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¶õ¤´Ì¤È¤Îµ÷Î¥¤òŬÀڤˬ¤ë¤³¤È¤¬¤Ç¤¤ë¤è¤¦¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÁ°¤Ë¾¤Î¥»¥ó¥µ¤È¤ÎÀܳ¥³¡¼¥É¤¬¤³¤Ê¤¤¤è¤¦¤Ê°ÌÃÖ¤ËĶ²»ÇÈ¥»¥ó¥µ¤ò¼è¤êÉÕ¤±¤¿¡£¤Þ¤¿¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤ò¾¯¤·²¼¸þ¤¤Ë·¹¤±¤ë¤³¤È¤Ç¡¢¶õ¤´Ì¤òǧ¼±¤·¤ä¤¹¤¤¤è¤¦¤Ë¤·¤¿¡£ **¥¢¡¼¥à¤òÆ°¤«¤¹¤¿¤á¤Î¥â¡¼¥¿ [#y0f397c4] &ref(2018b/Member/Jerry/Mission2/¥¢¡¼¥à.jpg,25%,¥¢¡¼¥à); ¥Ü¡¼¥ë¤È¥â¡¼¥¿¤È¤Îµ÷Î¥¤òÎ¥¤·¤¹¤®¤ë¤ÈÁö¹ÔÃæ¤Ë¥¢¡¼¥à¤¬ÉÔ°ÂÄê¤Ë¤Ê¤ê¥Ü¡¼¥ë¤òž¤¬¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢¥Ü¡¼¥ë¤È¤Îµ÷Î¥¤¬¤Ê¤ë¤Ù¤¯¶á¤Å¤±¤é¤ì¤ë¤è¤¦¤Ê°ÌÃ֤˥⡼¥¿¤ò¼è¤êÉÕ¤±¤¿¡£¤Þ¤¿¡¢ÃÏÌ̤ȿâľ¤Ë¤Ê¤ë¤è¤¦¤Ë¥¢¡¼¥à¤ò¼è¤êÉÕ¤±¤ë¤³¤È¤Ç¡¢¥Ð¥é¥ó¥¹¤òÊݤÁ¤ä¤¹¤¯¤·¤¿¡£ *¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¤¿¤á¤Î¥×¥í¥°¥é¥à [#o323fe35] **¥é¥¤¥ó¥È¥ì¡¼¥¹ [#rdf914a5] º£²ó¤Ï¡¢¡Ö¹õ¤ÈÇò¤Î¶³¦Àþ¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¤È¤¤¤¦¥×¥í¥°¥é¥à¤òÀ©ºî¤·¤¿¡£ ¼ÂºÝ¤Ë¥³¡¼¥¹¾å¤ÇÌÀ¤ë¤µ¤ò¬Äꤷ¤Æ¤ß¤ë¤È¡ÖÇò¡×¡ÖÇò¤È¶³¦Àþ¤Î´Ö¡×¡Ö¶³¦Àþ¡×¡Ö¹õ¤È¶³¦Àþ¤Î´Ö¡×¡Ö¹õ¡× ¤È¤¤¤¦£µÃʳ¬¤ÎÌÀ¤ë¤µ¤ÎÃͤò¬Äê¤Ç¤¤¿¡££µ¤Ä¤Î¬Äê¤Ç¤¤¿Ãͤϰʲ¼¤Î¤â¤Î¤È¤Ê¤Ã¤¿¡£ &ref(2018b/Member/Jerry/Mission2/ÌÀ¤ë¤µ¤ÎÃÍ.jpg,25%,ÌÀ¤ë¤µ¤ÎÃÍ); ÌÀ¤ë¤µ¤ÎÃͤ¬5Ãʳ¬Â¸ºß¤¹¤ë¤Î¤Ç¡¢¤½¤ì¤¾¤ì¤ÎÌÀ¤ë¤µ¤ËÂбþ¤·¤¿Æ°¤¤ò¤¹¤ë¤¿¤á¤Ë£µÃʳ¬¤ÇÆ°¤¤òÀ©¸æ¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¡¢°Ê²¼¤Î¤è¤¦¤ËÆ°¤¯¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£ &ref(2018b/Member/Jerry/Mission2/Æ°¤Êý.jpg,25%,Æ°¤Êý); #define go_forward OnFwd(OUT_B,40);OnFwd(OUT_C,40) //ľ¿Ê #define turn_left1 OnFwd(OUT_B,35);OnFwd(OUT_C,-30) //º¸Àû²ó #define turn_left2 OnFwd(OUT_B,25);OnFwd(OUT_C,-20) //º¸ÀÞ #define turn_right1 OnFwd(OUT_C,35);OnFwd(OUT_B,-30) //±¦Àû²ó #define turn_right2 OnFwd(OUT_C,25);OnFwd(OUT_B,-20) //±¦ÀÞ ¤Þ¤¿¡¢¹õ¤ÈÇò¤Î¶³¦Àþ¤Ë¤Ï¡Ö¹õÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¡¢¡Ö¹õÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¤È¤¤¤¦2¼ïÎà¤Î¶³¦Àþ¤¬Â¸ºß¤¹¤ë¤Î¤Ç¡¢¤³¤ì¤é¤Î¥×¥í¥°¥é¥à¤òʬ¤±¤Æ¹Í¤¨¤ë¤³¤È¤Ë¤·¤¿¡£ ***º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#eb9a7328] Àè¤Û¤É¤â¼¨¤·¤¿¤è¤¦¤ËÇò¤È¹õ¤Î¶³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬45¤Ê¤Î¤Ç #define THRESHOLD 45 //Çò¤È¹õ¤Î¶³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬45¤Ç¤¢¤ë¡£ ¤ÈÄêµÁ¤·¤Æ¡¢°Ê²¼¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£ void Lfollow_line(long max_t) //max_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ { long t0=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ while (CurrentTick()-t0<=max_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬max_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{ if (SENSOR_4<THRESHOLD-11) { if (SENSOR_4<THRESHOLD-11) { turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD-7){ } else if (SENSOR_4<THRESHOLD-7){ turn_right2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+7){ } else if (SENSOR_4<THRESHOLD+7){ go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+11){ } else if (SENSOR_4<THRESHOLD+11){ turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤¤ò¤¹¤ë¡£ } else { } else { turn_left2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£ } } } ¤³¤Î¥×¥í¥°¥é¥à¤Ï²¼¿Þ¤Î¤è¤¦¤ËÆ°¤¯¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ &ref(2018b/Member/Jerry/Mission2/º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.jpg,25%,º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹); ***±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#d2668aea] void Rfollow_line(long max_t) //max_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ { long t0=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ while (CurrentTick()-t0<=max_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬max_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{ if (SENSOR_4<THRESHOLD-11) { if (SENSOR_4<THRESHOLD-11) { turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤¤ò¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD-7){ } else if (SENSOR_4<THRESHOLD-7){ turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+7){ } else if (SENSOR_4<THRESHOLD+7){ go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+11){ } else if (SENSOR_4<THRESHOLD+11){ turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£ } else { } else { turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£ } } } ¤³¤Î¥×¥í¥°¥é¥à¤Ï²¼¿Þ¤Î¤è¤¦¤ËÆ°¤¯¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ &ref(2018b/Member/Jerry/Mission2/±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.jpg,25%,±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹); **¸òº¹ÅÀ¤Îǧ¼± [#o92a7fcb] º£¤Þ¤Ç¼¨¤·¤Æ¤¤¿¥×¥í¥°¥é¥à¤À¤±¤À¤È¸òº¹ÅÀ¤Ë¤µ¤·¤«¤«¤Ã¤Æ¤â¡¢¤½¤Î¤Þ¤Þ³Ñ¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤È¤Ê¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£ &ref(2018b/Member/Jerry/Mission2/¸òº¹ÅÀ¤Îǧ¼±.jpg,40%,¸òº¹ÅÀ¤Îǧ¼±); ¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¾å¿Þ¤Ë¼¨¤·¤¿¤è¤¦¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£¤½¤Î¥×¥í¥°¥é¥à¤¬°Ê²¼¤Î¤â¤Î¤Ç¤¢¤ë¡£ void follow_intersection(long min_t) //min_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£ { long t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ while (CurrentTick()-t1<=min_t) //¸½ºß¤Î»þ´Ö¤Èt1¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£(min_t¤Î»þ´Ö¤Ç¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¡£){ if (SENSOR_4<THRESHOLD-11) { if (SENSOR_4<THRESHOLD-11) { Off(OUT_BC);Wait(1000); //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢B,C¤Î¥â¡¼¥¿¤ò1ÉôÖÄä»ß¤µ¤»¤ë¡£ } if (SENSOR_4<THRESHOLD-7){ } else if (SENSOR_4<THRESHOLD-7){ turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+7){ } else if (SENSOR_4<THRESHOLD+7){ go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+11){ } else if (SENSOR_4<THRESHOLD+11){ turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } else { } else { turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } } } **¸òº¹ÅÀ¤Î²£ÃÇ [#x64b1f0f] ¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢Ä¾¿Ê¡¢º¸ÀÞ¡¢±¦ÀޤʤɤÎÆ°¤¤ò¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¡¢¸òº¹ÅÀ¤ò²£ÃǤ¹¤ë¥×¥í¥°¥é¥à¤ò¹Í¤¨¤ë¡£¸òº¹ÅÀ¤Î²£ÃǤλÅÊý¤Ï¼ç¤Ë2¼ïÎढ¤ë¡£ &ref(2018b/Member/Jerry/Mission2/¸òº¹ÅÀ¤Î²£ÃÇ.jpg,50%,¸òº¹ÅÀ¤Î²£ÃÇ); ¡¤ò¼Â¹Ô¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ï°Ê²¼¤Î¤â¤Î¤Ç¤¢¤ë¡£ #define across OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(1000)//1Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£ #define across2 OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(400)//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£ #define across3 OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(200)//0.2Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£ **¶õ¤´Ì¤òõ¤¹¤¿¤á¤Î¥×¥í¥°¥é¥à [#n07ded69] #define SPEED 50 #define SPEED_SLOW 30 const float diameter = 5.45; //¥¿¥¤¥ä¤Îľ·Â(cm) const float track = 10.35; //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm) const float pi = 3.1415; //±ß¼þΨ void turnAng(long ang) // ³ÑÅÙ ang Å٤λþ·×²ó¤ê¤ÎÀû²ó¤¹¤ë¡£ { long angle; angle = track/diameter*ang; RotateMotorEx(OUT_BC, SPEED_SLOW, angle, 100, true, true); } int searchDirection(long ang) // ¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤¹¡£ // ¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹¡£ { long angle, tacho_min=0, tacho_corr; int d_min; d_min=300; // ²¾¤ÎºÇ¾®ÃÍ angle = (track/diameter)*ang;// Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë¡£ turnAng(ang/2); // »ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó¤¹¤ë¡£ ResetTachoCount(OUT_BC); // ³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£ OnFwdSync(OUT_BC,SPEED_SLOW,-100);// È¿»þ·×²ó¤ê¤ËÀû²ó¤¹¤ë¡£ while(MotorTachoCount(OUT_B)<=angle){ if(SensorUS(S2)<d_min){ d_min=SensorUS(S2); // ²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡£ tacho_min=MotorTachoCount(OUT_B); } if(SensorUS(S2)<d_min){ d_min=SensorUS(S2); // ²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡£ tacho_min=MotorTachoCount(OUT_B); } } OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE); until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S2)<=d_min); Wait(14); //ÈùÄ´À° Off(OUT_BC);Wait(500); return d_min; } ¾å¤Î¥×¥í¥°¥é¥à¤Ï²¼¿Þ¤Î¤è¤¦¤Ê»ÅÁȤߤÇÀ©¸æ¤µ¤ì¤Æ¤¤¤ë¡£ &ref(2018b/Member/Jerry/Mission2/¶õ¤´Ì¤òǧ¼±¤¹¤ë»ÅÁȤß.jpg,40%,¶õ¤´Ì¤òǧ¼±¤¹¤ë»ÅÁȤß); º£²ó¤Ï¥í¥Ü¥Ã¥È¤ò360Åٲ󞤵¤»,¶õ¤´Ì¤Î°ÌÃÖ¤òõ¤¹¡£ int d=searchDirection(360); //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë360Åٲ󞤷¡¢ºÇ¾®ÃͤÎÊý¸þ¤ò¸þ¤¯¡£ **¶õ¤´Ì¤Ë¥Ü¡¼¥ë¤ò¤¢¤Æ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#yc171ea9] #define throw OnFwd(OUT_A,30);Wait(700);Off(OUT_A);Wait(2000); //¥¢¡¼¥à¤òÆ°¤«¤·¡¢¥Ü¡¼¥ë¤ò¶õ¤´Ì¤ËÅö¤Æ¤ë¡£ OnFwd(OUT_A,-35);Wait(700);Off(OUT_A); //¥¢¡¼¥à¤ò¤â¤È¤Î°ÌÃÖ¤ËÌ᤹¡£ **¸ú²Ì²» [#z851aaa6] ¥é¥¤¥ó¥È¥ì¡¼¥¹¥Þ¥·¥ó¤òºîÀ®¤·¤Æ¤¤¤ë»þ¤Ë¡¢¸òº¹ÅÀ¤Îǧ¼±¤¬¤¦¤Þ¤¯¹Ô¤¨¤Æ¤¤¤ë¤«¤ò³Îǧ¤¹¤ë¤¿¤á¤Ë¡¢²»¤òÍѤ¤¤¿¡£¤³¤Î²»¤Î¤ª¤«¤²¤Çºî¶È¸úΨ¤¬ÂçÉý¤Ë¾å¤¬¤Ã¤¿¡£ #define MI 659 //¥ß¤Î²» SetSensorSound(S1); void follow_intersection(long min_t) //min_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£ { long t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ while (CurrentTick()-t1<=min_t) //¸½ºß¤Î»þ´Ö¤Èt1¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{ if (SENSOR_4<THRESHOLD-11) { if (SENSOR_4<THRESHOLD-11) { Off(OUT_BC);Wait(1000); //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢B,C¤Î¥â¡¼¥¿¤ò1ÉôÖÄä»ß¤µ¤»¤ë¡£ } if (SENSOR_4<THRESHOLD-7){ } else if (SENSOR_4<THRESHOLD-7){ turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+7){ } else if (SENSOR_4<THRESHOLD+7){ go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } else if (SENSOR_4<THRESHOLD+11){ } else if (SENSOR_4<THRESHOLD+11){ turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } else { } else { turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£ t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£ } } } PlayTone(MI,900);Wait(1000); 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