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**»ÈÍѤ·¤¿ÄêµÁ [#dea9a98f]
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 #define MOVE_TIME 250   ///¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ïÍѤλþ´Ö(¾ÜºÙ¤Ï¸å½Ò)
 #define SPEED_H 35   ///¥¹¥Ô¡¼¥É¤ÎÃÍ(Åý°ì¤¹¤ë¤³¤È¤Ç´Ê°×²½)
 #define MOVE_TIME 250   //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ïÍѤλþ´Ö(¾ÜºÙ¤Ï¸å½Ò)
 #define SPEED_H 35   //¥¹¥Ô¡¼¥É¤ÎÃÍ(Åý°ì¤¹¤ë¤³¤È¤Ç´Ê°×²½)
 #define SPEED_L 20
 #define B1 43   ///ÌÀÅÙ¤ÎÃÍ(¾ÜºÙ¤Ï¸å½Ò)
 #define B1 43   //ÌÀÅÙ¤ÎÃÍ(¾ÜºÙ¤Ï¸å½Ò)
 #define G 53
 #define W1 59
 #define W2 61

-OnRL~
¤³¤ÎÄêµÁ¤ÏOnRL(x,y)¤È¤·¤¿»þ¡¢x=(¥â¡¼¥¿¡¼B¤Î®¤µ)y=(¥â¡¼¥¿¡¼C¤Î®¤µ)¤òɽ¤¹¡£~
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 #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
-Á°¸å±¿Æ°¡¢Êý¸þž´¹~
--Á°¿Ê
 #define go_straight OnRL(SPEED_H,SPEED_H);
--Àû²ó(µÞ·ã¤ÊÊý¸þž´¹)
 #define rot_r OnRL(-SPEED_L,SPEED_L);   ///±¦Àû²ó
 #define rot_l OnRL(SPEED_L,-SPEED_L);   ///º¸Àû²ó
 #define rot_r OnRL(-SPEED_L,SPEED_L);   //±¦Àû²ó
 #define rot_l OnRL(SPEED_L,-SPEED_L);   //º¸Àû²ó
--²óž(´Ë¤ä¤«¤ÊÊý¸þž´¹)
 #define turn_r OnRL(0,SPEED_L);   ///±¦²óž
 #define turn_l OnRL(SPEED_L,0);   ///º¸²óž
 #define turn_r OnRL(0,SPEED_L);   //±¦²óž
 #define turn_l OnRL(SPEED_L,0);   //º¸²óž
--¥¢¡¼¥à¤Î³«ÊÄ
 #define arm_open OnRev(OUT_A,20);Wait(1000);Off(OUT_A);   ///¥¢¡¼¥à¤ò³«¤¯
 #define arm_close OnFwd(OUT_A,30);Wait(600);Off(OUT_A);   ///¥¢¡¼¥à¤òÊĤ¸¤ë
 #define arm_open OnRev(OUT_A,20);Wait(1000);Off(OUT_A);   //¥¢¡¼¥à¤ò³«¤¯
 #define arm_close OnFwd(OUT_A,30);Wait(600);Off(OUT_A);   //¥¢¡¼¥à¤òÊĤ¸¤ë
**sub¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ [#adc6e636]
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-¥é¥¤¥ó¥È¥ì¡¼¥¹[follow_line]~
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¾ò·ï¤Ë±è¤Ã¤Æ»ØÄꤷ¤¿Æ°ºî¤ò¤·¤Ê¤¬¤éÀþ¾å¤òÆ°¤Æ¤¤¤¯¤â¤Î¤À¡£~
°Ê²¼¤¬¤½¤Î´Ø¿ô¤Ç¤¢¤ë¡£~
--º¸Â¦¤ÎľÀþ¥È¥ì¡¼¥¹
 sub follow_line_l()
 {
     SetSensorLight(S1);
     long t0=CurrentTick();
     while(CurrentTick()-t0<MOVE_TIME){
         if(SENSOR_1>W1){
             rot_r;t0=CurrentTick();
         }
         else if(SENSOR_1>W2){
             turn_r;t0=CurrentTick();
         }
         else if(SENSOR_1>G){
             go_straight;t0=CurrentTick();
         }
         else if(SENSOR_1>B1){
             turn_l;t0=CurrentTick();
         }
         else{
             rot_l;
         }
     }
 } 
--±¦Â¦¤ÎľÀþ¥È¥ì¡¼¥¹ 
 sub follow_line_r()
 {
     SetSensorLight(S1);
     long t0=CurrentTick();
     while(CurrentTick()-t0<MOVE_TIME){
         if(SENSOR_1>W1){
             rot_l;t0=CurrentTick();
         }
         else if(SENSOR_1>W2){
             turn_l;t0=CurrentTick();
         }
         else if(SENSOR_1>G){
             go_straight;t0=CurrentTick();
         }
         else if(SENSOR_1>B1){
             turn_r;t0=CurrentTick();
         }
         else{
             rot_r;
         }
     } 
 }

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¡¡¡¡¤·¤«¤·¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬45°Ê²¼¤Î»þ¡Ê¹õ¤Î»þ¡Ë¡¢CurrentTick¤Ï¥ê¥»¥Ã¥È¤µ¤ì¤Ê¤¤¡£~
¡¡¡¡¤³¤Î¾õÂÖ¤¬°ìÄê¤Î»þ´Ö¡ÊMOVE_TIME¡Ë³¤¯¤³¤È¤Ç¡¢¸òº¹ÅÀ¤Ç¤¢¤ë¤ÈȽÃǤ·¡¢~
¡¡¡¡¤³¤Î¥ë¡¼¥×¤«¤éÈ´¤±¡¢»ß¤Þ¤ë¹½Â¤¤È¤Ê¤Ã¤Æ¤¤¤ë¡£~

-¸òº¹ÅÀ¤Ç¤ÎÆ°ºî~

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--¸òº¹ÅÀ¤ò´Ë¤ä¤«¤Ëľ¿Ê[cross_line_1]~
 sub cross_line_1()
 {
     while(SENSOR_1<W1){
         go_straight;
     }
     while(SENSOR_1>G){
         turn_l;
     }
     Off(OUT_BC);
 }  
--¸òº¹ÅÀ¤òµÞ·ã¤Ëľ¿Ê[cross_line_2]~
 sub cross_line_2()
 {
     while(SENSOR_1<W1){
         go_straight;
     }
     while(SENSOR_1>G){
         rot_l;
     }
     Off(OUT_BC);
 }
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--¸òº¹ÅÀ¤òľ³Ñ¤Ë¶Ê¤¬¤ë[follow_line_r]~

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-¸òº¹ÅÀ¤Ç¤ÎÄä»ß[short_break]~

¤³¤Î¥ß¥Ã¥·¥ç¥ó¤Ç¤Ï¡Ö¸òº¹ÅÀ¤Ç¤Ï1ÉôÖÄä»ß¤·¡¢Ãú»úÏ©¤Ç¤Ïľ³ÑÊý¸þ¤Ë¿ÊÆþ¤¹¤ë»þ¤Î¤ß°ì»þÄä»ß¡×~
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 sub short_break()
 {
     Off(OUT_BC);
     Wait(1000);
 }


-µå¤ò¥­¥ã¥Ã¥Á¤¹¤ë[ball_catch]~

¥³¡¼¥¹¤ÎKÃÏÅÀ¤«¤éµå¤ò¥­¥ã¥Ã¥Á¤¹¤ë¤Þ¤Ç¤Ï¼êÆ°¤Î¥×¥í¥°¥é¥ß¥ó¥°¤òºÎÍѤ·¤Æ¤¤¤ë¡£~
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 sub ball_catch()
 {
     rot_l;                   ///º¸Àû²ó
     rot_l;                   //º¸Àû²ó
     Wait(350);               
     Off(OUT_BC); 
     go_straight;             ///Á°¿Ê
     go_straight;             //Á°¿Ê
     Wait(2000);
     Off(OUT_BC);
     OnRL(-SPEED_L,0);        ///±¦¼ÖÎؤò¸åž¤µ¤»±¦²óž
     OnRL(-SPEED_L,0);        //±¦¼ÖÎؤò¸åž¤µ¤»±¦²óž
     Wait(1000);
     Off(OUT_B);
     OnRL(-SPEED_L,-SPEED_L); ///¸åÂà
     OnRL(-SPEED_L,-SPEED_L); //¸åÂà
     Wait(1500);
     Off(OUT_BC);
     arm_close;               ///¥¢¡¼¥à¤òÊĤ¸¤ë
     arm_close;               //¥¢¡¼¥à¤òÊĤ¸¤ë
     rot_r;
     Wait(1300);
     go_straight;             ///Á°¿Ê
     go_straight;             //Á°¿Ê
     Wait(800);
     Off(OUT_BC);
 }


-µå¤ò¥·¥å¡¼¥È¡¢¼ÖÂΤ⥴¡¼¥ë[shoot_goal]~

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¥·¥å¡¼¥È¤Î»ÅÊý¤Ë¤Ä¤¤¤Æ¤Ï [[#o909993d]] ¤ò»²¾È¡£~

 sub shoot_goal()
 {
     rot_l;      ///º¸Àû²ó
     rot_l;      //º¸Àû²ó
     Wait(300);
     Off(OUT_BC);
     go_straight;///Á°¿Ê(¥´¡¼¥ë¤ËÂФ·¤Æ²£¸þ¤­¤Ë¤Ê¤ë)
     go_straight;//Á°¿Ê(¥´¡¼¥ë¤ËÂФ·¤Æ²£¸þ¤­¤Ë¤Ê¤ë)
     Wait(1300);
     arm_open;   ///¥¢¡¼¥à¤ò³«¤¯
     rot_l;      ///º¸Àû²ó(Æ°ºî¤Ë¹ç¤ï¤»¤Æµå¤ò¥·¥å¡¼¥È)
     arm_open;   //¥¢¡¼¥à¤ò³«¤¯
     rot_l;      //º¸Àû²ó(Æ°ºî¤Ë¹ç¤ï¤»¤Æµå¤ò¥·¥å¡¼¥È)
     Wait(500);
     Off(OUT_BC);
     go_straight;///Á°¿Ê(¼ÖÂΤ¬¥´¡¼¥ë)
     go_straight;//Á°¿Ê(¼ÖÂΤ¬¥´¡¼¥ë)
     Wait(500);
     Off(OUT_BC);
 }

**¥á¥¤¥ó¥×¥í¥°¥é¥à [#m1a442bb]
°Ê¾å¤Î¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ò»ÈÍѤ·¤Æ¥í¥Ü¥Ã¥È¤¬¥¹¥¿¡¼¥È¤·¥Ü¡¼¥ë¥­¥ã¥Ã¥Á¸å~
¥·¥å¡¼¥È¤ò¤·¤Æ¥´¡¼¥ë¤¹¤ë¤Þ¤Ç¤ÎÆ°ºî¤Î¥×¥í¥°¥é¥ß¥ó¥°¤ò¤·¤Æ¤¤¤¯¡£~
°Ê²¼¤¬¥á¥¤¥ó¤Î¥×¥í¥°¥é¥ß¥ó¥°¤À¡£~
¡ö¥³¡¼¥¹ÃÏÅÀ¤Î̾Á°¤Ï [[#q0bf97ed]] ¤ò»²¾È¡£~

 task main()
 {
     go_straight;     ///¥¹¥¿¡¼¥È(A)¡ÁB
     go_straight;     //¥¹¥¿¡¼¥È(A)¡ÁB
     Wait(1000); 
     Off(OUT_BC);
     follow_line_r(); ///B¡ÁC(T»úÏ©)
     cross_line_1();  ///T»úϩľ¿Ê
     follow_line_r(); ///C¡ÁD(¸òº¹ÅÀ)
     short_break();   ///¸òº¹ÅÀ¤Î¤¿¤á°ì»þÄä»ß
     cross_line_1();  ///¸òº¹ÅÀľ¿Ê
     follow_line_r(); ///D¡ÁE
     follow_line_r(); //B¡ÁC(T»úÏ©)
     cross_line_1();  //T»úϩľ¿Ê
     follow_line_r(); //C¡ÁD(¸òº¹ÅÀ)
     short_break();   //¸òº¹ÅÀ¤Î¤¿¤á°ì»þÄä»ß
     cross_line_1();  //¸òº¹ÅÀľ¿Ê
     follow_line_r(); //D¡ÁE
     follow_line_r();
     follow_line_r(); ///E¡ÁF
     follow_line_r(); //E¡ÁF
     follow_line_r();
     follow_line_r(); ///F¡ÁH
     cross_line_2();  ///H(T»úϩľ¿Ê)
     follow_line_r(); ///H¡ÁI
     cross_line_2();  ///I(T»úϩľ¿Ê)
     follow_line_r(); ///I¡ÁJ
     follow_line_r(); ///J¡ÁK
     ball_catch();¡¡¡¡///K¡Áµå¥­¥ã¥Ã¥Á
     follow_line_l(); ///L¡ÁM
     shoot_goal();    ///M¡Áµå¥·¥å¡¼¥È¡Á¥´¡¼¥ë
     follow_line_r(); //F¡ÁH
     cross_line_2();  //H(T»úϩľ¿Ê)
     follow_line_r(); //H¡ÁI
     cross_line_2();  //I(T»úϩľ¿Ê)
     follow_line_r(); //I¡ÁJ
     follow_line_r(); //J¡ÁK
     ball_catch();¡¡¡¡//K¡Áµå¥­¥ã¥Ã¥Á
     follow_line_l(); //L¡ÁM
     shoot_goal();    //M¡Áµå¥·¥å¡¼¥È¡Á¥´¡¼¥ë
 }


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