();//R-T GO(200);//Á°¿Ê¤·¤Æ¥´¡¼¥ë¤ÎÃæ¤ËÆþ¤ë SendMessage(SIGNALGRAB);//¥´¡¼¥ë¤Î°ÌÃÖ¤ËÅþÃ夷¤¿¤³¤È¤òÃΤ餻¤ë¡£¥¢¡¼¥à¦¤Ï¤³¤ì¤ò¼õ¤±¼è¤Ã¤¿¤é¥¢¡¼¥à¤òÆ°¤«¤·¤Æ´Ì¤¬¥´¡¼¥ë¤ÎÎΰè¤ËÆþ¤ë¤è¤¦¤Ë¤¹¤ë while(true){ until (Message() == SIGNALBACK);//SIGNALBACK¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔ¤Ä back(300);//¸åÂह¤ë } } **¥¢¡¼¥à¤Î¥×¥í¥°¥é¥à [#f523fa78] ¥¢¡¼¥à¤Î¥×¥í¥°¥é¥à¤Ï ÄêµÁÉôʬ #define grab OnFwd(OUT_C); Wait(100); Off(OUT_C);//¥¢¡¼¥à¤Ç´Ì¤ò¤Ä¤«¤à #define relese OnRev(OUT_C); Wait(100); Off(OUT_C);//¥¢¡¼¥à¤Ç´Ì¤òÎ¥¤¹ #define rift_up OnFwd(OUT_A); Wait(700); Off(OUT_A);//¥ê¥Õ¥È¤ò»ý¤Á¾å¤²¤ë #define rift_down1 OnRev(OUT_A); Wait(200); Off(OUT_A);//¥ê¥Õ¥È¤ò¼¡¤Î´Ì¤Î¹â¤µ¤Þ¤Ç²¼¤²¤ë #define rift_down2 OnRev(OUT_A); Wait(300); Off(OUT_A);//¥ê¥Õ¥È¤ò¼¡¤Î´Ì¤Î¤Ä¤«¤à¹â¤µ¤Þ¤Ç²¼¤²¤ë¡£¤Ä¤Þ¤ê¤Ï¤¸¤á¤Î¹â¤µ¤Þ¤Ç²¼¤²¤ë #define SIGNALGRAB 100 #define SIGNALBACK 200 #define grab2(s) OnFwd(OUT_C); Wait(s); Off(OUT_C);//´Ì¤òÄϤà»þ´ÖÊѹ¹²Äǽ #define relese(t) OnRev(OUT_C); Wait(t); Off(OUT_C);//´Ì¤òÎ¥¤¹»þ´ÖÊѹ¹²Äǽ ¥¿¥¹¥¯¥á¥¤¥ó task main() { SetSensor(SENSOR_1,SENSOR_TOUCH);//¥»¥ó¥µ¡¼µ¤Ë¥¿¥Ã¥Á¥»¥ó¥µ SetSensor(SENSOR_1,SENSOR_TOUCH);//¥»¥ó¥µ¡¼1¤Ë¥¿¥Ã¥Á¥»¥ó¥µ ClearMessage(); int count;//ÊÑ¿ô¤òÄêµÁ count=0; while (count<1){//count¤¬1̤Ëþ¤Î»þ¥ë¡¼¥×¤ËÆþ¤ë ClearMessage();//Message¤ÎÃͤò0¤Ë½é´ü²½ if (Message() == SIGNALGRAB){//SIGNALGRAB¤ò¼õ¿®¤·¤¿¤écount¤Ë1¤¬Â¤µ¤ì¤ë¡£¼õ¿®¤·¤¿¤é¥ë¡¼¥×¤òÈ´¤±½Ð¤¹¡£ count++; } else count = 0;//¤½¤¦¤Ç¤Ê¤±¤ì¤Ðcount¤Ï0 } grab2(50);//´Ì¤ò¥´¡¼¥ëÆâ¤Ë¤Þ¤È¤á¤ë¤¿¤á¤Ë¥¢¡¼¥à¤òÆ°¤«¤¹ relese(70);//Â礤á¤Ë¥¢¡¼¥à¤ò³«¤¤¤Æ´Ì¤ò´°Á´¤ËÎ¥¤¹ SendMessage(SIGNALBACK);//¸åÂह¤ë¤è¤¦¤ËÅÁ¤¨¤ë¡£ } *¤Þ¤È¤á [#h33917be] À½ºî»þ´Ö¤¬Â¤ê¤Ê¤¯¡¢¥í¥Ü¥Ã¥È¤ÎÀ©ºî¤Ë»þ´Ö¤¬¤«¤«¤ê¤¹¤®¤Æ¤·¤Þ¤Ã¤¿¤¿¤á¡¢¥×¥í¥°¥é¥à¤¬´Ö¤Ë¹ç¤ï¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢ÀѤ߾夲¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¡£¥ê¥Ï¡¼¥µ¥ë¤â¤í¤¯¤Ë¤Ç¤¤º¤ËËÜÈ֤˸þ¤«¤¦¤³¤È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£ËÜÈ֤Ǥϥ饤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤¬¤¦¤Þ¤¯Æ°ºî¤¹¤ë¤³¤È¤¬¤Ç¤¤º¡¢°ì¤Ä¤â´Ì¤ò²ó¼ý¤¹¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¡£¤³¤ÎÉÔ¶ñ¹ç¤Î¸¶°ø¤È¤·¤Æ¡¢²ÝÂ궤λþ¤ÈƱ¤¸¥é¥¤¥ó¥È¥ì¡¼¥¹¥×¥í¥°¥é¥à¤òÍøÍѤ·¤¿¤Î¤Ç¡¢º£²óÀ½ºî¤·¤¿¥í¥Ü¥Ã¥È¤È²ÝÂ궤λþ¤Î¥í¥Ü¥Ã¥È¤È¤Ï¥â¡¼¥¿¤Î¥³¡¼¥É¤ÎÀܳ¤Î¸þ¤¤¬°ã¤¤¡¢¥â¡¼¥¿¤¬²óž¤¹¤ëÊý¸þ¤¬°Û¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«¤È¹Í¤¨¤é¤ì¤ë¡£ ¤â¤¦¾¯¤··×²èŪ¤ËÀ©ºî¤ò¤¹¤¹¤á¤ë¤³¤È¤¬¤Ç¤¤ì¤Ð¡¢¥×¥í¥°¥é¥à¤òµ½Ò¤¹¤ë¤³¤È¤¬¤Ç¤¡¢ÀѤ߽ŤͤëÆ°ºî¤â¤Ç¤¤¿¤È»×¤¦¡£¤³¤ÎÈ¿¾Ê¤ò³è¤«¤·¤Æ¡¢¼¡¤Ë²¿¤«¤òÀ©ºî¤·¤¿¤ê¡¢´ü¸Â¤¬¤¢¤ë¤È¤¤Ë¤Ï¡¢ÌäÂ꤬ȯÀ¸¤·¤Æ¤â¤¤¤¤¤è¤¦¤Ë»þ´Ö¤Ë;͵¤ò»ý¤Ã¤¿·×²è¤òΩ¤Æ¤Æ¡¢À©ºî¤·¤Æ¤¤¤¯¤è¤¦¤Ë¤·¤¿¤¤¡£ ¤³¤Î¥í¥Ü¥Æ¥£¥¯¥¹ÆþÌ祼¥ß¤ò¼õ¹Ö¤·¤Æ¡¢¥í¥Ü¥Ã¥È¤ÎÀ©¸æ¤Ïɬ¤º¤·¤â¿®ÍѤǤ¤ë¤â¤Î¤Ç¤Ï¤Ê¤¤¤È¤¤¤¦¤³¤È¤¬¼Â´¶¤Ç¤¤¿¡£¥í¥Ü¥Ã¥È¤Ï¿Í´Ö¤¬ºî¤Ã¤Æ¤¤¤ë¤â¤Î¤Ç¤¢¤Ã¤Æ¡¢¤½¤Î¿Í´Ö¤¬´°àú¤Ç¤Ï¤Ê¤Î¤À¤«¤éɬ¤º¤·¤â¿®ÍѤǤ¤Ê¤¤¤È¤¤¤¦¤Î¤ÏǼÆÀ¤Ç¤¢¤ë¡£¤Þ¤¿¡¢´Ì¤ò²ó¼ý¤·¤Æ¡¢ÀѤ߽ŤͤÆÌÜŪÃϤËÃÖ¤¯¤È¤¤¤¦¿Í´Ö¤Ç¤¢¤ì¤Ð´Êñ¤Ë¤Ç¤¤ëÆ°ºî¤ò¥í¥Ü¥Ã¥È¤Ë¤ä¤é¤»¤ë¤È¤Ê¤ë¤ÈÈó¾ï¤Ëº¤Æñ¤Ë¤Ê¤ë¤È¤¤¤¦¤³¤È¤â¼Â´¶¤·¤¿¡£¤½¤¦¹Í¤¨¤ë¤È¡¢¥í¥Ü¥Ã¥È¤ËǤ¤»¤ë¤Î¤Ç¤Ï¤Ê¤¯¡¢¿Í´Ö¤¬¤ä¤Ã¤¿¤Û¤¦¤¬¸úΨŪ¤Ê¤â¤Î¤Ï¤Þ¤À¿¤¯¤¢¤ë¤È»×¤¦¡£¸½ºß¤Î¼Ò²ñ¤Ç¤Ï¡¢µ¡³£²½¤¬¿Ê¤ß¡¢¾Íè¡¢¿Í¹©ÃÎǽ¤Ê¤É¤Ç¿Í´Ö¤Î¿¤¯¤Î»Å»ö¤¬¥í¥Ü¥Ã¥È¤Ë¼è¤Ã¤ÆÂå¤ï¤é¤ì¤ë¤È¸À¤ï¤ì¤Æ¤¤¤ë¤¬¡¢¿Í´Ö¤ÎǽÎϤϥí¥Ü¥Ã¥È¤ËÎô¤é¤Ê¤¤½ÅÍפʲÁÃͤ¬¤¢¤ë¤È»×¤¦¡£¤³¤ì¤«¤é¤Î¼Ò²ñ¡¢¿Í´Ö¤ÎǽÎϤȥí¥Ü¥Ã¥È¤ÎǽÎϤɤÁ¤é¤«°ìÊý¤Ë°Í¸¤¹¤ë¤Î¤Ç¤Ï¤Ê¤¯Î¾Êý¤ÎŬÅ٤ʥХé¥ó¥¹¤òÊݤÁ¤Ê¤¬¤é¶¦À¸¤·¤Æ¤¤¤¯É¬Íפ¬¤¢¤ë¤È´¶¤¸¤¿¡£