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until(Message()==signal_catch); //signal_catch¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡ 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); //Æ°ºî½ªÎ»¤ò¤ÎRIS¤ËÁ÷¿® } SendMessage(signal_end);¤Ï¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤éÂ¤Î¥×¥í¥°¥é¥à¤òºÆ³«¤µ¤»¤ë¤¿¤á¤ËÆþ¤ì¤¿¡£Â¤Î¥×¥í¥°¥é¥à¤Ë¤Ïuntil(Message()==signal_end);¤¬Æþ¤Ã¤Æ¤¤¤Æ¡¢¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤¿¸å¤ÎÆ°ºî¤¬ºÆ³«¤µ¤ì¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ -¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë sub release() { ClearMessage(); until(Message()==signal_release); ¡¡//signal_release¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡ 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); ¡¡¡¡//Æ°ºî½ªÎ»¤ò¤ÎRIS¤ËÁ÷¿® } ***¥á¥¤¥ó¥×¥í¥°¥é¥à [#ge4f37c2] ¥¢¡¼¥à¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ï°Ê²¼¤ÎÄ̤ꡣ task main() { ClearMessage(); CATCH();¡¡¡¡¡¡//L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë release();¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë CATCH();¡¡¡¡¡¡//L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(1¸ÄÌÜ) CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(2¸ÄÌÜ) ClearMessage();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//(¢¨) until(Message()==signal_release); OnFwd(OUT_B); Wait(30); Off(OUT_B); Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë OnRev(OUT_C); Wait(200); Off(OUT_C); Wait(100);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÁ°¤ØÁ÷¤ë OnRev(OUT_BC); Wait(50); Off(OUT_BC); Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥Ô¥ó¥Ý¥ó¶Ì¤òÁ÷¤ë SendMessage(signal_end); } (¢¨)°Ê²¼¤Î¥×¥í¥°¥é¥à¤Ï´ðËÜŪ¤Ë¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤Î release() ¤ÈƱ¤¸¤À¤¬¡¢¥¢¡¼¥à¤ò¾å¤²¤ëºÝ¤Ë¤â¥³¥ó¥Ù¥¢¤òÆ°¤«¤·¤Æ¤¤¤ë¡£°ìÈֺǸå¤ÏÊ£¿ô¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯Æâ¤ËÆþ¤ì¤ëɬÍפ¬¤¢¤ë¤¬¡¢release() ¤À¤È¥Ô¥ó¥Ý¥ó¶Ì¤¬Á´ÉôÈ¢¤ËÆþ¤ëÁ°¤Ë¡¢Æ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¦¡£¤Þ¤¿¡¢Àè¤ËÆþ¤Ã¤¿¥Ô¥ó¥Ý¥ó¶Ì¤Ë¼ÙËâ¤ò¤µ¤ì¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤¬Á´Éô½Ð¤Ê¤¤¤È¤¤¤¦ÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥³¥ó¥Ù¥¢¤òÆ°¤«¤¹¤è¤¦¤Ë¤·¤¿¡£ **²ó¤ê¤Î¥×¥í¥°¥é¥à [#q4126503] ***¥Þ¥¯¥í¡¦¥°¥í¡¼¥Ð¥ëÊÑ¿ô [#fdbdfa50] -¸÷¥»¥ó¥µ¡¼¤ÎÃÍ #define black 40¡¡¡¡¡¡¡¡//¿¿¤Ã¹õ #define gray_black 44 ¡¡//¹õ #define gray 47¡¡¡¡ ¡¡//³¥ #define gray_white 50 ¡¡//Çò #define white 60¡¡¡¡¡¡ //¿¿¤ÃÇò -´ðËÜŪ¤ÊÆ°ºî #define go_ahead OnFwd(OUT_AC); //Á°¤Ë¿Ê¤à #define turn_left OnFwd(OUT_A);Off(OUT_C);¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë #define turn_right OnFwd(OUT_C);Off(OUT_A);¡¡ //±¦¤Ë¶Ê¤¬¤ë #define circling_left OnRev(OUT_C);OnFwd(OUT_A);¡¡ ¡¡//º¸Àû²ó¤¹¤ë #define circling_right OnRev(OUT_A);OnFwd(OUT_C);¡¡¡¡//±¦Àû²ó¤¹¤ë -¥°¥í¡¼¥Ð¥ëÊÑ¿ô int t; ***¥µ¥Ö¥ë¡¼¥Á¥ó [#yf71ea61] ²¼¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë»ÈÍѤ·¤¿¥µ¥Ö¥ë¡¼¥Á¥ó¤ò¼¨¤¹¡£ sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹ { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<t) { if(SENSOR_2<black) { circling_right; } //¿¿¤Ã¹õ¤Ê¤é±¦Àû²ó¤»¤è else if(SENSOR_2<gray_black) { turn_right; } //¹õ¤Ê¤é±¦¤Ë¶Ê¤¬¤ì else if(SENSOR_2<gray) { go_ahead; } //³¥¤Ê¤éľ¿Ê¤»¤è else if(SENSOR_2<gray_white) { turn_left; } //Çò¤Ê¤éº¸¤Ë¶Ê¤¬¤ì else if(SENSOR_2<white) { circling_left; } //¿¿¤ÃÇò¤Ê¤é±¦Àû²ó¤»¤è } Off(OUT_AC); Wait(100);¡¡¡¡¡¡//1Éûߤޤì } º£²ó¤Ï¥³¡¼¥¹¼è¤ê¤Î´Ø·¸¾å¸òº¹ÅÀǧ¼±¤ò¤¹¤ëɬÍפ¬¤Ê¤¤¤¿¤á¡¢¥°¥í¡¼¥Ð¥ëÊÑ¿ô£ô¤ò»È¤Ã¤Æ»ØÄꤷ¤¿Éÿô¤À¤±Æ°¤¤¤Æ»ß¤Þ¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£¸òº¹ÅÀǧ¼±¤Ë¤Ä¤¤¤Æ¡¢¾Ü¤·¤¯¤Ï[[²ÝÂê2¤Î¥ì¥Ý¡¼¥È>2019a/Member/www/Mission2]]¤ò»²¾È¡£ ***¥á¥¤¥ó¥×¥í¥°¥é¥à [#p926cb48] °Ê²¼¤¬Â¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ ¡»¤ÎÃæ¤Î¿ô»ú¤Ï¡¢·ÐÏ©¤ÎÀâÌÀ¤Î¿Þ¤Î¿ô»ú¤ËÂбþ¤·¤Æ¤¤¤ë¡£ -1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç task main() { ClearMessage(); // A'¥¹¥¿¡¼¥È while(SENSOR_2>gray)¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¢¨1 {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); while(SENSOR_2<gray) ¡¡//¹õ¤Ê¤é¿Ê¤à {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); t=90;follow_line();¡¡¡¡// ¢¨2 Wait(100); SendMessage(signal_catch);¡¡¡¡// L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë¡ ClearMessage(); until(Message()==signal_end); //¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡ circling_left;¡¡ ¡¡//º¸¤Ë90¡ëÀû²ó¢ Wait(102); Off(OUT_AC); SendMessage(signal_release);¡¡¡¡// 1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë£ ClearMessage(); until(Message()==signal_end);¡¡¡¡ ¡¡¡¡// ¢¨3 -2¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç OnRev(OUT_AC);¡¡¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë Wait(30); Off(OUT_AC); circling_left; Wait(102); Off(OUT_AC);¡¡ ¡¡¡¡//º¸¤Ë90¡ëÀû²ó¤ while(SENSOR_2>gray) {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100);¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1 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;¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë Wait(100); while(SENSOR_2>gray)¡¡ //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1 {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); while(SENSOR_2<gray)¡¡ //¹õ¤Ê¤é¿Ê¤à {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); t=150;follow_line();¡¡¡¡// ¢¨2 SendMessage(signal_catch);// L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë¥ ClearMessage(); until(Message()==signal_end);¡¡¡¡// ¢¨3 -¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç circling_left;¡¡¡¡//º¸¤Ë90¡ëÀû²ó¦ Wait(102); Off(OUT_AC); OnRev(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë§ Wait(23); Off(OUT_AC); SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¸ÄÌÜ)¨ ClearMessage(); until(Message()==signal_end); ¡¡¡¡// ¢¨3 Wait(100); SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¸ÄÌÜ) ClearMessage(); until(Message()==signal_end); ¡¡¡¡// ¢¨3 -3¤Ä¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç OnRev(OUT_AC);¡¡ ¡¡//¸å¤í¤Ë²¼¤¬¤ë Wait(90); Off(OUT_AC); circling_left; ¡¡¡¡//º¸¤Ë90¡ëÀû²ó© Wait(102); Off(OUT_AC); while(SENSOR_2>gray) //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1 {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); while(SENSOR_2<gray); //¹õ¤Ê¤é¿Ê¤à {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100) while(SENSOR_2>gray) {OnFwd(OUT_AC);} Off(OUT_AC); Wait(100); go_ahead;¡¡ ¡¡//Á°¤Ë¿Ê¤à Wait(15); Off(OUT_AC); SendMessage(signal_release);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ëª ClearMessage(); until(Message()==signal_end); ¡¡¡¡// ¢¨3 OnRev(OUT_AC);//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ë Wait(100); Off(OUT_AC);¡¡¡¡ } ¢¨1 ¸÷¥»¥ó¥µ¡¼¤ò»È¤Ã¤ÆÇò¤È¹õ¤ò´¶ÃΤ·¡¢while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC); (Çò¤±¤ì¤Ðľ¿Ê¤»¤è)¡¢ while(SENSOR_2<gray);{OnFwd(OUT_AC);}Off(OUT_AC); (¹õ¤±¤ì¤Ðľ¿Ê¤»¤è)¤È¤¤¤¦Ì¿Îá¤òǤ°Õ¤Î¿ôʤ٤뤳¤È¤Ç¡¢¹¥¤¤Ê¹õÀþ¤Î¼êÁ°¡¢¤Þ¤¿¤Ï¡¢¹õÀþ¤òĶ¤¨¤Æ¤«¤é¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë¤³¤È¤¬¤Ç¤¤ë¡£ ¢¨2 ¤³¤Î¸å¤Ë¤¢¤ë¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¡¢90¡ë²óž¤¹¤ë¥×¥í¥°¥é¥à¤¬Àµ³Î¤Ëµ¡Ç½¤¹¤ë¤è¤¦¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¡¢¥í¥Ü¥Ã¥È¤ò¹õÀþ¤È¤Ê¤ë¤Ù¤¯Ê¿¹Ô¤Ë¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£¤Þ¤¿¡¢»þ´ÖÀ©¸æ¤¹¤ë¤³¤È¤Ç¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ê¤ä¤¹¤¤°ÌÃ֤˥í¥Ü¥Ã¥È¤ò°ÜÆ°¤µ¤»¤ë¤³¤È¤¬¤Ç¤¤ë¡£ ¢¨3 ¥¢¡¼¥à¤ÎRIS¤«¤é°ìÏ¢¤ÎÆ°¤¤¬½ª¤ï¤Ã¤¿¤È¤¤¤¦¿®¹æ¤ò¼õ¤±¼è¤Ã¤Æ¤«¤é¥×¥í¥°¥é¥à¤òºÆ³«¤µ¤»¤ë¤¿¤á¤Î¤â¤Î¤Ç¡¢¥¢¡¼¥à¤¬Æ°¤¤Ê¤¬¤é¤âÆ°¤¯¤³¤È¤òËɤ°¤¿¤á¤ËÆþ¤ì¤¿¡£ *È¿¾Ê¡¦´¶ÁÛ [#tb6dfd41] ¡¡¥í¥Ü¥Ã¥È¼«ÂΤÎÆ°¤¤Ï¡¢Îɤ«¤Ã¤¿¤È»×¤¦¡£ÆÀÅÀ¤â¼è¤ì¤Ê¤«¤Ã¤¿¤·¡¢»æ¤Î¾å¤ËÃÖ¤¤¤Æ¤¢¤Ã¤¿¥Ô¥ó¥Ý¥ó¶Ì¤â¤Ä¤«¤á¤Ê¤«¤Ã¤¿¤¬¡¢¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤Ï2¤Ä¤È¤â¼è¤ë¤³¤È¤¬½ÐÍè¤Æ¤¦¤ì¤·¤«¤Ã¤¿¡£ ¤¿¤À¡¢Ä´À°Ãʳ¬¤Ç¤Ï¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò4¤Ä¤È¤â¤¦¤Þ¤¯±¿¤Ù¤Æ¤¤¤¿¤Î¤Ç¡¢º£²ó¥í¥Ü¥Ã¥È¤¬»æ¤Ë°ú¤Ã³Ý¤«¤Ã¤Æ¤·¤Þ¤¤ÆÀÅÀ¤ò¤È¤ì¤Ê¤«¤Ã¤¿¤Î¤Ë²ù¤·¤µ¤â¤¢¤ë¡£¼«Ê¬¤¿¤Á¤ÎµÍ¤á¤Î´Å¤µ¤¬²ù¤ä¤Þ¤ì¤ë¡£~ ¤¿¤À¡¢Ä´À°Ãʳ¬¤Ç¤Ï¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò4¤Ä¤È¤â¤¦¤Þ¤¯±¿¤Ù¤Æ¤¤¤¿¤Î¤Ç¡¢º£²ó¥í¥Ü¥Ã¥È¤¬»æ¤Ë°ú¤Ã³Ý¤«¤Ã¤Æ¤·¤Þ¤¤ÆÀÅÀ¤ò¤È¤ì¤Ê¤«¤Ã¤¿¤Î¤Ë²ù¤·¤µ¤â¤¢¤ë¡£¼«Ê¬¤¿¤Á¤ÎµÍ¤á¤Î´Å¤µ¤¬ËÜÅö¤Ë²ù¤ä¤Þ¤ì¤ë¡£~ ¡¡º£²ó¤Î²ÝÂê¤Ï¡¢²ÝÂê1¡¤2¤ËÈæ¤Ù¤ÆÆñ¤·¤¯¡¢¥Á¡¼¥à¤Î¤ß¤ó¤Ê¤ÈÂô»³Çº¤ó¤À¤¬¡¢´°À®¤·¼«Ê¬¤¿¤Á¤Î»×¤¤Ä̤ê¤ÎÆ°¤¤¬¤Ç¤¤¿¤È¤¤Ë¤Ï¡¢Ã£À®´¶¤ò´¶¤¸¤¿¡£¥í¥Ü¥³¥ó¤Ï4°Ì¤À¤Ã¤¿¤¬¡¢»þ´Ö¤¬¤Ê¤¤Ãæ¡¢¥Á¡¼¥à¤Î¥á¥ó¥Ð¡¼4¿Í¤¬¤½¤ì¤¾¤ì¤Î¶¯¤ß¤òÀ¸¤«¤·¤Æ¥í¥Ü¥Ã¥È¤òºî¤ê¾å¤²¤ë¤³¤È¤¬½ÐÍ褿¤È»×¤¦¡£