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#define LEFT OnRL(speed,-speed);¡¡¡¡¡¡//º¸Àû²ó #define left OnRL(speed,0);¡¡¡¡¡¡¡¡//º¸ÀÞ #define straight OnRL(SPEED,SPEED);¡¡¡¡//ľ¿Ê #define right OnRL(0,speed);¡¡¡¡¡¡//±¦ÀÞ #define RIGHT OnRL(-speed,speed);¡¡¡¡¡¡¡¡//±¦Àû²ó #define STEP 1 #define nMAX 300 #define short_break Off(OUT_BC);Wait(1000);¡¡¡¡¡¡¡¡//¾®µÙ»ß #define CROSS_TIME 700 #define cross_line OnFwd(OUT_BC,speed);Wait(CROSS_TIME);short_break; #define turn_time 3000 #define turn_left LEFT;Wait(turn_time);short_break; #define turn_right RIGHT;Wait(turn_time);short_break; #define kaiten OnRL(SPEED,-SPEED); #define kaiten_time 5500¡¡¡¡¡¡¡¡¡¡//360¡ë²óž¤¹¤ë¤Î¤Ë¤«¤«¤ë»þ´Ö #define arm_up OnRev(OUT_A,SPEED);Wait(500);Off(OUT_A);¡¡¡¡¡¡//ºô¤ò¾å¤²¤ë sub kousaten_trace()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å²£ÃǤ¹¤ë { SetSensorLight(S3); int nOnline=0; while (nOnline < nMAX) { //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ if (SENSOR_3 < THRESHOLD-10) { RIGHT; nOnline++;} else { if (SENSOR_3 < THRESHOLD-3) {right;} else if (SENSOR_3 < THRESHOLD+2) {straight;} else if (SENSOR_3 < THRESHOLD+6) {left;} else {LEFT;} nOnline=0;} Wait(STEP); } short_break; LEFT; Wait(nMAX*STEP); cross_line; nOnline=0; } sub kousaten_usetsu()¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å±¦ÀÞ¤¹¤ë { SetSensorLight(S3); int nOnline=0; while (nOnline < nMAX) { //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ if (SENSOR_3 < THRESHOLD-8) { LEFT; nOnline++;} else { if (SENSOR_3 < THRESHOLD-3) {left;} else if (SENSOR_3 < THRESHOLD+2) {straight;} else if (SENSOR_3 < THRESHOLD+6) {right;} else {RIGHT;} nOnline=0;} Wait(STEP); } short_break; RIGHT; Wait(nMAX*STEP); turn_right; nOnline=0; } sub kousaten_teishi()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é1ÉôÖÄä»ß¤·¤¿¸åºÆȯ¿Ê { SetSensorLight(S3); int nOnline=0; while (nOnline < nMAX) { if (SENSOR_3 < THRESHOLD-8) { LEFT; nOnline++;} else { if (SENSOR_3 < THRESHOLD-3) {left;} else if (SENSOR_3 < THRESHOLD+2) {straight;} else if (SENSOR_3 < THRESHOLD+6) {right;} else {RIGHT;} nOnline=0;} Wait(STEP); } short_break; nOnline=0; } sub serch_kan()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡360¡ë²óž¤·¤Æ¾ã³²Êª(´Ì)¤ò¸«¤Ä¤±½Ð¤·¤½¤ÎÊý¸þ¤Ë¸þ¤«¤¦ { SetSensorLowspeed(S4); long t10,t11; ¡¡ int L=10000;¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®ÃÍ t10=CurrentTick(); //²óžÁ°¤Î»þ¹ï while(CurrentTick()-t10<=kaiten_time){ OnRL(speed,-speed); if(SensorUS(S4)<L) { L=SensorUS(S4); t11=CurrentTick()-t10;¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤè¤ê¶á¤¤¤â¤Î¤ò¸«¤Ä¤±¤¿»þ¤Î»þ´Ö } } OnRL(-speed,speed); Wait(kaiten_time-t11); Off(OUT_BC); } sub shoot()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥·¥å¡¼¥È(ÂÎÅö¤¿¤ê)¤ò¤¹¤ë { arm_up; OnFwd(OUT_BC,100); Wait(200); Off(OUT_BC); } task main() { SetSensorLight(S3); SetSensorLowspeed(S4); long t0,t1,t2,t3; //¤½¤ì¤¾¤ì¤Î»þ´Ö¤òÄêµÁ t0=CurrentTick();¡¡¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤·¤¿»þ´Ö¤òt0¤È¤¹¤ë while(CurrentTick()-t0<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë if(SENSOR_3<THRESHOLD-8){RIGHT;} else if(SENSOR_3<THRESHOLD-3){right;} else if(SENSOR_3<THRESHOLD+2){straight;} else if(SENSOR_3<THRESHOLD+6){left;} else{LEFT;} Wait(STEP); } kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀK¤òȯ¸«¤·¤¿¤é²£ÃÇ¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¡ t1=CurrentTick();¡¡¡¡¡¡¡¡//KÃÏÅÀ¤ò²£ÃǤ·¤¿¤é¤½¤Î»þ´Ö¤òt1¤È¤¹¤ë while(CurrentTick()-t1<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë if(SENSOR_3<THRESHOLD-8){RIGHT;} else if(SENSOR_3<THRESHOLD-3){right;} else if(SENSOR_3<THRESHOLD+2){straight;} else if(SENSOR_3<THRESHOLD+6){left;} else{LEFT;} Wait(STEP); } serch_kan();¡¡¡¡¡¡¡¡//´Ì¤òõ¤¹¡£¸«¤Ä¤±¤¿¤é¥Ü¡¼¥ë¤ËÂÎÅö¤¿¤ê¤·¤Æ¥·¥å¡¼¥È¤¹¤ë shoot();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¢ t2=CurrentTick(); while(CurrentTick()-t2<=18000){ if(SENSOR_3<THRESHOLD-8){LEFT;} else if(SENSOR_3<THRESHOLD-3){left;} else if(SENSOR_3<THRESHOLD+2){straight;} else if(SENSOR_3<THRESHOLD+6){right;} else{RIGHT;} Wait(STEP); } kousaten_teishi();¡¡¡¡//¸òº¹ÅÀG¤òȯ¸«¤·¤¿¤é°ì»þÄä»ß¡¡¡¡¡¡¡¡¡¡¡¡//¢¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬£ t3=CurrentTick();¡¡¡¡¡¡//ÃÏÅÀG¤ò½Ðȯ¤¹¤ë»þ´Ö¤òt3¤È¤¹¤ë while(CurrentTick()-t3<=40000){¡¡¡¡¡¡¡¡¡¡¡¡//40Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë if(SENSOR_3<THRESHOLD-8){LEFT;} else if(SENSOR_3<THRESHOLD-3){left;} else if(SENSOR_3<THRESHOLD+2){straight;} else if(SENSOR_3<THRESHOLD+6){right;} else{RIGHT;} Wait(STEP); } kousaten_usetsu();¡¡¡¡¡¡//¸òº¹ÅÀE¤òȯ¸«¤·¤¿¤é±¦ÀÞ¡¡¡¡¡¡¡¡//£¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¤ kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀL¤òȯ¸«¤·¤¿¤é²£ÃÇ OnFwd(OUT_BC,SPEED);¡¡¡¡¡¡Á°¿Ê¤·¤ÆÏÈÆâ¤ËÆþ¤ë Wait(2000); Off(OUT_BC); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬¥ **¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#je912043] ¸òº¹ÅÀȽÃǤò¤·¤Ê¤¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤Ä¤¤¤Æ¤ÏÇò¤«¤é¹õ¤Î¿§¤ÎÃͤòÇò¡¢Çò¤è¤ê¤Î³¥¿§¡¢³¥¿§¡¢¹õ¤è¤ê¤Î³¥¿§¡¢¹õ¤Î¸ÞÃʳ¬¤Ëʬ¤±¤½¤ì¤¾¤ì¤Ë¤Ä¤¤¤Æ½ç¤ËÂ礤¯¥é¥¤¥ó¦¤ËÀû²ó¡¢¥é¥¤¥ó¦¤Ë¶Ê¤¬¤ë¡¢¥¹¥Ô¡¼¥É¤ò½Ð¤·¤Æľ¿Ê¡¢¥é¥¤¥ó¤«¤éÎ¥¤ì¤ëÊý¸þ¤Ë¶Ê¤¬¤ë¡¢¥é¥¤¥ó¦¤«¤éÎ¥¤ì¤ë¤è¤¦¤ËÀû²ó¤È¤¤¤¦É÷¤Ë¤·¤Æ¥é¥¤¥ó¤Î¤É¤Á¤é¤«¤ò¥¸¥°¥¶¥°¤È°ÜÆ°¤¹¤ë¤è¤¦¤Ê·Á¤Ë¤·¤¿¡£ ¸òº¹ÅÀȽÃǤò¤¹¤ë¤È¤¤Ï¾åµ¤ÎÄ̤ê¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÃæ¤Ç300²ó(0.3ÉôÖ)°Ê¾å¹õ¤ò¸¡½Ð¤·Â³¤±¤¿¤é¤½¤ÎÃÏÅÀ¤ò¸òº¹ÅÀ¤ÈȽÃǤ·¶Ê¤¬¤Ã¤¿Ê¬¤À¤±³ÑÅÙ¤òÌᤷ¤Æ¤«¤é¾¯¤·¤À¤±Ä¾¿Ê¤·¤Æ¸òº¹ÅÀ¤ò²£ÃǤ¹¤ë¥×¥í¥°¥é¥à¤È¤·¤¿¡£ **¥×¥í¥°¥é¥à¤ÎÀâÌÀ¤ÈÈ¿¾Ê [#y27f08f7] ´ðËÜŪ¤Ë¤Ï¥¿¥¤¥Þ¡¼¤Ç»þ´Ö¤ò·×¤ê¤Ê¤¬¤é¸òº¹ÅÀȽÃǤò¤¹¤ë¤«¤·¤Ê¤¤¤«¤ò·è¤á¤Æ¤¤¤ë¡£¤½¤Î¤¿¤á¤³¤Î¥³¡¼¥¹¤Ç¤·¤«»È¤¨¤Ê¤¤¤¦¤¨¤ËÁÛÄꤷ¤¿°Ê¾å¤Ë¥¹¥à¡¼¥º¤Ë¿Ê¤ó¤À¤ê»þ´Ö¤¬¤«¤«¤Ã¤¿¤ê¤·¤Æ¤·¤Þ¤¦¤È¥³¡¼¥¹¤ò´Ö°ã¤¨¤Æ¤·¤Þ¤¦¤¿¤á¥³¡¼¥¹¤ò´°Áö¤·¤Ê¤¤¤³¤È¤¬Â¿¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£ »þ´Ö¤Ç¤Ï¤Ê¤¯¡¢¥¿¥¤¥ä¤Î²óž³Ñ¤Ê¤É¤Çµ÷Î¥¤ò¬¤ê¤Ê¤¬¤é¿Ê¤à¤Èº£¤è¤ê¤ÏÀ®¸ùΨ¤Î¹â¤¤¥×¥í¥°¥é¥à¤Ë¤Ê¤Ã¤¿¤Î¤Ç¤Ï¤Ê¤¤¤À¤í¤¦¤«¡£¤Þ¤¿¡¢task main¤ÎÃæ¤Î»þ´Ö¤ò·×¬¤·¤Ê¤¬¤é¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤â¥µ¥Ö¥ë¡¼¥Á¥ó¤È¤·¤Æ´Êά²½¤Ç¤¤¿¤Ê¤É¤Î²þÁ±ÅÀ¤â¸«¤Ä¤«¤Ã¤¿¡£ *¼ÂºÝ¤Î¥³¡¼¥¹¹¶Î¬ [#udea7385] **·×²è [#q9faae0e] ·×²è¿Þ #ref(keikaku.jpeg) ¡AÃÏÅÀ¤ò¥¹¥¿¡¼¥È¤·¡¢¥é¥¤¥ó¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¡£¥¹¥¿¡¼¥È¸å15Éô֤ϸòº¹ÅÀȽÃǤò¤·¤Ê¤¤¤Î¤ÇBÃÏÅÀ¤ò±¦ÀÞ¡£²¿ÅÙ¤«¥¿¥¤¥à·×¬¤ò¤·¤¿·ë²Ì15ÉðÊÆâ¤ËKÃÏÅÀ¤Þ¤Ç¤Ï¤¿¤É¤êÃ失¤Ê¤¤¤Î¤ÇKÃÏÅÀ¤Ç¤Ï¸òº¹ÅÀ¤ÈȽÃǤ·¡¢²£ÃÇ¡£±ßHIJK¤ÎÆ⦤ËÆþ¤ë¡£ ¢±ßHIJK¤ÎÆâÉô¤ò18Éô֥ȥ졼¥¹¤¹¤ë¡£ÂçÂÎ15ÉÃÄøÅÙ¤ÇIÃÏÅÀ¤ò²á¤®¤¿¤¢¤¿¤ê¤ËÅþÃ夹¤ëͽÄê¤Ç¤¢¤ë¡£¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë¤È¤¤ÎÁ°¿Ê¤Ç±ßHIJK¤Î³°Â¦¤Ë½Ð¤Æ³°Â¦¤Î¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ë¡£ £¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤·¤¿¸åÄ̾ïÄ̤ê¤Î¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£GÃÏÅÀ¤Ç¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é°ì»þÄä»ß¤·¤¿¸å¸òº¹ÅÀȽÃǤò¤·¤Ê¤¤¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ë¡£ ¤GÃÏÅÀ¤ò¶Ê¤¬¤ê¤À¤¹¤È¤³¤í¤«¤é¥¹¥¿¡¼¥È¡£40Éô֤ÇÄ̾ï¤ÎFÃÏÅÀ¤Þ¤Ç¤¿¤É¤êÃ夡¢EÃÏÅÀ¤Ç¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é±¦ÀÞ¤¹¤ë¡£ ¥¥é¥¤¥óÄ̤ê¤Ëľ¿Ê¤·¡¢¸òº¹ÅÀ(LÃÏÅÀ)¤ò²£ÃǤ·¤¿¸å2ÉôÖÁ°¿Ê¤·¤Æ»Í³Ñ¤ÎÃæ¤ËÆþ¤Ã¤ÆÄä»ß¤¹¤ë¡£ **¼ºÇÔÎã [#w1b2a956] ¢¡¾¥·¥å¡¼¥ÈÁ° 18Éô֤ÇIÃÏÅÀ¤òĶ¤¨¤é¤ì¤º¡¢ËÜÍèGÃÏÅÀ¤Ç¹Ô¤¦¤Ï¤º¤Î°ì»þÄä»ß¤òIÃÏÅÀ¤Ç¹Ô¤Ã¤Æ¤·¤Þ¤¦¡£(»þ´Ö°Ê³°¤ÎÊýË¡¤Ç¤É¤ì¤¯¤é¤¤¿Ê¤ó¤À¤«¤ò¬¤Ã¤Æ¤¤¤ì¤ÐËɤ²¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«) ¢¡¾¥·¥å¡¼¥È»þ 18Éô֤ÇHÃÏÅÀ¶á¤¯¤Þ¤ÇÍè¤Æ¤·¤Þ¤¤¥·¥å¡¼¥È»þ¤ÎÁ°¿Ê¤Ç±ßHIJK¤Î³°Â¦¤Ë½Ð¤é¤ì¤Ê¤¤¡£(»þ´Ö°Ê³°¤ÎÊýË¡¤Ç¤É¤ì¤¯¤é¤¤¿Ê¤ó¤À¤«¤ò¬¤Ã¤Æ¤¤¤ì¤ÐËɤ²¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«) £¡¾ºÇ¸å¡¢¤¡¾ºÇ½é GÃÏÅÀ¤ò¶Ê¤¬¤êÀڤ줺¤Ëľ¿Ê¤·¤Æ¤·¤Þ¤¦¡£(Ää»ß¤·¤¿¸å°ìÅÙ¸åÂष¤Æ¥È¥ì¡¼¥¹¤·¤Ê¤ª¤¹¤È¤è¤«¤Ã¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«) ¤¡¾µÞ¤Ê¥«¡¼¥Ö µ©¤Ë¶Ê¤¬¤êÀڤ줺¤Ë¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤¦(¤·¤¤¤Ãͤò·×¬¤·¤Ê¤ª¤¹¡¢¥í¥Ü¥Ã¥È¤ò²þ¤¤¹¤ë¤Ê¤ÉÍÍ¡¹¤ÊÂкö¤¬¤¢¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«) ¤-FÃÏÅÀ 40Éô֤Ǥ¿¤É¤êÃ失¤Ê¤¤¤È¤³¤³¤Ç¸òº¹ÅÀȽÃǤò¤·¤Æ¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤¦¡£(»þ´Ö°Ê³°¤ÎÊýË¡¤Ç¤É¤ì¤¯¤é¤¤¿Ê¤ó¤À¤«¤ò¬¤Ã¤Æ¤¤¤ì¤ÐËɤ²¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«) ¤-EÃÏÅÀ 40ÉôְÊÆâ¤Ëé¤êÃ夤¤Æ¤·¤Þ¤¦¤È¸òº¹ÅÀȽÃǤò¤¹¤ë¤³¤È¤¬¤Ç¤¤º¤Ë¡¢Æ»½ç¤ò´Ö°ã¤¨¤Æ¤·¤Þ¤¦¡£(»þ´Ö°Ê³°¤ÎÊýË¡¤Ç¤É¤ì¤¯¤é¤¤¿Ê¤ó¤À¤«¤ò¬¤Ã¤Æ¤¤¤ì¤ÐËɤ²¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«) *Á´ÂΤòÄ̤·¤Æ [#q23ba7ce] Á°²ó¤Î¥×¥í¥°¥é¥à¤ËÈæ¤Ù¤ì¤Ð¥³¥ó¥Ñ¥¯¥È¤ÇåºÎï¤Ê¥×¥í¥°¥é¥à¤Ë»Å¾å¤¬¤Ã¤¿¤È»×¤¦¤¬¡¢¤Û¤«¤Î¥°¥ë¡¼¥×¤Î¿Í¤¿¤Á¤ÈÈæ¤Ù¤ë¤È¥×¥í¥°¥é¥à¡¢¥í¥Ü¥Ã¥È¤Ø¤Î¹©ÉפäåºÎ蘆¤ÏÎô¤Ã¤Æ¤¤¤ë¤Î¤Ç¡¢¥í¥Ü¥³¥ó¤Þ¤Ç¤Ë¤Ç¤¤ë¸Â¤êƱ¤¸¥ì¥Ù¥ë¤Ë¤Ê¤ì¤ë¤è¤¦¤Ë´èÄ¥¤ê¤¿¤¤¡£¤Þ¤¿¡¢Á°²ó¤ËÈæ¤Ù¤ÆåºÎï¤Ë»Å¾å¤¬¤Ã¤¿¤È¤¤¤Ã¤Æ¤â¤Þ¤À̵Â̤ο¤¯²ó¤ê¤¯¤É¤¤ÊýË¡¤ò¤È¤Ã¤¿¥×¥í¥°¥é¥à¤Ç¤¢¤ë¤È»×¤¦¤Î¤Ç¤â¤¦¾¯¤·¥³¥ó¥Ñ¥¯¥È¤Ê¥×¥í¥°¥é¥à¤ò½ñ¤±¤ë¤è¤¦¤ËÅØÎϤ·¤¿¤¤¡£¥ì¥Ý¡¼¥È¤Ë´Ø¤·¤Æ¤â²èÁü¤¬É½¼¨¤Ç¤¤ºURL¤òŽ¤Ã¤Æ¤¤¤ë¤Ê¤ÉµÍ¤á¤Î´Å¤¤Éôʬ¤Ï¼«Ê¬¤Î¥À¥á¤Ê¤È¤³¤í¤Ç¤¢¤ë¤Î¤Ç²þÁ±¤·¤Æ¤¤¤¤¿¤¤¡£(²þÁ±ºÑ¤ß)