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until(Message()==signal_catch); OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ²¼¤¬¤ë SetPower(OUT_A,2); OnRev(OUT_A);Wait(90);Off(OUT_A);Wait(100);// ÄϤà OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);// ¾å¤¬¤ë OnFwd(OUT_A);Wait(90);Off(OUT_A);Wait(100);// ¼ê¤ò¸µ¤ËÌ᤹ OnFwd(OUT_C);Wait(200);Off(OUT_C);Wait(100);// ±ü¤ØÁ÷¤ë SendMessage(signal_end); } SendMessage(signal_end);¤Ï°ìÏ¢¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤éÂ¤Î¥×¥í¥°¥é¥à¤òºÆ³«¤¹¤ë¤¿¤á¤ËÆþ¤ì¤¿¡£¤½¤Î¤¿¤á¡¢Â¤Î¥×¥í¥°¥é¥à¤Ë¤Ïuntil(Message()==signal_end);¤¬Æþ¤Ã¤Æ¤¤¤Æ¡¢¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤éÂ¤Î¥×¥í¥°¥é¥à¤Î³¤¤«¤éºÆ³«½ÐÍè¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ ¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï°Ê²¼¤ÎÄ̤ꡣ sub release() { ClearMessage(); until(Message()==signal_release); OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ²¼¤¬¤ë OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);// Á°¤ØÁ÷¤ë OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);// ¾å¤¬¤ë SendMessage(signal_end); } ¤³¤ì¤â¥Ü¡¼¥ë¤òÄϤॵ¥Ö¥ë¡¼¥Á¥ó¤ÈƱÍͤÎÍýͳ¤ÇSendMessage(signal_end);¤¬Æþ¤Ã¤Æ¤¤¤ë¡£ ***¥¢¡¼¥à¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#n747be98] ¥í¥Ü¥Ã¥È¤Î¿ÊÏ©¤Î´Ø·¸¤Ç°Ê²¼¤Î¤è¤¦¤Ë¥µ¥Ö¥ë¡¼¥Á¥ó¤òʤ٤ƥᥤ¥ó¥×¥í¥°¥é¥à¤ò¹½À®¤·¤Æ¤¤¤ë¡£ task main() { ClearMessage(); CATCH(); release(); CATCH(); CATCH(); CATCH(); ClearMessage(); until(Message()==signal_release); OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);// ²¼¤¬¤ë OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);// Á°¤ØÁ÷¤ë OnRev(OUT_BC);Wait(50);Off(OUT_BC);Wait(100);// ¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë SendMessage(signal_end); } CATCH();3Ϣ³¤Î¤¢¤È¤ÎÉôʬ¤Ë¤Ä¤¤¤Æ¡£1ʸÌܤÈ2ʸÌܤϥµ¥Ö¥ë¡¼¥Á¥óŽ¢releaseŽ£¤ÈƱ¤¸¤Ç¤¢¤ë¡£3ʸÌܤΎ¢¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ëŽ£¤ÎÉôʬ¤¬°ã¤Ã¤Æ¤¤¤ë¡£¥Ü¡¼¥ë¤òÊ£¿ô¸ÄƱ»þ¤ËÈ¢¤ËÆþ¤ì¤ë¾ì¹ç¡¢¥µ¥Ö¥ë¡¼¥Á¥óŽ¢releaseŽ£¤ò»È¤¦¤È¡¢Á´¤Æ¤Î¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ëÁ°¤ËÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¦¡£¤½¤ì¤òËɤ°¤¿¤á¡¢ºÇ¸å¤Ï¥¢¡¼¥à¤ò¤¢¤²¤ë»þ¤Ë¡¢Æ±»þ¤Ë¥³¥ó¥Ù¥¢¡¼¤âÆ°¤«¤¹¡£¤³¤¦¤¹¤ë¤³¤È¤ÇÄϤó¤À¥Ü¡¼¥ë¤ÏÁ´¤ÆÈ¢¤ËÆþ¤ë¡£ **Â¤Î¥×¥í¥°¥é¥à [#nbe130d1] Â¤Î¥×¥í¥°¥é¥à¤Ï¡¢¥í¥Ü¥Ã¥È¤ÎÆ°¤¯Æ»½ç¤Ë½¾¤¦¡£¤½¤ì¤¾¤ì¤ÎÆ°ºî¤ò¤¢¤ëÄøÅÙÀµ³Î¤Ë¹Ô¤¨¤ë¤è¤¦¤Ë¡¢Á´¤Æ¤ÎÆ°ºî¤ò»þ´Ö¤ÇÀ©¸æ¤¹¤ë¤Î¤Ç¤Ï¤Ê¤¯¡¢ÂçÉôʬ¤Ë¸÷¥»¥ó¥µ¡¼¤òÍѤ¤¤Æ¤¤¤ë¡£ ***¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ [#s8e786c1] ¾å¤Çµ¤·¤¿¤â¤Î¤Î¾¤Ë¤Ï°Ê²¼¤Î¤â¤Î¤¬¤¢¤ë¡£ #define black 40 #define gray_black 44 #define gray 47 #define gray_white 50 #define white 60 #define go_ahead OnFwd(OUT_AC); #define turn_left OnFwd(OUT_A);Off(OUT_C); #define turn_right OnFwd(OUT_C);Off(OUT_A); #define circling_left OnRev(OUT_C);OnFwd(OUT_A); #define circling_right OnRev(OUT_A);OnFwd(OUT_C); go_ahead¤ÏÁ°¤Ë¿Ê¤à¡¢turn_right¤Ï±¦Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æ±¦²óž¤¹¤ë¡¢turn_left¤Ïº¸Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æº¸²óž¤¹¤ë¡¢circling ***¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ [#y3ad9eaa] ÍѤ¤¤¿¤Î¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¤Î¤ß¤Ç¤¢¤ë¡£°Ê²¼¤Ë¤½¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ò¼¨¤¹¡£ sub follow_line() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<t){ if(SENSOR_2<black){circling_right;} else if(SENSOR_2<gray_black){turn_right;} else if(SENSOR_2<gray){go_ahead;} else if(SENSOR_2<gray_white){turn_left;} else if(SENSOR_2<white){circling_left;} } Off(OUT_AC);Wait(100); } ºÇ¸å¤ÎWait(100);¤ÏµóÆ°¤ò¸«¤ä¤¹¤¯¤¹¤ë¤¿¤á¤ËÆþ¤ì¤Æ¤¢¤ë¡£ ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î»ÅÁȤߤÏMission2¤Î»þ¤ÈƱ¤¸¤À¤¬¡¢¥³¡¼¥¹¼è¤ê¤Î´Ø·¸¤Ç¡¢¸òº¹ÅÀ¤òȽÊ̤¹¤ëɬÍפ¬¤Ê¤¤¡£¤½¤Î¤¿¤á¡¢¥°¥í¡¼¥Ð¥ëÊÑ¿ôt¤ò»È¤Ã¤Æ¡¢»ØÄꤷ¤¿ÉÿôÆ°¤¤¤Æ»ß¤Þ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ ***¤Υᥤ¥ó¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#pce59bde] °Ê²¼¤Ë¤Υᥤ¥ó¥×¥í¥°¥é¥à¤ò¼¨¤¹¡£¥°¥í¡¼¥Ð¥ëÊÑ¿ôt¤Ïint t;¤Ç»ØÄꤷ¤Æ¤¤¤ë¡£ task main() { ClearMessage(); while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);// Çò¤Ê¤é¿Ê¤à while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);// ¹õ¤Ê¤é¿Ê¤à while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); t=90;follow_line();//¡ Wait(100); SendMessage(signal_catch);// L'¤Î¥Ü¡¼¥ë¤òÄϤàÌ¿Îá¤òÁ÷¤ë ClearMessage(); until(Message()==signal_end);//¡ù circling_left;Wait(102);Off(OUT_AC);// 90¡ë¤½¤Î¾ì¤Çº¸²óž SendMessage(signal_release);// ¥Ü¡¼¥ë¤ò1¸ÄÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë ClearMessage(); until(Message()==signal_end); OnRev(OUT_AC);Wait(30);Off(OUT_AC);// ¸å¤í¤Ë²¼¤¬¤ë circling_left;Wait(102);Off(OUT_AC);// 90¡ë¤½¤Î¾ì¤Çº¸²óž while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);// Çò¤Ê¤é¿Ê¤à while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);// ¹õ¤Ê¤é¿Ê¤à while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); turn_right;Wait(100);// ±¦Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æ±¦²óž while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);// Çò¤Ê¤é¿Ê¤à while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);// ¹õ¤Ê¤é¿Ê¤à t=150;follow_line();//¡ SendMessage(signal_catch);// LÄϤà ClearMessage(); until(Message()==signal_end); circling_left;Wait(102);Off(OUT_AC);// ¤½¤Î¾ì¤Çº¸²óž OnRev(OUT_AC);Wait(23);Off(OUT_AC);// ¸å¤í¤Ë²¼¤¬¤ë SendMessage(signal_catch);// È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¤ÄÌÜ) ClearMessage(); until(Message()==signal_end); Wait(100); SendMessage(signal_catch);// È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¤ÄÌÜ) ClearMessage(); until(Message()==signal_end); OnRev(OUT_AC);Wait(90);Off(OUT_AC);// ¸å¤í¤Ë²¼¤¬¤ë circling_left;Wait(102);Off(OUT_AC);// ¤½¤Î¾ì¤Çº¸²óž while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é¿Ê¤à while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤é¿Ê¤à while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); go_ahead;Wait(15);Off(OUT_AC);// Á°¤Ë¿Ê¤à SendMessage(signal_release);// ClearMessage(); 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