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¼ÖÂΤ¬Á°¸å±¿Æ°¡¢Êý¸þž´¹¤ò¹Ô¤¦¤³¤È¤¬¤Ç¤¤ë¡£~ ¤³¤ÎÄêµÁ¤Ë¤è¤ê¸å½Ò¤¹¤ëÄêµÁÅù¤Î´Êά²½¤Ë¹×¸¥¤·¤Æ¤¤¤ë¡£~ #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); -Á°¸å±¿Æ°~ #define go_straight OnRL(SPEED_H,SPEED_H); //Á°¿Ê #define BACK OnRL(-SPEED_H,-SPEED_H); //¸å¿Ê -Àû²ó~ ÊÒÊý¤Î¼ÖÎؤòÁ°Å¾¡¢¤â¤¦ÊÒÊý¤¬¸åž¤¹¤ë¤³¤È¤Ç¡¢µÞ¤ÊÊý¸þž´¹¤¬²Äǽ¤È¤Ê¤ë¡£~ ²óž¼´¤Ï¼ÖÎؼ´¤ÎÃæ±û¡£~ #define rot_r OnRL(-SPEED_L,SPEED_L); //±¦Àû²ó #define rot_l OnRL(SPEED_L,-SPEED_L); //º¸Àû²ó -²óž~ ÊÒÊý¤Î¼ÖÎؤòÁ°Å¾¡¢¤â¤¦ÊÒÊý¤ÏÄä»ß¤µ¤»¤ë¤³¤È¤Ç¡¢´Ë¤ä¤«¤ÊÊý¸þž´¹¤¬²Äǽ¤È¤Ê¤ë¡£~ ²óž¼´¤ÏÄä»ß¼ÖÎؤÎÃæ±û¡£~ #define turn_r OnRL(0,SPEED_L); //±¦²óž #define turn_l OnRL(SPEED_L,0); //º¸²óž **¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ÎÀßÄê [#i12ffb23] °Ê²¼¡¢º£²ó»ÈÍѤ·¤¿sub¥ë¡¼¥Á¥ó´Ø¿ô¤Ç¤¢¤ë¡£~ ***¥é¥¤¥ó¥È¥ì¡¼¥¹ [follow_line] [#j80370e9] ¤³¤Î´Ø¿ô¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¥³¡¼¥¹¤ÎÀþ¤ÎÌÀÅÙ¤ò·×¬¤·¡¢~ ¾ò·ï¤Ë½¾¤Ã¤Æ»ØÄꤵ¤ì¤¿Æ°ºî¤ò¤·¤ÆÀþ¾å¤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; } } } ¾ÜºÙ¤Ë¤Ä¤¤¤Æ½Ò¤Ù¤Æ¤¤¤¯¡£º£²ó¤Ïº¸Â¦Ä¾Àþ¥È¥ì¡¼¥¹¤ò¼è¤ê¾å¤²¤ë¡£~ ¸÷¥»¥ó¥µ¡¼¤¬¥³¡¼¥¹¤ÎÀþÏ©¤ÎÌÀÅÙ¤ò·×¬¡£ÌÀÅÙ¤´¤È¤ËÀßÄꤵ¤ì¤¿Ì¿Îá¤ò¤³¤Ê¤¹¡£~ ÌÀÅÙ¤ÈÌ¿Îá¤ÎÀßÄê¤Ï°Ê²¼¡£~ #ref(2019a/Member/ohta/Mission3/ɽ£±.png,50%,¥é¥¤¥ó) ¤³¤Îɽ¤ò¿Þ²½¤·¤¿¤â¤Î¤¬°Ê²¼¤Ç¤¢¤ë¡£~ ÎТª¤¬Á°¿Ê¡¢¥ª¥ì¥ó¥¸¢ª¤¬²óž¡¢ÀÄ¢ª¤¬Àû²ó¤ò¼¨¤·¤Æ¤¤¤ë¡£~ #ref(2019a/Member/ohta/Mission3/ɽ£².png,50%,¥é¥¤¥ó) ¡Öfollow_line_l¡×¤ò¥Õ¥í¡¼¥Á¥ã¡¼¥È²½¤¹¤ë¤È¼¡¤Î¤è¤¦¤Ë¤Ê¤ë¡£ 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