[[2019a/Member]] *²ÝÂê¤Ë¤Ä¤¤¤Æ [#j84d3ca0] ¾Ü¤·¤¯¤Ï¥ê¥ó¥¯¤ò»²¾È2019a/Mission3 *¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#facc07ea] º£²ó¤Î¥í¥Ü¥Ã¥È¤Ï¡¤£²¤Ä¤ÎNXT¤òÄÌ¿®¤µ¤»¤ë¤³¤È¤Ç¥â¡¼¥¿¡¼¤ò£´¤Ä»ÈÍѤǤ¤ë¤è¤¦¤Ë¤·¡¤£²¤Ä¤ò°ÜÆ°ÍÑ¡¤£²¤Ä¤ò¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤¹¤ë¥¢¡¼¥àÍѤȤ¹¤ë¤³¤È¤Ç¥¹¥à¡¼¥º¤ËÆ°¤¯¤è¤¦¤Ë¹©Éפ·¤¿¡¥ Á´Âοޤϰʲ¼¤ÎÄ̤ê &ref(2019a/Member/Asahi/Mission3/IMG_1866.JPG,50%,¡µ¡¹½); &ref(2019a/Member/Asahi/Mission3/IMG_1864.JPG,50%,¡µ¡¹½); **¥»¥ó¥µ¡¼¤Î¼è¤êÉÕ¤±°ÌÃ֤ˤĤ¤¤Æ [#sb6dc43f] ¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¤ëºÝ¡¤¥¿¥¤¥ä¤«¤éÎ¥¤ì¤¹¤®¤Ê¤¤¤è¤¦¤Ë¤·¤¿¡¥¼´¤«¤é±ó¤¹¤®¤ë¤È¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦ºÝ¡¤»Ù¾ã¤¬½Ð¤ë¤«¤é¤À¡¥¤µ¤é¤Ë¡¤¥»¥ó¥µ¡¼¤¬¤·¤Ã¤«¤ê¤Èǧ¼±¤Ç¤¤ë¤è¤¦¤Ë¿âľ¤Ë¼è¤êÉÕ¤±¤¿¡¥ **¥¢¡¼¥à¤Ë¤Ä¤¤¤Æ [#y1753b87] º£²ó¤Ï¥Ü¡¼¥ë¤ò¤Ä¤«¤à¤¿¤á¤ÎÊýË¡¤È¤·¤Æ¡¤¥¢¡¼¥à¤òºÎÍѤ·¤¿¡¥£±¤Ä¤Î¥â¡¼¥¿¡¼¤ò¥¢¡¼¥à¤òÊĤ¸¤¿¤ê¡¤³«¤¤¤¿¤ê¤¹¤ë¤³¤È¤Ë»È¤¤¡¤¤â¤¦°ì¤Ä¤Î¥â¡¼¥¿¡¼¤Ç¥¢¡¼¥à¤Î¾å²¼¤òÄ´Àᤷ¤¿¡¥¤³¤Î»þ¡¤Â礤¤¥®¥¢¤È¾®¤µ¤¤¥®¥¢¤òÁȤ߹ç¤ï¤»¤ë¤³¤È¤Ë¤è¤Ã¤Æ¥¢¡¼¥à¤ò¾å¤²¤¿ºÝ¡¤¥¢¡¼¥à¼«ÂΤνŤµ¤Ç²¼¤¬¤ë¤È¤¤¤¦¤³¤È¤òËɤ¤¤À¡¥ *¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#i014699a] ¤³¤Î¥í¥Ü¥Ã¥È¤Ï¡¤£²¤Ä¤ÎNXT¡Ê¥Þ¥¹¥¿¡¼Â¦¤È¥¹¥ì¥¤¥Ö¦¡Ë¤ÇÄÌ¿®¤ò¹Ô¤¤¡¤¥Þ¥¹¥¿¡¼Â¦¤Ïµ¡ÂΤΰÜÆ°¡¤¥¹¥ì¥¤¥Ö¦¤Ï¥¢¡¼¥à¤Î³«ÊÄ¡¦¾å²¼¤ò¤½¤ì¤¾¤ìôÅö¤·¤Æ¤¤¤ë¡¥ **¥Þ¥¹¥¿¡¼¤Î¥×¥í¥°¥é¥à [#j6999681] ***ÄêµÁ [#tbc2f6b5] ¤Þ¤º¡¤°Ê²¼¤Î¤è¤¦¤ËÄêµÁ¤·¤¿¡¥ #define black 30 //´°Á´¤Ë¹õ¤Î¤È¤¤ÎÃÍ #define white 50 //´°Á´¤ËÇò¤Î¤È¤¤ÎÃÍ #define speedH 60 //®¤¤¥¹¥Ô¡¼¥É #define speedL 30 //ÃÙ¤¤¥¹¥Ô¡¼¥É #define speedM 20 //µÕ²óž¤È¤¤Î¥¹¥Ô¡¼¥É #define mae OnFwd(OUT_BC,speedH); //Á°¿Ê¤ÎÆ°ºî #define ushiro OnRev(OUT_BC,speedH); //¸åÂà¤ÎÆ°ºî #define turnRRR OnFwd(OUT_C,speedH);OnRev(OUT_B,speedM); //°ìÈÖ¥¥Ä¤¤±¦¶Ê¤¬¤ê #define turnLLL OnFwd(OUT_C,speedH);OnRev(OUT_C,speedM); //°ìÈÖ¥¥Ä¤¤º¸¶Ê¤¬¤ê #define turnRR OnFwd(OUT_C,speedH);Off(OUT_B); //±¦¶Ê¤¬¤ê #define turnLL OnFwd(OUT_B,speedH);Off(OUT_C); //º¸¶Ê¤¬¤ê #define turnR OnFwd(OUT_C,speedH);OnFwd(OUT_B,speedL); //´Ë¤á¤Î±¦¶Ê¤¬¤ê #define turnL OnFwd(OUT_B,speedH);OnFwd(OUT_C,speedL); //´Ë¤á¤Îº¸¶Ê¤¬¤ê #define step 1 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆ°ºî»þ´Ö #define jikan 100 //´°Á´¤Ë¹õ¤Çµï³¤±¤é¤ì¤ë»þ´Ö¤ÎºÇÂçÃ͡ʤ·¤¤¤ÃÍ¡Ë #define teishi Off(OUT_BC);Wait(300); //°ì»þÄä»ß #define CONN 1 //¥¹¥ì¥¤¥Ö¤ÎÈÖ¹æ #define SIGNAL1 11 //¥¹¥ì¥¤¥Ö¤ËÁ÷¤ë¿®¹æ¤ÎÈÖ¹æ #define SIGNAL2 12 //Ʊ¾å #define SIGNAL3 13 //Ʊ¾å #define SIGNAL4 14 //Ʊ¾å #define curveL OnFwd(OUT_B,20);OnRev(OUT_C,10); //º¸¤Ë²óž¤·¤Æ¥«¡¼¥Ö¤¹¤ëÆ°ºî ***ľÀþ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤È¥ë¡¼¥×¤«¤éÈ´¤±¤ë¡Ë¤Î¥µ¥Ö¥ë¡¼¥Á¥ó [#g929b9c4] ¸÷¥»¥ó¥µ¡¼¤¬»ØÄꤷ¤¿»þ´Ö°Ê¾å¡¤¹õ¤È¬Äꤷ¤¿¤é»ß¤Þ¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤µ¤ì¤Æ¤¤¤ë¡¥ void linetraceS() //´°Á´¤Ë¹õ¤¬jikan°Ê¾å¤À¤Ã¤¿¤é³°¤ì¤ë { long t0=0,t_black=0,t_max=jikan; t0=CurrentTick(); while(t_black<t_max){ //t_black¤¬t_max¤ÎÃͤè¤êÂ礤¯¤Ê¤Ã¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±¤ë if(SENSOR_3>white){ //´°Á´¤ËÇò¤Î¤È¤ turnRR; //±¦¶Ê¤¬¤ê } else if(SENSOR_3>white-5){ //Çò¤è¤ê¤Î³¥¿§¤Î¤È¤ turnR; //´Ë¤¤±¦¶Ê¤¬¤ê } else if(SENSOR_3>black+5){ //³¥¿§¤Î¤È¤ mae; //Á°¿Ê } else if(SENSOR_3>black){ //¹õ´ó¤ê¤Î³¥¿§¤Î¤È¤ turnL; //´Ë¤¤º¸¶Ê¤¬¤ê } else{ //´°Á´¤Ë¹õ¤Î¤È¤ turnLL; //º¸¶Ê¤¬¤ê t0=CurrentTick(); //¸½ºß»þ´Ö¤òt0¤È¤¹¤ë(»þ´Ö¤ò¬¤ê»Ï¤á¤ë) until((SENSOR_3<black+5)&&(SENSOR_3>black));//¹õ´ó¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤Ç¬¤ê³¤±¤ë t_black=CurrentTick()-t0; //¸½ºß»þ¹ï¤«¤ét0¤ÎÃͤò°ú¤¤¤¿¤â¤Î } Wait(step); } } ***¥«¡¼¥Ö¤Î¤È¤¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤È¥ë¡¼¥×¤«¤éÈ´¤±¤ë¡Ë¤Î¥µ¥Ö¥ë¡¼¥Á¥ó [#zf0d28b1] ´ðËÜŪ¤Ë¤ÏľÀþ¤Î»þ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤È»÷¤Æ¤¤¤ë¤¬¡¤¥«¡¼¥Ö¤Î»þ¤ËľÀþ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¹Ô¤¦¤È¶Ê¤¬¤ë¤Î¤¬¤¤Ä¤¹¤®¤Æ¾å¼ê¤¯¥é¥¤¥ó¥È¥ì¡¼¥¹½ÐÍè¤Ê¤«¤Ã¤¿¤Î¤Ç¡¤¶Ê¤¬¤ë¤È¤¤Ë¥¿¥¤¥ä¤ËµÕ²óž¤ò²Ã¤¨¤¿¤Î¤ò¤³¤Î»þ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¤·¤¿¡¥ void linetraceS() //´°Á´¤Ë¹õ¤¬jikan°Ê¾å¤À¤Ã¤¿¤é³°¤ì¤ë { long t0=0,t_black=0,t_max=jikan; t0=CurrentTick(); while(t_black<t_max){ //t_black¤¬t_max¤ÎÃͤè¤êÂ礤¯¤Ê¤Ã¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±¤ë if(SENSOR_3>white){ //´°Á´¤ËÇò¤Î¤È¤ turnRRR; //¥¥Ä¤¤±¦¶Ê¤¬¤ê } else if(SENSOR_3>white-5){ //Çò¤è¤ê¤Î³¥¿§¤Î¤È¤ turnRR; //±¦¶Ê¤¬¤ê } else if(SENSOR_3>black+5){ //³¥¿§¤Î¤È¤ mae; //Á°¿Ê } else if(SENSOR_3>black){ //¹õ´ó¤ê¤Î³¥¿§¤Î¤È¤ turnLL; //º¸¶Ê¤¬¤ê } else{ //´°Á´¤Ë¹õ¤Î¤È¤ turnLLL; //¥¥Ä¤¤º¸¶Ê¤¬¤ê t0=CurrentTick(); //¸½ºß»þ´Ö¤òt0¤È¤¹¤ë(»þ´Ö¤ò¬¤ê»Ï¤á¤ë) until((SENSOR_3<black+5)&&(SENSOR_3>black));//¹õ´ó¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤Ç¬¤ê³¤±¤ë t_black=CurrentTick()-t0; //¸½ºß»þ¹ï¤«¤ét0¤ÎÃͤò°ú¤¤¤¿¤â¤Î } Wait(step); } } ***¸òº¹ÅÀ¤òľ¿Ê¤·¤ÆÆÍÇˤ¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#o8048ad6] ¸òº¹ÅÀ¤Ç»ß¤Þ¤ê¡¥¤òÆÍÇˤ¹¤ë¤¿¤á¤Ë¡¤¤Þ¤ºÇò¤è¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¤·¤½¤Î¸å¹õ´ó¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤Ç±¦¶Ê¤¬¤ê¤ò³¤±¤ë¤È¤¤¤¦¥×¥í¥°¥é¥à¤òÁȤó¤À¡¥ void crossline() { mae; //Á°¿Ê until(SENSOR_3>white-5);//Çò¤è¤ê¤Î¥°¥ì¡¼¤Þ¤Ç turnRR; //±¦¶Ê¤¬¤ê until(SENSOR_3<black); //¹õ´ó¤ê¤Î¥°¥ì¡¼¤Þ¤Ç } ***¸òº¹ÅÀ¤ò¶Ê¤¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#x185dbc5] ¡¦±¦¤Ë¶Ê¤¬¤ë¤È¤¤Î¥µ¥Ö¥ë¡¼¥Á¥ó void Rcurve() { turnRRR; //¥¥Ä¤¤±¦¶Ê¤¬¤ê until(SENSOR_3>white); //´°Á´¤ËÇò¤Ë¤Ê¤ë¤Þ¤Ç } ¡¦º¸¤Ë¶Ê¤¬¤ë¤È¤¤Î¥µ¥Ö¥ë¡¼¥Á¥ó void Lcurve() { curveL; //º¸¶Ê¤¬¤ê until(SENSOR_3>white); //´°Á´¤ËÇò¤Ë¤Ê¤ë¤Þ¤Ç } ***²óž¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#a4669234] ¥³¡¼¥¹¤ÎL¡¦L'¤ÎÃÏÅÀ¤Ë¤ª¤¤¤Æ¡¤¥Ü¡¼¥ë¤òÄϤó¤À¤¢¤ÈÆ»¤ò°ú¤ÊÖ¤¹ºÝ²óž¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó void kaiten() { mae; Wait(900); OnFwd(OUT_C,20);OnRev(OUT_B,10); until(SENSOR_3<black+5); } ***¥Ü¡¼¥ë¤òÄϤࡦΥ¤¹ºÝ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¡Ê¥Þ¥¹¥¿¡¼Â¦¡Ë [#w18c5592] ¡¦¥Ü¡¼¥ë¤òÄϤàºÝ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó ÄϤàºÝ¥Þ¥¹¥¿¡¼¤È¥¹¥ì¥¤¥Ö¤Ç¤ä¤ê¼è¤ê¤¹¤ë¿®¹æ¤òmsg1¤È¤·¤Æ¤½¤³¤ËSIGNAL1(¤³¤³¤Ç¤Ï¥Ü¡¼¥ëÁ°¤Ë¤Ä¤¤¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ),SIGNAL2(¤³¤³¤Ç¤ÏÄϤàÆ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤òÂåÆþ¤·¡¤¤½¤ì¤òMAILBOX1¤òÄ̤·¤Æ¤ä¤ê¼è¤ê¤·¤Æ¤¤¤ë¡¥ void catch() { int msg1; //msg1¤òÄêµÁ¤¹¤ë SendRemoteNumber(CONN,MAILBOX1,SIGNAL1); //CONN(¤³¤³¤Ç¤Ï¥¹¥ì¥¤¥Ö£±)¤ËMAILX1¤òÄÌ ¤·¤ÆSIGNAL1(¤³¤³¤Ç¤Ï¥Ü¡¼¥ëÁ°¤Ë¤Ä¤¤¤¿ ¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤òÁ÷¿®¤¹¤ë while(msg1!=SIGNAL2){ //msg1¤ÎÃͤ¬SIGNAL2(¤³¤³¤Ç¤ÏÄϤàÆ°ºî¤¬ ½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤Ë¤Ê¤Ã¤¿ ¤é¥ë¡¼¥×¤òÈ´¤±¤ë ReceiveRemoteNumber(MAILBOX1,true,msg1); //MAILBOX1¤Ç¥¹¥ì¥¤¥Ö¤«¤é¿®¹æ¤ò¼õ¤±¼è¤ë Off(OUT_BC); //¥ë¡¼¥×¤Î´Ö¡ÊÄϤàÆ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤ò ÃΤ餻¤ë¿®¹æ¤¬¥¹¥ì¥¤¥Ö¤«¤éµ¢¤Ã¤Æ¤¯¤ë ¤Þ¤Ç¡Ëµ¡ÂΤòÄä»ß¤µ¤»¤ë } ¡¦¥Ü¡¼¥ë¤òÎ¥¤¹ºÝ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó Î¥¤¹ºÝ¥Þ¥¹¥¿¡¼¤È¥¹¥ì¥¤¥Ö¤Ç¤ä¤ê¼è¤ê¤¹¤ë¿®¹æ¤òmsg2¤È¤·¤Æ¤½¤³¤ËSIGNAL3(¤³¤³¤Ç¤Ï¥´¡¼¥ë¤ÎÈ¢¤ÎÁ°¤Ë¤Ä¤¤¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ),SIGNAL4(¤³¤³¤Ç¤Ï¥Ü¡¼¥ë¤òÎ¥¤¹Æ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤òÂåÆþ¤·¡¤¤½¤ì¤òMAILBOX2¤òÄ̤·¤Æ¤ä¤ê¼è¤ê¤·¤Æ¤¤¤ë¡¥ void release() { int msg2; //msg2¤òÄêµÁ¤¹¤ë SendRemoteNumber(CONN,MAILBOX2,SIGNAL3); //¥¹¥ì¥¤¥Ö¤ËMAILBOX2¤òÄ̤·¤ÆSIGNAL3(¤³ ¤³¤Ç¤Ï¥´¡¼¥ë¤ÎÈ¢¤ÎÁ°¤Ë¤Ä¤¤¤¿¤³¤È¤òÃÎ ¤é¤»¤ë¿®¹æ)¤òÁ÷¿®¤¹¤ë while(msg2!=SIGNAL4){ //msg2¤ÎÃͤ¬SIGNAL4(¤³¤³¤Ç¤Ï¥Ü¡¼¥ë¤òÎ¥ ¤¹Æ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤Ë ¤Ê¤Ã¤¿¤é¥ë¡¼¥×¤òÈ´¤±¤ë ReceiveRemoteNumber(MAILBOX2,true,msg2);//MAILBOX2¤Ç¥¹¥ì¥¤¥Ö¤«¤é¿®¹æ¤ò¼õ¤±¼è¤ë Off(OUT_BC); //¥ë¡¼¥×¤Î´Ö¡ÊÎ¥¤¹Æ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤ò ÃΤ餻¤ë¿®¹æ¤¬¥¹¥ì¥¤¥Ö¤«¤éµ¢¤Ã¤Æ¤¯¤ë ¤Þ¤Ç¡Ëµ¡ÂΤòÄä»ß¤µ¤»¤ë } } *¥×¥í¥°¥é¥àÁ´ÂÎ [#f6a316a5] º£²ó¤Î²ÝÂê¤Ç¤Ï¡¤È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤ò1¤Ä¡¤L¡¤L'¤ÎÃÏÅÀ¤Î¡¡¥Ü¡¼¥ë¤ò¤½¤ì¤¾¤ì¼è¤ë¤³¤È¤Ë¤·¤¿¡¥ task main() { SetSensorLight(S3); mae; //Á°¿Ê Wait(300); linetraceC(); //M to K Lcurve(); //È¢¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceC(); //K to J OnRev(OUT_C,speedL); //¸þ¤¤ÎÈùÄ´À° Wait(500); //¾å¤ËƱ¤¸ catch(); //¥Ü¡¼¥ë¤òÄϤà linetraceC(); //J to I Lcurve(); //I¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceC(); //I to C Lcurve(); //B¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceS(); //C to B Rcurve(); //Ãæ±û¤ÎÀþ¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceC(); //B to Ãæ±û¤ÎÀþ Rcurve(); //A'¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceS(); //to A' Lcurve(); //B'¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceC(); //to B' Lcurve(); //C'¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceS(); //B' to D' Rcurve(); //H'¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceC(); //D' to H' OnRev(OUT_C,speedL); //¸þ¤¤ÎÈùÄ´À° Wait(500); //¾å¤ËƱ¤¸ release(); //¥Ü¡¼¥ë¤ò¤Ï¤Ê¤¹ ushiro;//£²¤ÄÌܤΥܡ¼¥ë Wait(2000); OnFwd(OUT_C,20);OnRev(OUT_B,10); until(SENSOR_3>white-5); linetraceC(); //C' to D' crossline(); //¸òº¹ÅÀ¤òÅϤë linetraceS();//B' to C' Lcurve(); //º¸¤Ë¶Ê¤¬¤ë linetraceS();//M' to B' Rcurve();//±¦¤Ë¶Ê¤¬¤ë linetraceS();//M' to B' Lcurve(); //¸þ¤¤òÊѤ¨¤ë linetraceC();// K' to M' crossline();//¸òº¹ÅÀ¤òÅϤë OnFwd(OUT_BC,30);Wait(2900);Off(OUT_BC);//L' to K' catch();//L'¤Î¥Ü¡¼¥ë¤òÄϤà OnRev(OUT_BC,30);Wait(2900);Off(OUT_BC);//K' to L' Lcurve();//J'¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë linetraceS();//J' to K' release();//L'¤Î¥Ü¡¼¥ë¤òÎ¥¤¹ ushiro;//£³¤ÄÌܤΥܡ¼¥ë Wait(2000); OnFwd(OUT_C,20);OnRev(OUT_B,10); until(SENSOR_3>white-5); linetraceC();//M' to K' Rcurve();//¸þ¤¤òÊѤ¨¤ë linetraceS();//B' to M' Rcurve();//¸þ¤¤òÊѤ¨¤ë linetraceS();//B' to M' Lcurve();//¸þ¤¤òÊѤ¨¤ë linetraceS();//B' to M' crossline();//¸òº¹ÅÀ¤òÅϤë linetraceS();//»æ¤Î¶³¦¤Þ¤Ç¿Ê¤à Lcurve();//¸þ¤¤òÊѤ¨¤ë linetraceC();//to B crossline(); // K linetraceS(); //K to L Wait(2900); catch(); //L¤Ç¥Ü¡¼¥ë¤òÄϤà kaiten();//L¤Ç²óž linetraceC();//L to M Rcurve();//M linetraceS();//toB¤ÈM¤Î´Ö¤Î³Ñ Lcurve();//B¤ÈM¤Î´Ö¤Î³Ñ linetraceS(); //toÆóËç¤Î´Ö¤ÎÀþ¤Ëº¹¤·³Ý¤«¤ë¤È¤³¤í Rcurve();//ÆóËç¤Î´Ö¤ÎÀþ¤Ëº¹¤·³Ý¤«¤ë¤È¤³¤í linetraceS();//´Ö¤ÎÀþ¾å Lcurve();//´Ö¤ÎÀ褫¤éº¸¤Î¥³¡¼¥È¤ËÈ´¤±¤ë¤È¤³¤í linetraceS();//toB Lcurve();//B' linetraceS();//B'toD' Rcurve(); //D' linetraceS(); //D'toH' release();//H'¤Ç¥Ü¡¼¥ë¤òÎ¥¤¹ } **¥¹¥ì¥¤¥Ö¦¤Î¥×¥í¥°¥é¥à [#l93ce642] ***ÄêµÁ [#b6b83cff] #define SIGNAL1 11 //¥Þ¥¹¥¿¡¼¤È¤ä¤ê¼è¤ê¤¹¤ë¿®¹æ¤ÎÈÖ¹æ #define SIGNAL2 12 //Ʊ¾å #define SIGNAL3 13 //Ʊ¾å #define SIGNAL4 14 //Ʊ¾å #define tukamu OnRev(OUT_A,20);Wait(800);//¥Ü¡¼¥ë¤òÄϤà #define hanasu OnFwd(OUT_A,20);Wait(300);//¥Ü¡¼¥ë¤òÍî¤È¤¹ #define up OnFwd(OUT_B,50);Wait(1800);//¥¢¡¼¥à¤ò¾å¤²¤ë #define down OnRev(OUT_B,50);Wait(900);//¥¢¡¼¥à¤ò²¼¤í¤¹ ***¥×¥í¥°¥é¥àÁ´ÂÎ [#ie6ec132] task main () { int msg1; // ¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô int msg2; // Ʊ¾å while(true){ ReceiveRemoteNumber(MAILBOX1,true,msg1);//MAILBOX1¤Ç¼õ¤±¼è¤Ã¤¿¿®¹æ¤òmsg1¤Ë³ÊǼ ReceiveRemoteNumber(MAILBOX2,true,msg2);//MAILBOX2¤Ç¼õ¤±¼è¤Ã¤¿¿®¹æ¤òmsg2¤Ë³ÊǼ if(msg1==SIGNAL1){ //msg1¤ËSIGNAL1¤¬Æþ¤Ã¤Æ¤¤¤¿¤Ê¤é down; tukamu; up; Off(OUT_AB); //¥â¡¼¥¿¡¼¤òÄä»ß¤µ¤»¤ë SendResponseNumber(MAILBOX1,SIGNAL2);//¥Þ¥¹¥¿¡¼Â¦¤ÎMAILBOX1¤ËSIGNAL2¤òÁ÷¤ë } if(msg2==SIGNAL3){ //msg2¤ËSIGNAL3¤¬Æþ¤Ã¤Æ¤¤¤¿¤Ê¤é hanasu; Off(OUT_A); //¥â¡¼¥¿¡¼¤òÄä»ß SendResponseNumber(MAILBOX2,SIGNAL4);//¥Þ¥¹¥¿¡¼Â¦¤ÎMAILBOX2¤ËSIGNAL4¤òÁ÷¤ë } } } *¤Þ¤È¤á [#n4876335] ·ëÏÀ¤«¤é¤¤¤Ã¤Æ¡¤¥í¥Ü¥Ã¥È¤Ï¤¦¤Þ¤¯Æ°¤«¤Ê¤«¤Ã¤¿¡¥ ¹Í¤¨¤é¤ì¤ëÍýͳ¤È¤·¤Æ¤Ï¡¤ ¡¦»î¹Ô²ó¿ô¤¬Â¤ê¤Ê¤«¤Ã¤¿ ¡¦¥×¥í¥°¥é¥à¤ò¼êʬ¤±¤·¤Æºî¤Ã¤¿ºÝ¤Ë¡¤°Õ»×ÁÂÄ̤¬½ÐÍè¤Æ¤¤¤Ê¤«¤Ã¤¿ ¤Ê¤É¤¬¤¢¤²¤é¤ì¤ë¡¥ ¥í¥Ü¥Ã¥È¼«ÂΤϤ«¤Ê¤ê¤Î¼«¿®ºî¤À¤Ã¤¿¤¿¤á¤Ë»ÄÇ°¤À¤Ã¤¿¡¥