[[2018a/Member]]
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**ËÜÂΤΰÜÆ° [#r236a115]
***ÄêµÁ [#f8a1f40d]
ºÇ½é¤Î£µ¹Ô¤Ï¥í¥Ü¥Ã¥È¤Î°ÜÆ°¤Ë´Ø¤ï¤ëÄêµÁ¤Ç¡¢¤½¤ì°Ê¹ß¤Ï¥í¥Ü¥Ã¥ÈËÜÂΤȥ¢¡¼¥à¤ÎÁ÷¼õ¿®¤Ë´Ø¤ï¤ëÄêµÁ¤Ç¤¢¤ë
#define go_straight(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC); //ľ¿Ê
#define go_back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC); //¸åÂà
#define TURN_RIGHT(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_AC); //±¦¤ËÀû²ó
#define TURN_LEFT(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_AC); //º¸¤ËÀû²ó
#define cross_stop Off(OUT_AC);Wait(100); //°ì»þÄä»ß
#define kan_temae_toutyaku 10 //ËÜÂΤ¬´Ì¤¬¼êÁ°¤Þ¤ÇÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_sanko_motu 11 //¥¢¡¼¥à¤¬´Ì¤ò£³¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_sanko_motte_senkaisita 12 //ËÜÂΤ¬£³¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_niko_motta 13 //¥¢¡¼¥à¤¬´Ì¤ò£²¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_niko_motte_senkaisita 14 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤Æ¸µ¤ÎX¤Î°ÌÃ֤˱¦Àû²ó¤·¤Æ¤Ä¤¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_ikko_motta 15 //¥¢¡¼¥à¤¬´Ì¤ò£±¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_ikko_motte_senkaisita 16 //ËÜÂΤ¬£±¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤ÆÁ°¤ËÃÖ¤¤¤¿£±¸Ä¤Î´Ì¤Î¾å¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_okiowatta 17 //¥¢¡¼¥à¤¬£±¸Ä¤Î´Ì¤ò¤â¤¦°ì¸Ä¤Î´Ì¤Î¾å¤ËÃÖ¤¤¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_futatabi_modoru 18 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ÎÁ°¤ËºÆ¤ÓÌá¤Ã¤Æ¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_futatabi_motta 19 //¥¢¡¼¥à¤¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define y_toutyaku 20 //ËÜÂΤ¬Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
***¥á¥¤¥ó¥×¥í¥°¥é¥à [#hde208ce]
ή¤ì¢¡¢£¡¢¤¤ÏƱ¤¸³ÑÅÙ°ÜÆ°¤µ¤»¤ë¤¿¤á¡¢Íý¶þŪ¤Ë¤ÏÀû²ó¤ÎÉÿô¤ÏÅù¤·¤¯¤¢¤ë¤Ù¤¤À¤¬¡¢¥¢¡¼¥à¤ÎÁàºî¤ÎºÇÃæ¤ËËÜÂμ«ÂΤ¬·Ú¤¯Æ°¤¤¤Æ¤·¤Þ¤¦¤¿¤á¡¢Àû²ó¤ÎÉÿô¤ò¾¯¤·¤º¤ÄÊѤ¨¤¿¡£¤·¤«¤·¡¢À¸¤¸¤ë¸íº¹¤¬Ëè²óƱ¤¸¤Ç¤¢¤ë¤ï¤±¤Ç¤Ê¤¤¤¿¤á¡¢À®¸ùΨŪ¤ËÄ㤤¤â¤Î¤Ë¤Ê¤Ã¤¿¡£¤Þ¤¿¡¢¸÷¥»¥ó¥µ¤Ç¸¡½Ð¤µ¤ì¤ë¹âÅ٤Ϥ½¤Î¾ì½ê¤ÎÌÀ¤ë¤µ¤ËÂ礤¯º¸±¦¤µ¤ì¤¿¤¿¤á¡¢»È¤¦¾ì½ê¤ÎÌÀ¤ë¤µ¤Ë¹ç¤ï¤»¤Æ¡¢ÃͤòÊѲ½¤µ¤»¤¿¡£
task main()
{
SetSensor(SENSOR_3,SENSOR_LIGHT);
go_straight(100); //Á°¤Ëľ¿Ê
OnFwd(OUT_AC);
until(SENSOR_3<=46); //X¤Î±ß¤ÎÁ°¤Ç»ß¤Þ¤ë¤è¤¦¤Ë¤¹¤ë¡¥ÌÀ¤ë¤µ¤Ï¾ì½ê¡Ê¶µ¼¼¡Ë¤Ë¤è¤Ã¤ÆÊѤï¤ë
Off(OUT_AC);
SendMessage(kan_temae_toutyaku); //ËÜÂΤ¬´Ì¤Î¼êÁ°¤Þ¤Ç¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
ClearMessage();
until (Message()==kan_sanko_motu); //¥¢¡¼¥à¤¬3¸Ä¤Î´Ì¤ò»ý¤Ä¤Î¤òÂÔ¤Ä
TURN_LEFT(90); //3¸Ä¤Î´Ì¤ò»ý¤Áº¸Àû²ó
Off(OUT_AC);
SendMessage(kan_sanko_motte_senkaisita); //3¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
ClearMessage();
until (Message()==kan_niko_motta); //¥¢¡¼¥à¤¬´Ì¤ò2¸Ä»ý¤Ä¤Þ¤ÇÂÔ¤Ä
TURN_RIGHT(140); //´Ì¤ò»ý¤Á±¦¤ËÀû²ó
Off(OUT_AC);
SendMessage(kan_niko_motte_senkaisita); //¥¢¡¼¥à¤Ë´Ì¤ò2¸Ä»ý¤Ã¤Æ±¦Àû²ó¡ÊX¤Î°ÌÃÖ¤ËÌá¤ë¡Ë¤·¤¿¤³¤È¤òÅÁ¤¨¤ë
ClearMessage();
until (Message()==kan_ikko_motta); //¥¢¡¼¥à¤¬´Ì¤ò1¸Ä»ý¤Ä¤Þ¤ÇÂÔ¤Ä
go_back(45); //¸åÂà¡Ê¤³¤Î»þ¥¢¡¼¥à¤Ï¾å¤Ë¤¢¤¬¤ê³¤±¤Æ´Ì¤â¤Ä¤«¤ß³¤±¤Æ¤¤¤ë¡Ë
TURN_LEFT(97); //º¸Àû²ó
Off(OUT_AC);
go_back(10); //¸åÂà
SendMessage(kan_ikko_motte_senkaisita); //»ý¤Ã¤Æ¤¤¤ë1¸Ä¤Î´Ì¤¬ÃÖ¤¤¤Æ¤¢¤ë1¸Ä¤Î´Ì¤Î¾å¤ËÍ褿¤³¤È¤òÅÁ¤¨¤ë
ClearMessage();
until (Message()==kan_okiowwata); //¥¢¡¼¥à¤¬ÃÖ¤¤¤Æ¤¢¤ë1¸Ä¤Î´Ì¤Î¾å¤Ë»ý¤Ã¤Æ¤¤¤¿1¸Ä¤Î´Ì¤òÃÖ¤¯¤Þ¤ÇÂÔ¤Ä
go_back(150); //¸åÂà
Wait(100);
go_straight(150); //¸åÂष¤¿Ê¬Ä¾¿Ê
Off(OUT_AC);
SendMessage(kan_futatabi_modoru); //ËÜÂΤ¬ÀèÄø¤¤¤¿2¸Ä¤Î´Ì¤Î¼êÁ°¤Þ¤ÇÍ褿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
ClearMessage();
until (Message()==kan_futatabi_motta); //¥¢¡¼¥à¤¬2¸Ä¤Î´Ì¤òºÆ¤Ó»ý¤Ä¤Þ¤ÇÂÔ¤Ä
go_straight(400); //ľ¿Ê
TURN_RIGHT(130); //±¦Àû²ó
Off(OUT_AC);
go_straight(10); //ľ¿Ê
Wait(100);
SendMessage(y_touchaku); //Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
Off(OUT_AC);
}
**¥¢¡¼¥à [#ya3b2c9a]
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#define arm_ueageru OnFwd(OUT_AC);Wait(120);Off(OUT_AC); //¥¢¡¼¥à¤ò°ìÄê»þ´Ö¾å¤²¤ë
#define arm_sageru OnRev(OUT_C); //¥¢¡¼¥à¤ò²¼¤²Â³¤±¤ë
#define kan_tukamu OnRev(OUT_A); //¥¢¡¼¥à¤òÄϤß³¤±¤ë
#define arm_ageru OnFwd(OUT_C); //¥¢¡¼¥à¤ò¾å¤²Â³¤±¤ë
#define kan_hanasu OnFwd(OUT_A);Wait(30);Off(OUT_AC); //´Ì¤ò¥¢¡¼¥à¤«¤éÊü¤¹
#define STOP Off(OUT_AC); //°ì»þÄä»ß
#define kan_temae_toutyaku 10 //ËÜÂΤ¬´Ì¤¬¼êÁ°¤Þ¤ÇÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_sanko_motu 11 //¥¢¡¼¥à¤¬´Ì¤ò£³¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_sanko_motte_senkaisita 12 //ËÜÂΤ¬£³¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_niko_motta 13 //¥¢¡¼¥à¤¬´Ì¤ò£²¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_niko_motte_senkaisita 14 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤Æ¸µ¤ÎX¤Î°ÌÃ֤˱¦Àû²ó¤·¤Æ¤Ä¤¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_ikko_motta 15 //¥¢¡¼¥à¤¬´Ì¤ò£±¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_ikko_motte_senkaisita 16 //ËÜÂΤ¬£±¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤ÆÁ°¤ËÃÖ¤¤¤¿£±¸Ä¤Î´Ì¤Î¾å¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_okiowatta 17 //¥¢¡¼¥à¤¬£±¸Ä¤Î´Ì¤ò¤â¤¦°ì¸Ä¤Î´Ì¤Î¾å¤ËÃÖ¤¤¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_futatabi_modoru 18 //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ÎÁ°¤ËºÆ¤ÓÌá¤Ã¤Æ¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_futatabi_motta 19 //¥¢¡¼¥à¤¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define y_toutyaku 20 //ËÜÂΤ¬Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
***¥µ¥Ö¥ë¡¼¥Á¥ó [#kd46c955]
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sub ueno_kan_tukamu()
{
arm_ueageru; //¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç¤¢¤²¤ë
Wait(10);
arm_sageru; //¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
Wait(5);
kan_tukamu; //´Ì¤ò¤Ä¤«¤à
Wait(5);
arm_ageru; //´Ì¤ò¤Ä¤«¤ó¤À¤Þ¤Þ¥¢¡¼¥à¤ò¤¢¤²Â³¤±¤ë
}
***¥á¥¤¥ó¥×¥í¥°¥é¥à [#r9ebd473]
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task main ()
{
ClearMessage();
until(Message() == kan_temae_toutyaku); //X¤ËÃ夯¤Þ¤ÇÂÔ¤Ä
kan_tukamu;
Wait(50);
SendMessage(kan_sanko_motu);
ClearMessage(); //´Ì£³¸ÄÄϤó¤À¤³¤È¤òÅÁ¤¨¤ë
until(Message() == kan_sanko_motte_senkaisita); //´Ì¤ò£³¸Ä»ý¤Ã¤ÆÀû²ó¤·¤Æ¤â¤é¤¦¤Þ¤ÇÂÔ¤Ä
Wait(100);
STOP;
kan_hanasu; //´Ì¤ò£³¸Ä²£¤Ë°ÜÆ°
ueno_kan_tukamu();
ClearMessage();
Wait(100);
SendMessage(kan_niko_motta); //´Ì£²¸Ä»ý¤Á¾å¤²¤¿¤³¤È¤òÅÁ¤¨¤ë
ClearMessage();
until(Message() == kan_niko_motte_senkaisita); //¤â¤¦°ì¤Ä¤Î¥í¥Ü¤ËÀû²ó¤·¤Æ¤â¤é¤¦
Wait(100);
Off(OUT_C); //´Ì¤¬²¼¤ê¤ë¤Î¤òÂÔ¤Ä
Wait(800);
kan_hanasu; //´Ì¤ò£±¸Ä£²¸Ä¤Ëʬ¤±¤ë
ueno_kan_tukamu();
Wait(100);
ClearMessage();
SendMessage(kan_ikko_motta); //´Ì¤ò°ì¸Ä»ý¤Ã¤¿¤³¤È¤òÁê¼ê¤ËÅÁ¤¨¤ë
ClearMessage();
until(Message() == kan_ikko_motte_senkaisita); //¥í¥Ü¥Ã¥È¤¬Àû²ó¤¹¤ë¤Þ¤Ç¤Þ¤Ä
STOP;
Wait(800); //´Ì¤¬²¼¤¬¤ë¤Î¤òÂÔ¤Ä
kan_hanasu; //´Ì¤ò£²¸Ä£±¸Ä¤Ëʬ¤±¤¿
OnFwd(OUT_A); //¥¢¡¼¥à¤ò³«¤Â³¤±¤ë
arm_ueageru; //¥¢¡¼¥à¤ò¾å¤²¤ë
SendMessage(kan_okiowatta); //´Ì¤«¤é¥¢¡¼¥à¤ò´°Á´¤ËÊü¤·¤¿¤³¤È¤òÅÁ¤¨¤ë
until(Message() == kan_futatabi_modoru); //ºÆ¤Ó´Ì¤Î¼êÁ°¤Þ¤ÇÌá¤Ã¤Æ¤¤¿¤³¤È¤òÅÁ¤¨¤ë
kan_tukamu; //´Ì¤òÄϤà
SendMessage(kan_futatabi_motta); //´Ì¤òÄϤó¤À¤³¤È¤òÅÁ¤¨¤ë
until(Message() == y_toutyaku); //´Ì¤ò»ý¤Ã¤ÆY¤ËÅþÃ夷¤Æ¤â¤é¤¦¤Þ¤ÇÂÔ¤Ä
kan_hanasu; //´Ì¤òÊü¤¹
}
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