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OnRev(OUT_C,30); Wait(1);//Â礤¯º¸¤Ë²ó¤ë #define lrt OnRev(OUT_A,30); OnFwd(OUT_C,50); Wait(1);//Â礤¯±¦¤Ë²ó¤ë #define ternleft OnFwd(OUT_A,50); OnRev(OUT_C,10);//º¸¤Ë²ó¤ë #define ternright OnRev(OUT_A,10); OnFwd(OUT_C,50);//±¦¤Ë²ó¤ë #define go OnFwd(OUT_A,50); OnFwd(OUT_C,50);//ľ¿Ê¤¹¤ë #define back OnRev(OUT_A,50); OnRev(OUT_C,50);//¸åÂह¤ë #define trase_R {if(SENSOR_2<36){lrt; n++;} else if(SENSOR_2<50) {go; n=0;} else {llt; n=0;}} //±¦Â¦¥È¥ì¡¼¥¹ #define trase_L {if(SENSOR_2<36){llt; n++;} else if(SENSOR_2<50) {go; n=0;} else {lrt; n=0;}} //º¸Â¦¥È¥ì¡¼¥¹ #define open RotateMotor(OUT_B,25,80); Off(OUT_B);Wait(1000); //¥Ï¥µ¥ß³«¤¯ #define close RotateMotor(OUT_B,25,-80); Off(OUT_B);Wait(1000); //¥Ï¥µ¥ßÊĤ¸¤ë #define UP RotateMotor(OUT_C,40,90); Off(OUT_C); Wait(1000); //¥Ï¥µ¥ß»ý¤Á¾å¤² #define DOWN RotateMotor(OUT_C,20,-100);Off(OUT_C); Wait(1000); //¥Ï¥µ¥ß²¼¤² task main() { SetSensorLowspeed(S1); SetSensorLight(S2); int n=0; while(n<=100) { // H trase_R; } Off(OUT_AC); Wait(1000); OnFwdSync(OUT_AC, 50, 0); Wait(500); Off(OUT_AC); n=0; while(n<=100) { // s2 trase_R; } Off(OUT_AC); Wait(1000); OnFwd(OUT_AC,50); //Àþ¤ò¤Þ¤¿¤° Wait(500); n=0; while(n<=90) { trase_L //L»úÏ©¤Ç»ß¤Þ¤ë } Off(OUT_AC); Wait(1000); RotateMotor(OUT_A, 60, 300); Off(OUT_AC); n=0; while(n<=150) { //½½»úÏ©¤Ç»ß¤Þ¤ë trase_R } Off(OUT_AC); Wait(1000); RotateMotor(OUT_C, 60, 300); Off(OUT_AC); n=0; while(n<=70) { //F¤Ç»ß¤Þ¤ë trase_L } Off(OUT_AC); close; SendRemoteNumber(CONN,MAILBOX1,SIGNALON); //»ý¤Á¾å¤²¤ë Off(OUT_ABC); Wait(3000); OnRev(OUT_AC,50); //¥Ð¥Ã¥¯¤Çµ÷Î¥¤ò¼è¤ë Wait(1000); Off(OUT_AC); RotateMotorEx(OUT_AC, 75, 1860, 100, true, false); //¿¶¤êÊÖ¤ë Off(OUT_AC); n=0; while(n<=70) { //G¤Ç»ß¤Þ¤ë trase_L } Off(OUT_AC); RotateMotorEx(OUT_AC, 75, 400, -100, true, false ); Off(OUT_AC); SendRemoteNumber(CONN,MAILBOX1,SIGNALOFF); Off(OUT_ABC); Wait(3000); open; Off(OUT_ABC); Wait(3000); } **²òÀâ [#c9892174] ¥Þ¥¹¥¿¡¼Â¦¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò´ðËܤȤ·¤Æ¤ª¤ê¡¤½çÈÖ¤ËÊÌ¡¹¤ÎȽÄê¤òÍÑ°Õ¤·Æ°ºî¤µ¤»¤Æ¤¤¤ë¡¥¥«¥ó¤Î°ÌÃÖ¤ÎȽÄê¤ä¸òº¹ÅÀ¤Ï¸òº¹ÅÀ¾å¤Ë°ÌÃÖ¤¹¤ë¤¿¤á¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¹õȽÄê¤Î»þ´Ö¤ÇȽÄꤷ¤Æ¤¤¤ë¤¬¡¤³°³¦¤Î¾õ¶·¤òÃΤë½Ñ¤¬ÀÖ³°Àþ¥»¥ó¥µ¤Î¤ß¤Ç¤¢¤ë¤¿¤á¸íÆ°ºî¤¬Â¿È¯¤·¤¿¡¥¤¬¡¤¤«¤Ê¤ê´°À®·Á¤Ë¤Ï¶á¤Å¤¯¤³¤È¤¬½ÐÍ褿¤Î¤ÇĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤¨¤ÐÄ´À°¤Î»þ´Ö¤òû½Ì¤Ç¤¤¿²ÄǽÀ¤¬¤¢¤ë¡¥ **¥¹¥ì¥¤¥Ö¡¡¡Ê¥Ï¥µ¥ßÉô¡Ë [#rbb6e549] #define CONN 1 // ¥¹¥ì¡¼¥Ö¤ÎÀܳÈÖ¹æ #define SIGNALON 11 // ¥Ï¥µ¥ß¤Ç»ý¤Á¾å¤²¤ë¤¿¤á¤Î¥á¥Ã¥»¡¼¥¸ #define SIGNALOFF 12 // ´Ì¤òÍî¤È¤¹¤¿¤á¤Î¥á¥Ã¥»¡¼¥¸ #define llt OnFwd(OUT_A,50); OnRev(OUT_C,30); Wait(1);//Â礤¯º¸¤Ë²ó¤ë #define lrt OnRev(OUT_A,30); OnFwd(OUT_C,50); Wait(1);//Â礤¯±¦¤Ë²ó¤ë #define ternleft OnFwd(OUT_A,50); OnRev(OUT_C,10);//º¸¤Ë²ó¤ë #define ternright OnRev(OUT_A,10); OnFwd(OUT_C,50);//±¦¤Ë²ó¤ë #define go OnFwd(OUT_A,50); OnFwd(OUT_C,50);//ľ¿Ê¤¹¤ë #define back OnRev(OUT_A,50); OnRev(OUT_C,50);//¸åÂह¤ë #define trase_R {if(SENSOR_2<35){lrt; n++;} else if(SENSOR_2<50) {go; n=0;} else {llt; n=0;}} #define trase_L {if(SENSOR_2<35){llt; n++;} else if(SENSOR_2<50) {go; n=0;} else {lrt; n=0;}} #define open RotateMotor(OUT_B,25,85); Off(OUT_B);Wait(1000); #define close RotateMotor(OUT_B,25,-85); Off(OUT_B);Wait(1000); #define UP RotateMotor(OUT_C,40,90); Off(OUT_C); Wait(1000); #define DOWN RotateMotor(OUT_C,20,-90);Off(OUT_C); Wait(1000); task main () { int msg; // ¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô while (true) { ReceiveRemoteNumber(MAILBOX1,true,msg); // if (msg == SIGNALON) { UP; } if (msg == SIGNALOFF) { DOWN; } } } **²òÀâ [#k898b9d7] ¥¹¥ì¥¤¥Ö¦¤Ï¥Þ¥¹¥¿¡¼¤ÎÌ¿Îá¤ò¼õ¤±¤Æ¤Ï¤µ¤ß¤òÆ°¤«¤¹Éôʬ¤òôÅö¤·¤Æ¤¤¤ë¡¥ *·ë²Ì¤ÈÈ¿¾ÊÅÀ [#t68b5ff6] ¥í¥Ü¥Ã¥È¤ÎÀ½ºîÃʳ¬¤Ç¤ÏÀïάÄ̤êÀ®¸ù¤·¤Æ¤¤¤¿¤¬¡¤¥í¥Ü¥³¥óËÜÈ֤ǤÏGÃÏÅÀ¤ò¤¦¤Þ¤¯Ç§¼±¤Ç¤¤Ê¤«¤Ã¤¿¤¬¤¿¤á¤Ë°ì¤Ä¤â°ÜÆ°¤¹¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¡¥GÃÏÅÀ¤Îǧ¼±¤Ï¶Ê¤¬¤ê³Ñ¤«¤é¤Î»þ´Ö¤ÇȽÄꤷ¤¿¤¬»þ´Ö¤Î·Ð²á¤ä²¿¤é¤«¤Î¸¶°ø¤ÇÄ´À°¤¬Êø¤ì¤Æ¤·¤Þ¤Ã¤¿¤è¤¦¤Ç¤¢¤ë¡¥~ ¥í¥Ü¥Ã¥È¤ä¥×¥í¥°¥é¥à¤Ë¤âÈ¿¾ÊÅÀ¤Ï¤¢¤ë¤¬¤³¤Î¤è¤¦¤Ê½éÊâŪ¤Ê¼ºÇÔ¤òÈȤ·¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ï¡¤¥×¥í¥°¥é¥àÈɤȥí¥Ü¥Ã¥ÈÈɤȤ¤¤¦É÷¤Ëʬ¤±·ë²Ì°Õ»×¤ÎÁÂÄ̤¬Á¤«¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤«¤é¤À¤È»×¤¤¤Þ¤¹¡¥¼«Ê¬¤¿¤Á¤Î¤ä¤ë¤Ù¤¤³¤È¤À¤±¤ò¤ä¤Ã¤ÆȾ¤Ð¿ÍǤ¤»¤Î¤è¤¦¤Ê·Á¤Ë¤Ê¤Ã¤¿¤³¤È¤¬¡¤»þ´Ö¤Î¤ê¤Ê¤¤Ãæ¤Ç¤Îºî¶È¤ËÈó¾ï¤ËÈó¸úΨŪ¤Ç¤¢¤Ã¤¿¡¥~ £°ÅÀ¤È¤¤¤¦·ë²Ì¤Ë½ª¤ï¤Ã¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤ÏÈó¾ï¤Ë»ÄÇ°¤Ç¤Ê¤ê¤Þ¤»¤ó¡¥µ»½ÑÅÀ¤Ë¤Ä¤¤¤Æ¤âÀâÌÀÉÔ¤ÇÅÀ¿ô¤¬¤â¤é¤¨¤º¡¤¾åµ¤Î¥®¥¢¤ä¤Ï¤µ¤ß¤Ë¤Ä¤¤¤Æ¤â¤·¤Ã¤«¤êÀâÌÀ¤¹¤ë¤Ù¤¤Ç¤¢¤Ã¤¿¤ÈÈ¿¾Ê¤·¤Æ¤¤¤ë¡¥~ £°ÅÀ¤È¤¤¤¦·ë²Ì¤Ë½ª¤ï¤Ã¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤ÏÈó¾ï¤Ë»ÄÇ°¤Ç¤Ê¤ê¤Þ¤»¤ó¡¥µ»½ÑÅÀ¤Ë¤Ä¤¤¤Æ¤âÀâÌÀÉÔ¤ÇÅÀ¿ô¤¬¤â¤é¤¨¤º¡¤¾åµ¤Î¥®¥¢¤ä¤Ï¤µ¤ß¤Ë¤Ä¤¤¤Æ¤â¤·¤Ã¤«¤êÀâÌÀ¤¹¤ë¤Ù¤¤Ç¤¢¤Ã¤¿¤ÈÈ¿¾Ê¤·¤Æ¤¤¤Þ¤¹¡¥~ ¡¡º£²ó¤ÎÈ¿¾ÊÅÀ¤ÏľÁ°¤ÎÄ´À°¤ò¤¹¤ë¤Ù¤¤Ç¤¢¤Ã¤¿¤³¤È¤ä¡¤¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤â¥á¥ó¥Ð¡¼Á´°÷¤ÇµÄÏÀ¤¹¤Ù¤¤À¤Ã¤¿¤È»×¤¤¤Þ¤¹¡¥¤·¤«¤·¤Ê¤¬¤éÍ¿¤¨¤é¤ì¤¿¾ò·ï¤ÎÃæ¤Ç¥Ï¡¼¥É¤«¤é¥½¥Õ¥È¤Þ¤Ç¥Á¡¼¥à¤Ç¶¨ÎϤ·¤Æºî¤Ã¤¿·Ð¸³¤ÏÈó¾ï¤ËÍÍѤǤ¢¤ë¤È»×¤¤¤Þ¤¹¡¥