[[2019a/Member]] Ìܼ¡ #contents *²ÝÂê2 [#g0012c33] AÃÏÅÀ¤ò½Ðȯ¤·¡¢¼¡¤Î·ÐÏ©¤ò¹õ¤¤Àþ¤Ë¤½¤Ã¤ÆÆ°¤¯¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë #ref(2019a/Member/Mars/Mission2/C89E0517-4D44-4BA2-93FE-8E5EB0C2BE11.png) ·ÐÏ©¤Ï°Ê²¼¤ÎÄ̤ꡣ ¡¦AÃÏÅÀ¤«¤é½Ðȯ ¢ª M ¢ª K(ľ¿Ê) ¢ª L(¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à) ¢ª K(±¦ÀÞ) ¢ª J(°ì»þÄä»ß¤Î¸å¡¢º¸ÀÞ) ¢ª I(ľ¿Ê) ¢ª H(ľ¿Ê) ¢ª G(º¸ÀÞ) ¢ª F ¢ª E ¢ª D(°ì»þÄä»ß¤Î¸å¡¢Ä¾¿Ê) ¢ª C(ľ¿Ê) ¢ª B(°ì»þÄä»ß) ¢ª ¥·¥å¡¼¥È¢ª AÃÏÅÀ¤ËÆþ¤ë(¥´¡¼¥ë) *¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#l5e3555a] ¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎÁü¤Ï¼¡¤Î¼Ì¿¿¤ÎÄ̤ꡣ #ref(2019a/Member/Mars/Mission2/C20D770E-F322-488A-8F4E-E988D1FD551C.jpeg) ¤³¤ì¤è¤ê²¼¤Ë³ÆÉô°Ì¤ÎÀâÌÀ¤ò¤¹¤ë¡£ **¥Ü¡¼¥ë¥¥ã¥Ã¥Á¤ÎÉôʬ [#u6e614fc] ¥Ü¡¼¥ë¤òÄϤߡ¢Î¥¤¹Éôʬ¤Ï°Ê²¼¤ÎÄ̤ꡣ #ref(2019a/Member/Mars/Mission2/E6CF5DE4-1B71-4B94-BF14-41589B72E747.jpeg) ¥â¡¼¥¿¡¼¤ò²ó¤¹¤³¤È¤Ç¼Ì¿¿¤Îº¸¤òÉôʬ¤¬²óž¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ ¼Ì¿¿¤Ç¸«¤ÆÈ¿»þ·×²ó¤ê¤Ë²ó¤»¤Ð¥¥ã¥Ã¥Á¡¢»þ·×²ó¤ê¤Ë²ó¤»¤Ð¥ê¥ê¡¼¥¹¤È¤¤¤¦¤Õ¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ ¥Ü¡¼¥ë¤Ï3ÅÀ¤Ç»Ù¤¨¡¢¥í¥Ü¥Ã¥È¤¬Æ°¤¤¤Æ¤âÎ¥¤¹¤³¤È¤Ê¤¯¡¢°ÂÄꤷ¤¿¥ê¥ê¡¼¥¹¤ò¹Ô¤¨¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ **¼ÖÎؤÎÉôʬ [#ube8bec6] ¼ÖÎؤÎÉôʬ¤Ï°Ê²¼¤ÎÄ̤ꡣ #ref(2019a/Member/Mars/Mission2/B48B744B-0F1E-4967-8171-701D5167D9A2.jpeg) °ÂÄê´¶¤òÁý¤¹¤¿¤á¤Ë»ÍÎؤǤϤʤ¯ÆóÎؤˤ·¤¿¡£¸÷¥»¥ó¥µ¡¼¤Îº¸±¦¤Ë¤¢¤ë¹õ¤¤ËÀ¤Ï¡¢¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤¹¤ë¤¿¤á¤Ë¼è¤êÉÕ¤±¤¿¤â¤Î¤Ç¤¢¤ë¡£¼Ì¿¿¤Îº¸±ü¤ÎÉôʬ(¾å¤Î¼Ì¿¿¤Ç¤Ï¸«¤¨¤Æ¤¤¤Ê¤¤Éôʬ)¤Ë¤Ä¤¤¤Æ¤Ï¼¡¤Î¼Ì¿¿¤òÍѤ¤¤ÆÀâÌÀ¤¹¤ë¡£ #ref(2019a/Member/Mars/Mission2/03CC224D-FBB7-4ED6-A7A1-19C46E30BA7E.jpeg) ¼êÁ°¤Ë¤¢¤ë³¥¿§¤ÎT»ú¤Î¥Ñ¡¼¥Ä¤Ï¡¢¥í¥Ü¥Ã¥È¤¬¼ÖÎؤò¼´¤È¤·¤Æ¥·¡¼¥½¡¼¤Î¤è¤¦¤Ë¤Ê¤é¤Ê¤¤¤¿¤á¡¢¤Þ¤¿°ÂÄꤷ¤¿Æ°¤¤ò¹Ô¤¦¤¿¤á¤Ë¡¢¥Ð¥é¥ó¥¹¤ò¼è¤ì¤ë°ÌÃ֤˼è¤êÉÕ¤±¤¿¡£¤³¤ì¤Ë¤è¤ê¾¯¤Ê¤¤¥Ñ¡¼¥Ä¤Ç¥í¥Ü¥Ã¥È¤ò°ÂÄꤵ¤»¤¿¡£ *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#a9395b62] ¥×¥í¥°¥é¥à¤ÏÁ´ÂΤòÄ̤·¤ÆÀþ¤Î¶³¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¤è¤¦¤Ë¤·¤Æ¤¢¤ë(Àþ¤Î¶³¦¤ò¥È¥ì¡¼¥¹¤¹¤ëÊýË¡¤Ï¤³¤Î¸å¤ÎÀâÌÀ¤ËºÜ¤»¤ë)¡£¤½¤Î¤Ê¤«¤Ç¡¢¸òº¹ÅÀ¤ÎȽÊ̤·¤Æ»ß¤Þ¤ë¡¢»ß¤Þ¤Ã¤¿¤È¤³¤í¤«¤é¸òº¹ÅÀ¤ò±Û¤¨¤ë¥×¥í¥°¥é¥à¤ò¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤·¡¢¼ç¤Ë¤½¤Î2¼ïÎà¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òʤ٤ơ¢¥×¥í¥°¥é¥à¤ò¹½À®¤·¤Æ¤¤¤ë¡£ ¤Þ¤¿¡¢¥×¥í¥°¥é¥àÁ´ÂΤǰʲ¼¤Î¤è¤¦¤Ë¥Þ¥¯¥í¤òÄêµÁ¤·¤¿¡£ #define turn_left OnFwd(OUT_C);Off(OUT_A); #define turn_right OnFwd(OUT_A);Off(OUT_C); #define circling_left OnFwd(OUT_C);OnRev(OUT_A); #define circling_right OnRev(OUT_C);OnFwd(OUT_A); #define go_ahead OnFwd(OUT_AC); turn¤ÏÊÒÊý¤Î¼ÖÎؤò»ß¤á¡¢¤â¤¦ÊÒÊý¤Î¼ÖÎؤòÆ°¤«¤¹¤³¤È¤Ç¡¢left¤Ê¤éº¸²ó¤ê¡¢right¤Ê¤é±¦²ó¤ê¤Ë²óž¤¹¤ë¡£ circling¤ÏÆó¤Ä¤Î¼ÖÎؤò¤½¤ì¤¾¤ìÁ°Å¾¡¢¸åž¤µ¤»¤ë¤³¤È¤Ç¡¢Æó¤Ä¤Î¥¿¥¤¥ä¤ÎÃæÅÀ¤òÃæ¿´¤È¤·¤Æ¡¢left¤Ê¤éÈ¿»þ·×²ó¤ê¤ËÀû²ó¡¢right¤Ê¤é»þ·×²ó¤ê¤ËÀû²ó¤¹¤ë¡£ go_ahead¤Ïľ¿Ê¤¹¤ë¡£ **¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ [#kc273026] ¥µ¥Ö¥ë¡¼¥Á¥ó¤ÏÀþ¤Î¶³¦¤ò¥È¥ì¡¼¥¹¤·¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤â¤Î¤È¡¢¸òº¹ÅÀ¤Ç»ß¤Þ¤Ã¤¿¸å¡¢Àþ¤ò±Û¤¨¤ë¤â¤Î¡¢¤ÎÆó¤Ä¤ò»ÈÍѤ·¤¿¡£ ***Àþ¤Î¶³¦¤ò¥È¥ì¡¼¥¹¤·¡¢¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¥×¥í¥°¥é¥à [#z1a83114] ¹õÀþ¤Îº¸Â¦¤Î¶³¦¤ò»ÈÍѤ¹¤ë¡£¸÷¥»¥ó¥¿¡¼¤Î´¶ÃΤ¹¤ë¿§¤¬¡¢¿¿¤Ã¹õ¤Ê¤éº¸Àû²ó¡¢¤½¤ì¤è¤ê¾¯¤·Çò¤¯¤Ê¤Ã¤¿¤éº¸²óž¡¢¹õ¤ÈÇò¤ÎÃæ´Ö(¤³¤ì¤ò³¥¤È¤¹¤ë)¤Ê¤éľ¿Ê¡¢Çò¤è¤ê¤Î³¥¤Ê¤é±¦²óž¡¢¿¿¤ÃÇò¤Ê¤é±¦Àû²ó¡¢¤È¤Ê¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤òÁȤࡣ¤½¤·¤Æ¡¢º¸Àû²ó(¿¿¤Ã¹õ)¤Î³¤¯»þ´Ö¤Ë¤è¤Ã¤Æ¸òº¹ÅÀ¤ÎȽÊ̤ò¹Ô¤¤¡¢º¸Àû²ó¤¬¤¢¤ë°ìÄê»þ´Ö³¤¤¤¿¤é»ß¤Þ¤ë¤è¤¦¤Ë¤¹¤ë¡£ ¤Þ¤¿while¤ò»È¤¦¤³¤È¤Ç¡¢¸òº¹ÅÀ¤Þ¤Ç¤Ï¥È¥ì¡¼¥¹¤·Â³¤±¤ë¤³¤È¤¬½ÐÍè¤ë¡£ Timer(0)¤Ç¡¢¥°¥í¡¼¥Ð¥ëÊÑ¿ôt¤ò»È¤Ã¤Æ¡¢º¸Àû²ó(¿¿¤Ã¹õ)¤¬Â³¤¤¤¿»þ´Ö¤ò¬¤ë¡£º¸Àû²ó°Ê³°¤Î»Í¤Ä¤ÎµóÆ°¤Ë¤ÏClearTimer(0);¤òÆþ¤ì¤ë¤³¤È¤Çº¸Àû²ó¤Î»þ´Ö¤À¤±¤ò·×¬¤·¤Æ¤¤¤ë¡£ ¼ÂºÝ¤Ë¸÷¥»¥ó¥µ¡¼¤ò»È¤Ã¤ÆÃͤò¬Äꤷ¡¢¥×¥í¥°¥é¥à¤Ë¤·¤¿¤â¤Î¤¬²¼¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¥°¥í¡¼¥Ð¥ëÊÑ¿ôt¤Ï¥×¥í¥°¥é¥àËÁƬ¤Ë¡¢int t;¤Ç»ØÄꤹ¤ë¡£t¤òÊѤ¨¤ë¤³¤È¤Ç¡¢¸òº¹ÅÀȽÊ̤λþ´Ö¤ò¤½¤ÎÅÔÅÙÊѤ¨¤ë¤³¤È¤¬½ÐÍè¤ë¡£ sub follow_line() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while((FastTimer(0)<t)){ if(SENSOR_2<40){circling_left;} else if(SENSOR_2<43){turn_left;ClearTimer(0);} else if(SENSOR_2<48){go_ahead;ClearTimer(0);} else if(SENSOR_2<50){turn_right;ClearTimer(0);} else if(SENSOR_2<55){circling_right;ClearTimer(0);} } Off(OUT_AC); } ¤¿¤À¤·¡¢¼ÂºÝ¤ËÆ°¤«¤·¤¿¥×¥í¥°¥é¥à¤Ï¡¢ÂçÉôʬ¤Ï»÷¤Æ¤¤¤ë¤¬¡¢¾å¤Î¤â¤Î¤Ç¤Ï¤Ê¤¤¡£¾å¤Î¤â¤Î¤ò»È¤ï¤Ê¤«¤Ã¤¿Íýͳ¤ä¡¢¼ÂºÝ¤Ë»È¤Ã¤¿¥×¥í¥°¥é¥à¤Ï¼¡¤ÇÀâÌÀ¤¹¤ë¡£ sub follow_line1() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0);ClearTimer(1); while((FastTimer(0)<t1)&&(FastTimer(1)<t2)){ if(SENSOR_2<40){circling_left;} else if(SENSOR_2<43){turn_left;ClearTimer(0);} else if(SENSOR_2<48){go_ahead;ClearTimer(0);} else if(SENSOR_2<50){turn_right;ClearTimer(0);} else if(SENSOR_2<55){circling_right;ClearTimer(0);} } Off(OUT_AC); } sub follow_line2() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0);ClearTimer(1); while((FastTimer(0)<t1)||(FastTimer(1)<t2)){ if(SENSOR_2<41){circling_left;} else if(SENSOR_2<43){turn_left;ClearTimer(0);} else if(SENSOR_2<48){go_ahead;ClearTimer(0);} else if(SENSOR_2<55){circling_right;ClearTimer(0);} } Off(OUT_AC); } ¼ÂºÝ¤Ë¤Ï¡¢follow_line1¤Èfollow_line2¤È¤¤¤¦Æó¤Ä¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ò¾ì¹ç¤Ë±þ¤¸¤Æ»È¤¤Ê¬¤±¤Æ¤¿¡£ 1¤È2¤Î°ã¤¤¤Ïwhile¤ÎÆó¤Ä¤Î¾ò·ï¤¬Ž¢¤«¤ÄŽ£¤«Ž¢¤Þ¤¿¤ÏŽ£¤«¤Î°ã¤¤¤À¤±¤Ç¤¢¤ë¡£ ¤³¤ÎÆó¤Ä¤Ëʬ¤±¤¿Íýͳ¤Ï¡¢¸òº¹ÅÀ¤Ç¤Ï¤Ê¤¯¤Æ¤â»ß¤Þ¤Ã¤ÆÍߤ·¤¤ÅÀ(¥³¡¼¥¹¾å¤ÎÅÀL¤ä¡¢ÅÀL¤«¤é¸þ¤«¤¦»þ¤ÎÅÀK)¡¢¸òº¹ÅÀ¤Ç¤â»ß¤Þ¤Ã¤ÆÍߤ·¤¯¤Ê¤¤ÅÀ(¥³¡¼¥¹¾å¤ÎÅÀE¤äÅÀF)¡¢¸òº¹ÅÀ¤Î»ß¤Þ¤êÊý¤Ë¤è¤Ã¤Æ¡¢¸òº¹ÅÀ¤Ç¤Ê¤¯¤Æ¤â»ß¤Þ¤Ã¤Æ¤·¤Þ¤¦²Õ½ê(ÅÀI¤«¤éÅÀH¤Ë¸þ¤«¤¦¤È¤³¤í¤Ê¤É)¤¬Â¸ºß¤·¡¢¤½¤³¤â´Þ¤á¤ÆÁ´¤Æ2¤Ä¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ÇÀ©¸æ¤·¤¿¤¤¤È»×¤Ã¤¿¤«¤é¤Ç¤¢¤ë¡£ follow_line1¤ò»È¤¨¤Ð¡¢¸òº¹ÅÀ½Ð¤Ê¤¯¤Æ¤â»ß¤á¤ë¤³¤È¤¬½ÐÍè¤ë¡£ follow_line1¤ò»È¤¨¤Ð¡¢¸òº¹ÅÀ¤Ç¤Ï¤Ê¤¤¤È¤³¤í¤Ç¤â»ß¤á¤ë¤³¤È¤¬½ÐÍè¤ë¡£ follow_line2¤ò»È¤¨¤Ð¡¢¸òº¹ÅÀ¤Ç¤â»ß¤Þ¤é¤Ê¤¯¤¹¤ë¤³¤È¤¬½ÐÍè¤ë¡£ follow_Line1¤âfollow_line2¤âÆó¤ÄÌܤΥ¿¥¤¥Þ¡¼¤Ç¤¢¤ëTimer(1)¤ò»È¤¦¡£ Æó¤Ä¤Î¥°¥í¡¼¥Ð¥ëÊÑ¿ô¤Ï¤½¤ì¤¾¤ì¡¢int t1;¤Èint t2;¤Ç»ØÄꤹ¤ë¡£t1¤Ë¤Ï¸òº¹ÅÀȽÊ̤λþ´Ö¡¢t2¤Ç¤Ï¤½¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤¬»Ï¤Þ¤Ã¤Æ¤«¤é¤Î»þ´Ö¤òÆþ¤ì¤ë¡£ Timer(1)¤òɬÍפȤ·¤Ê¤¤²áÄø¤Ç¤Ï¡¢follow_line2¤ò»È¤¤¡¢t2=0¤Ë¤¹¤ì¤Ð¡¢¸òº¹ÅÀ¤òȽÊ̤·»ß¤Þ¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¤È¤Ê¤ê¡¢¥×¥í¥°¥é¥à¤ò½ÐÍè¤ë¤À¤±»ë³ÐŪ¤ËȽÊ̽ÐÍè¤ë¤è¤¦¤Ë¤·¤¿¡£ ***¸òº¹ÅÀ¤Ç»ß¤Þ¤Ã¤¿¸å¡¢Àþ¤ò±Û¤¨¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#v560f00e] ¤³¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤âÆó¤Ä»ÈÍѤ·¤¿¡£»ÈÍѤ·¤¿Æó¤Ä¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï°Ê²¼¤ÎÄ̤ꡣ sub cross_line1() { SetSensor(SENSOR_2,SENSOR_LIGHT); while(SENSOR_2<48) { go_ahead; } Off(OUT_AC);Wait(100); while(SENSOR_2>47) { turn_right; } Off(OUT_AC); } sub cross_line2() { SetSensor(SENSOR_2,SENSOR_LIGHT); while(SENSOR_2<48) { go_ahead; } Off(OUT_AC);Wait(100); while(SENSOR_2>47) { circling_right; } Off(OUT_AC); } Æó¤Ä¤Î°ã¤¤¤Ï¡¢¹õÀþ¤ò±Û¤¨¡¢²óž¤¹¤ë»þ¤Ë¡¢±¦²óž¤¹¤ë¤«¡¢±¦Àû²ó¤¹¤ë¤«¤Î°ã¤¤¤À¤±¤Ç¤¢¤ë¡£´ðËÜŪ¤Ë¤Ïcross_line1¤ò»È¤¦¡£ ¤·¤«¤·¡¢ÅÀH¤äÅÀI¤Ç»ß¤Þ¤Ã¤¿¸å¤Ëcross_line1¤ò»È¤¦¤È¡¢Â¾¤Î¹õÀþ¤òª¤¨¤Æ¤·¤Þ¤¦¤³¤È¤È¡¢¿Ê¤ß¤¹¤®¤Æ¸òº¹ÅÀ¤Ç¤â»ß¤Þ¤é¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤¿¤á¤Ç¤¢¤ë¡£ Á°Ê¸¤ÎŽ¢¿Ê¤ß¤¹¤®¤Æ»ß¤Þ¤é¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¦Ž£¾ì¹ç¤È¤Ï¤É¤¦¤¤¤¦¾ì¹ç¤Ê¤Î¤«¡¢¤ï¤«¤ê¤Å¤é¤¤¤¿¤áÀâÌÀ¤¹¤ë¡£ ¤³¤Î¾õ¶·¤Ï¼ç¤ËÅÀI¤Ç»ß¤Þ¤ê¡¢±Û¤¨¤¿¸å¤Ëµ¯¤³¤ë¡£¤Þ¤ºÅÀJ¤«¤éÅÀ I¤Ë¸þ¤«¤¦»þ¤Ë¡¢ÅÀI¤ËÅþ㤷¸òº¹ÅÀ¤òȽÊ̤·¤Æ¡¢¥í¥Ü¥Ã¥È¤¬»ß¤Þ¤ë¡£¤½¤Î¸å¡¢¹õÀþ¤¬ÅÓÀÚ¤ì¤ë¤Þ¤Çľ¿Ê¤¹¤ë¡£¤³¤³¤Ç±¦²óž¤·¤Æ¤·¤Þ¤¦¤È¡¢ÅÀH¤Ë¤«¤Ê¤ê¶á¤¤ÅÀ¤Çfollow_line2¤ò»Ï¤á¤Æ¤·¤Þ¤¦»þ¤¬¤¢¤ë¡£¤³¤Î»þ¡¢³ÑÅÙ¤¬¾®¤µ¤¤¤¿¤á¤Ë¡¢¸òº¹ÅÀ¤ÈȽÊ̤·¤Ê¤¤»öÂÖ¤¬È¯À¸¤·¡¢¥³¡¼¥¹¤«¤é³°¤ì¤Æ¡¢ÅÀH¤«¤éÅÀC¤Ø¸þ¤«¤Ã¤Æ¤·¤Þ¤¦¡£Ž¢¿Ê¤ß¤¹¤®¤Æ»ß¤Þ¤é¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¦Ž£¤È¤Ï¤³¤Î¸½¾Ý¤Î¤³¤È¤Ç¤¢¤ë¡£ ¤Ç¤Ï¤³¤ÎÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¸òº¹ÅÀ¤òȽÊ̤¹¤ë»þ´Ö¤òû¤¯¤¹¤ì¤Ð¤¤¤¤¤È»×¤¦¤«¤â¤·¤ì¤Ê¤¤¤¬¡¢Ã»¤¯¤¹¤ë¤Èº£Å٤϶³¦¤ò¥È¥ì¡¼¥¹¤·¤Ê¤¯¤Ê¤ë¡£¾å¼ê¤¯¤¤¤¯»þ´Ö¤òõ¤¹¤Î¤¬º¤Æñ¤Ç¤¢¤ë¤¿¤á¡¢cross_line2¤òƳÆþ¤¹¤ë¤³¤È¤Ç¤½¤ÎÌäÂê¤ò²ò·è¤·¤¿¡£ ¤½¤·¤Æ¤µ¤é¤Ë¡¢cross_line2¤ò»È¤¦¤È¡¢º£Å٤ϹõÀþ¤ËÂФ·¤Æľ³Ñ¤Ë¶á¤¤³ÑÅÙ¤«¤éfollow_line¤ò»Ï¤á¤ë»þ¤¬¤¢¤ê¡¢¸òº¹ÅÀ¤Ç¤â¤Ê¤¤¤Î¤Ë»ß¤Þ¤Ã¤Æ¤·¤Þ¤¦¡¢¤È¤¤¤¦ÌäÂ꤬ȯÀ¸¤¹¤ë¡£¤³¤ÎÌäÂê¤Ï¡¢follow_line2¤Ît2¤òÀßÄꤹ¤ë¤³¤È¤Ç¡¢Ä̾ï¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë½ê¤Ç¤â¡¢t2¤Ç»ØÄꤷ¤¿»þ´Ö¤Î´Ö¤Ï¡¢»ß¤Þ¤ë¤³¤È¤Ê¤¯¶³¦¤ò¥È¥ì¡¼¥¹¤·Â³¤±¤ë¤¿¤á¡¢²ò·è½ÐÍ褿¡£ follow_line¤âcross_line¤âÆó¤ÄƳÆþ¤¹¤ë¤³¤È¤Ç¡¢¤³¤Î¤è¤¦¤ÊÌäÂê¤òÁ´¤Æ²ò·è¤¹¤ë¤³¤È¤¬½ÐÍ褿¡£ *¼ÂºÝ¤Ë»ÈÍѤ·¤¿¥×¥í¥°¥é¥à(Á´ÂÎ) [#o32aa88a] ºÇ½ªÅª¤Ë»ÈÍѤ·¤¿¤Î¤Ï°Ê²¼¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤¿¤À¤·¡¢¤³¤Î¥Ú¡¼¥¸¤ÎŽ¢¥×¥í¥°¥é¥à¤ÎÀâÌÀŽ£¤Ç´û¤ËÀâÌÀ¤·¤Æ¤¤¤ë¡¢¥Þ¥¯¥í¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¡¢ÊÑ¿ô¤ÎÄêµÁ¤Ë¤Ä¤¤¤Æ¤Ï¾Êά¤·¡¢¥á¥¤¥ó¥×¥í¥°¥é¥à¤Î¤ß½ñ¤¯¡£ task main() { SetPower(OUT_AC,4); go_ahead;Wait(70);Off(OUT_AC);// MÅþã t1=15;t2=700;follow_line2();// KÅþã cross_line1();// K±Û¤¨ t1=10000;t2=100;follow_line1();// LÅþã OnRev(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ¥Ô¥ó¥Ý¥ó¶ÌÄϤà t1=25;t2=400;follow_line1();Wait(100);// KÅþã circling_right;Wait(40);Off(OUT_AC);// ¡ t1=15;t2=0;follow_line2();// JÅþã t1=10;t2=150;follow_line2();// IÅþã cross_line2();// I±Û¤¨ t1=10;t2=150;follow_line2();// HÅþã cross_line2();// H±Û¤¨ t1=15;t2=100;follow_line2();// GÅþã t1=20;t2=300;follow_line2();// DÅþã cross_line1();// D±Û¤¨ t1=20;t2=0;follow_line2();// CÅþã cross_line1();// C±Û¤¨ t1=20;t2=0;follow_line2();// BÅþã circling_right;Wait(10);Off(OUT_B);// ¥í¥Ü¥Ã¥È¤Î³ÑÅÙ¤òÄ´Àá OnFwd(OUT_B);Wait(50);Off(OUT_B);// ¥Ô¥ó¥Ý¥ó¶Ì¥ê¥ê¡¼¥¹ go_ahead;Wait(50);Off(OUT_AC);// AÅþã } Ž¢(¥¢¥ë¥Õ¥¡¥Ù¥Ã¥È)Åþ㎣¤Ï¡¢ÅÀA°Ê³°¤Ï¤½¤ÎÅÀ¤Ç»ß¤Þ¤Ã¤¿¤³¤È¤ò¼¨¤·¡¢ÅÀA¤Ï¡¢¥³¡¼¥¹¤ÎA¤ÎÎΰè¤ËÅþ㤷¤¿¤³¤È¤ò¼¨¤·¤Æ¤¤¤ë¡£¤Þ¤¿¡¢Ž¢(¥¢¥ë¥Õ¥¡¥Ù¥Ã¥È)±Û¤¨Ž£¤Ï¡¢¤½¤Î¸òº¹ÅÀ¤ò±Û¤¨¤¿¤³¤È¤ò¼¨¤·¤Æ¤¤¤ë¡£¤Þ¤¿¡¢¡¤È¡¢EÅþã¤ÈFÅþ㤬¤Ê¤¤¤³¤È¡¢¤½¤ÎÆó¤Ä¤Ë¤Ä¤¤¤ÆÀâÌÀ¤¹¤ë¡£ ¡¤Ë¤Ä¤¤¤ÆÀâÌÀ¤¹¤ë¤¬¡¢¤½¤ÎÁ°¤Ë¡¤Î¤¹¤°¾å¤ÎKÅþã¤Ë¤Ä¤¤¤ÆÀâÌÀ¤¹¤ë¡£¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤó¤À¸å¤Ï¡¢»þ´Ö¤ò¬¤Ã¤ÆÅÀK¤Ç»ß¤á¤Æ¤¤¤ë¤¿¤á¡¢ÅÀKÉÕ¶á¤Ç»ß¤Þ¤ë¤â¤Î¤Î¡¢ËèÅÙÀµ³Î¤Ë¤Ï»ß¤Þ¤ì¤Ê¤«¤Ã¤¿¡£¤½¤ì¤òƧ¤Þ¤¨¤¿¾å¤Ç¡¤Ë¤Ä¤¤¤Æ¡£¥Ð¥é¤Ä¤¤¤Æ¤¤¤Æ¤âËèÅÙ¥³¡¼¥¹¤ò¥È¥ì¡¼¥¹¤¹¤ë¤¿¤á¤Ë¡¢¤³¤³¤ÎÉôʬ¤À¤±¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤ò»È¤ï¤Ê¤«¤Ã¤¿¡£ÅÀKÉÕ¶á¤Ç»ß¤Þ¤Ã¤¿¸å¡¢Àû²ó¤·¡¢¼¡¤Îfollow_line2¤ò»Ï¤á¤ë¤³¤È¤Ç¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë¤è¤¦¤Ë¤·¤¿¡£ EÅþã¤ÈFÅþ㤬¤Ê¤¤¤³¤È¤Ë¤Ä¤¤¤ÆÀâÌÀ¤¹¤ë¡£ÅÀG¤«¤éÅÀF¡¢ÅÀE¡¢ÅÀD¤Ë½ç¤Ë¸þ¤«¤¦ºÝ¤Ë¡¢¥×¥í¥°¥é¥à¤Ë¤¢¤ëÄ̤ꡢfollow_line2¤ò»È¤¤¡¢t2¤òÅÀE¤ò¶Ê¤¬¤ê¤¤Ã¤¿¸å¤«¤é¡¢ÅÀD¤ËÅþ㤹¤ëÁ°Ëø¤Î´Ö¤Î»þ´Ö¤ËÄ´À°¤·¤Æ¤ª¤±¤Ð¡¢ÅÀE¡¢ÅÀF¤Ï¸òº¹ÅÀ¤ÈƱ¤¸·Á¤Ç¤â»ß¤Þ¤ë¤³¤È¤Ê¤¯¡¢¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤¬½ÐÍè¤ë¡£¤Ê¤Î¤Ç¥×¥í¥°¥é¥àÃæ¤ËÅÀE¤ÈÅÀF¤¬Åо줷¤Ê¤¤¤Î¤Ç¤¢¤ë¡£ *È¿¾Ê [#ked5b51c] **¥×¥í¥°¥é¥à¤ÎÈ¿¾Ê [#t430a2d7] ÅÀA(ºÇ½é)¢ªÅÀJ¡¢ÅÀJ¢ªÅÀA(ºÇ¸å)¤Î¤½¤ì¤¾¤ì¤Ï¾å¼ê¤¯¤¤¤Ã¤¿¤¬¡¢Æó¤Ä¤ò·Ò¤²¤¿»þ¤Ë¤Ï¾å¼ê¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£¸¶°ø¤òõ¤Ã¤¿¤¬¤Ê¤«¤Ê¤«¸«¤Ä¤«¤é¤Ê¤«¤Ã¤¿¤¿¤á¡¢ºÃÀÞ¤·¤¿¡£Á´¤Æ¤ò·Ò¤²¤ë¤Î¤Ç¤Ï¤Ê¤¯¡¢Î㤨¤ÐÅÀL¢ªÅÀD¤Ê¤É¤Ç¡¢Æó¤Ä¤ÎÀ®¸ù¤·¤¿¤â¤Î¤Î·Ò¤®¤Î³Îǧ¤ò¤¹¤ì¤Ð¤è¤«¤Ã¤¿¡£ **¥í¥Ü¥Ã¥È¤ÎÈ¿¾Ê [#k75fdd25] ¥í¥Ü¥Ã¥È¤Ï»ÍÎؤ«¤éÆóÎؤËÊѤ¨¤¿¤³¤È¤Ç¤Ò¤È¤Ä¤Ò¤È¤Ä¤ÎµóÆ°¤¬À©¸æ¤·¤ä¤¹¤¯¤Ê¤Ã¤¿¡£¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ¤Ï¤Ê¤«¤Ê¤«¾å¼ê¤¯ºî¤ì¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«¤È»×¤¦¡£