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#define RUN_TIME 200//Áö¤ë»þ´Ö
#define L1 40//¥»¥ó¥µ¡¼£±¤Î¸÷ÅÙ
#define L3 40//¥»¥ó¥µ¡¼£²¤Î¸÷ÅÙ
task main()
{
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
/*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/
ClearTimer(0);
int runtime=RUN_TIME;
OnRev(OUT_A+OUT_C);
while(Timer(0)<=runtime){//runtime»þ´ÖÃæÁö¤ê³¤±¤ë
if((SENSOR_1<=L1 && SENSOR_3<=L3) || (SENSOR_2==1)){~
//ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤
//Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë
ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(20);
Off(OUT_A+OUT_C);
Wait(100);
runtime=runtime+Timer(1);//¤³¤Î½èÍý»þ´Öʬ¤òÁö¹Ô»þ´Ö¤Ë¥×¥é¥¹¤¹¤ë
}
else if(SENSOR_1<=L1){
//¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤
OnFwd(OUT_C);
OnRev(OUT_A);
}
else if(SENSOR_3<=L3){
//¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤
OnFwd(OUT_A);
OnRev(OUT_C);
}
else if(SENSOR_1>L1 && SENSOR_3>L3){
//ξÊýÇòÀþ¤Î¤È¤
OnRev(OUT_A+OUT_C);
}
}
Off(OUT_A+OUT_C);
}
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~
ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(20);
Off(OUT_A+OUT_C);
Wait(100);
runtime=runtime+Timer(1);
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if( (SENSOR_1<=L1 && SENSOR_3<=L3 ''&& (Timer(0)-tim2>30)) ''|| (SENSOR_2==1)){~
ClearTimer(1);~
Off(OUT_A+OUT_C);~
Wait(50);~
OnFwd(OUT_A+OUT_C);~
Wait(70);~
Off(OUT_A+OUT_C);~
Wait(50);~
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Off(OUT_C);
OnRev(OUT_A);
Off(OUT_A);
OnRev(OUT_C);
¤³¤¦¤¹¤ë¤³¤È¤Ç¡¢¼Ð¤á¤ËÆþ¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤â¥«¡¼¥Ö¤Î»þ¤Ë¤½¤Î¾ì¤ÇÀû²ó¤¹¤ë¤Î¤Ç¤Ï¤Ê¤¯¾¯¤·Á°¿Ê¤·¤Ê¤¬¤é¤Î¥«¡¼¥Ö¤Ë¤Ê¤ë¤¿¤á¡¢¸òº¹ÅÀ¤ò¾è¤êÀڤ뤳¤È¤¬¤Ç¤¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£~
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***ºÇ½ªÅª¤Ê¥×¥í¥°¥é¥à [#ace49bda]
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~
#define RUN_TIME 1500
#define L1 45
#define L3 45
task main()
{
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
/*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/
ClearTimer(0);
int runtime=RUN_TIME,tim2=-30/*ºÇ½é¤ÏTimer(0)-tim2¤Îº¹¤ò£³£°¤Ë¤·¤¿¤¤¤¿¤á¡¢½é´üÃͤÏ-30¤Ë*/;
OnRev(OUT_A+OUT_C);
while(Timer(0)<=runtime){
if((SENSOR_1<=L1 && SENSOR_3<=L3 && (Timer(0)-tim2>30)) || (SENSOR_2==1)){
//ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤
//Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë
ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(50);
OnFwd(OUT_A+OUT_C);
Wait(70);
Off(OUT_A+OUT_C);
Wait(50);
tim2=Timer(0);
runtime=runtime+Timer(1);
}
else if((SENSOR_1<=L1)&&(SENSOR_3>=L3)){
//¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤
//¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥×¤µ¤»¤ë
Off(OUT_C);
OnRev(OUT_A);
}
else if((SENSOR_1>=L1)&&(SENSOR_3<=L3)){
//¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤
//Ʊ¤¸¤¯¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥×
Off(OUT_A);
OnRev(OUT_C);
}
else if(SENSOR_1>L1 && SENSOR_3>L3){
//ξÊýÇòÀþ¤Î¤È¤
//ľ¿Ê¤µ¤»¤ë
OnRev(OUT_A+OUT_C);
}
}
Off(OUT_A+OUT_C);
}
**Ž¥¤è¤í¤·¤±¤ì¤Ð¥³¥á¥ó¥È¤ò¤É¤¦¤¾¡¦ [#k36c4272]
- ¤È¤Æ¤â¾Ü¤·¤¯¡¢¤ï¤«¤ê¤ä¤¹¤¯Îɤ¤¥ì¥Ý¡¼¥È¤Ç¤¹¡£ -- [[FI]] &new{2008-12-11 (ÌÚ) 14:56:21};
- ¤¿¤¤¤Ø¤ó¤è¤¯¤Ç¤¤Æ¤¤¤Þ¤¹¡£ -- [[¤Ê¤«¤à¤é]] &new{2008-12-11 (ÌÚ) 15:27:02};
#comment
½ªÎ»¹Ô:
[[2008b]]
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#contents
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#define RUN_TIME 200//Áö¤ë»þ´Ö
#define L1 40//¥»¥ó¥µ¡¼£±¤Î¸÷ÅÙ
#define L3 40//¥»¥ó¥µ¡¼£²¤Î¸÷ÅÙ
task main()
{
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
/*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/
ClearTimer(0);
int runtime=RUN_TIME;
OnRev(OUT_A+OUT_C);
while(Timer(0)<=runtime){//runtime»þ´ÖÃæÁö¤ê³¤±¤ë
if((SENSOR_1<=L1 && SENSOR_3<=L3) || (SENSOR_2==1)){~
//ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤
//Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë
ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(20);
Off(OUT_A+OUT_C);
Wait(100);
runtime=runtime+Timer(1);//¤³¤Î½èÍý»þ´Öʬ¤òÁö¹Ô»þ´Ö¤Ë¥×¥é¥¹¤¹¤ë
}
else if(SENSOR_1<=L1){
//¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤
OnFwd(OUT_C);
OnRev(OUT_A);
}
else if(SENSOR_3<=L3){
//¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤
OnFwd(OUT_A);
OnRev(OUT_C);
}
else if(SENSOR_1>L1 && SENSOR_3>L3){
//ξÊýÇòÀþ¤Î¤È¤
OnRev(OUT_A+OUT_C);
}
}
Off(OUT_A+OUT_C);
}
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~
ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(100);
OnFwd(OUT_A+OUT_C);
Wait(20);
Off(OUT_A+OUT_C);
Wait(100);
runtime=runtime+Timer(1);
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if( (SENSOR_1<=L1 && SENSOR_3<=L3 ''&& (Timer(0)-tim2>30)) ''|| (SENSOR_2==1)){~
ClearTimer(1);~
Off(OUT_A+OUT_C);~
Wait(50);~
OnFwd(OUT_A+OUT_C);~
Wait(70);~
Off(OUT_A+OUT_C);~
Wait(50);~
''tim2=Timer(0);''~
runtime=runtime+Timer(1);~
....~
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else if((SENSOR_1<=L1)&&(SENSOR_3>=L3)){
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else if((SENSOR_1>=L1)&&(SENSOR_3<=L3)){
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Off(OUT_C);
OnRev(OUT_A);
Off(OUT_A);
OnRev(OUT_C);
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***ºÇ½ªÅª¤Ê¥×¥í¥°¥é¥à [#ace49bda]
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~
#define RUN_TIME 1500
#define L1 45
#define L3 45
task main()
{
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
/*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/
ClearTimer(0);
int runtime=RUN_TIME,tim2=-30/*ºÇ½é¤ÏTimer(0)-tim2¤Îº¹¤ò£³£°¤Ë¤·¤¿¤¤¤¿¤á¡¢½é´üÃͤÏ-30¤Ë*/;
OnRev(OUT_A+OUT_C);
while(Timer(0)<=runtime){
if((SENSOR_1<=L1 && SENSOR_3<=L3 && (Timer(0)-tim2>30)) || (SENSOR_2==1)){
//ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤
//Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë
ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(50);
OnFwd(OUT_A+OUT_C);
Wait(70);
Off(OUT_A+OUT_C);
Wait(50);
tim2=Timer(0);
runtime=runtime+Timer(1);
}
else if((SENSOR_1<=L1)&&(SENSOR_3>=L3)){
//¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤
//¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥×¤µ¤»¤ë
Off(OUT_C);
OnRev(OUT_A);
}
else if((SENSOR_1>=L1)&&(SENSOR_3<=L3)){
//¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤
//Ʊ¤¸¤¯¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥×
Off(OUT_A);
OnRev(OUT_C);
}
else if(SENSOR_1>L1 && SENSOR_3>L3){
//ξÊýÇòÀþ¤Î¤È¤
//ľ¿Ê¤µ¤»¤ë
OnRev(OUT_A+OUT_C);
}
}
Off(OUT_A+OUT_C);
}
**Ž¥¤è¤í¤·¤±¤ì¤Ð¥³¥á¥ó¥È¤ò¤É¤¦¤¾¡¦ [#k36c4272]
- ¤È¤Æ¤â¾Ü¤·¤¯¡¢¤ï¤«¤ê¤ä¤¹¤¯Îɤ¤¥ì¥Ý¡¼¥È¤Ç¤¹¡£ -- [[FI]] &new{2008-12-11 (ÌÚ) 14:56:21};
- ¤¿¤¤¤Ø¤ó¤è¤¯¤Ç¤¤Æ¤¤¤Þ¤¹¡£ -- [[¤Ê¤«¤à¤é]] &new{2008-12-11 (ÌÚ) 15:27:02};
#comment
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