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task main(){
#define close(t) OnFwd(OUT_A); Wait(t); Off(OUT_A);
#define open OnRev(OUT_A); Wait(80); Off(OUT_A);
#define push OnFwd(OUT_C); Wait(30); Off(OUT_C);
//¾å¤«¤é½ç¤Ë¥¢¡¼¥à¤òÊĤ¸¤ë¡¢¥¢¡¼¥à¤ò³«¤¯¡¢´Ì¤ò²¡¤·½Ð¤¹¡£
Wait(2200); //´Ì¤ÎÁ°¤Þ¤Ç°ÜÆ°¤¹¤ë¤Î¤òÂԤġ£
close(3500); //¥¤ÎÆ°ºî¡Ê¤½¤Î¸å¤Î°ÜÆ°Ãæ¤âÄϤß³¤±¤ë¡£¡Ë
//ËÜÂΰÜÆ°Ãæ
open; //´Ì¤òÎ¥¤¹¡£
push; //´Ì¤ò²¡¤·½Ð¤¹¡£©¤ÎÆ°ºî
}
¸åÉôNQC¡Ê¶îưôÅö¡Ë
#define back(t) OnRev(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C);
#define right(t) OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_A+OUT_C);
#define left(t) OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_A+OUT_C);
#define straight(t) OnFwd(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C);
//¾å¤«¤é½ç¤ËÁ°¿Ê¡¢±¦ÀÞ¡¢º¸ÀÞ¡¢¸åÂà¡£
task main(){
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
straight(100);
while((SENSOR_1>=40)&&(SENSOR_3>=40)){
straight(10);
} //¤³¤³¤Þ¤Ç¡¤ÎÆ°ºî
straight(10);
right(55); //¹õÀþ¤Ë¾è¤ë
while(SENSOR_2 != 1){
if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
right(20);
}
if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
left(20);
}
else{
OnFwd(OUT_A+OUT_C);
}
} //¤³¤³¤Þ¤Ç¢¤ÎÆ°ºî
back(20);
left(55); //ÊɤÈÊ¿¹Ô¤Î¸þ¤¤Ë¤¹¤ë
while(SENSOR_2 != 1){
straight(10);
} //£¤ÎÆ°ºî
OnRev(OUT_C);
Wait(20);
Off(OUT_C); //´Ì¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë
back(150); //¤¤ÎÆ°ºî
Wait(500); //¥¢¡¼¥àôÅö¤ÎNQC¤ÎÆ°¤(¥¤ÎÆ°ºî)¤òÂÔ¤Ä
right(10);
back(150);
while((SENSOR_1>=40)&&(SENSOR_3>=40)){
if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
right(20);
}
if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
left(20);
}
else{
OnRev(OUT_A+OUT_C);
}
} //¦¤ÎÆ°ºî
left(55); //¹õÀþ¤Ë¾è¤ë
while(SENSOR_2 != 1){
if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
right(20);
}
if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
left(20);
}
else{
OnFwd(OUT_A+OUT_C);
}
} //§¤ÎÆ°ºî
right(55); //´Ì¤ÎÊý¤Ë¥¢¡¼¥à¤ò¸þ¤±¤ë
back(80); //¨¤ÎÆ°ºî
//¤³¤Á¤é¤ÎNQC¤ÎÆ°ºî¤Ï½ªÎ»¡£¸å¤Ï¥¢¡¼¥àôÅö¤ÎNQC¤¬¥¢¡¼¥à¤ò³«¤¡¢´Ì¤ò²¡¤·½Ð¤¹¤Î¤òÂԤġ£
}
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#comment
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task main(){
#define close(t) OnFwd(OUT_A); Wait(t); Off(OUT_A);
#define open OnRev(OUT_A); Wait(80); Off(OUT_A);
#define push OnFwd(OUT_C); Wait(30); Off(OUT_C);
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Wait(2200); //´Ì¤ÎÁ°¤Þ¤Ç°ÜÆ°¤¹¤ë¤Î¤òÂԤġ£
close(3500); //¥¤ÎÆ°ºî¡Ê¤½¤Î¸å¤Î°ÜÆ°Ãæ¤âÄϤß³¤±¤ë¡£¡Ë
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open; //´Ì¤òÎ¥¤¹¡£
push; //´Ì¤ò²¡¤·½Ð¤¹¡£©¤ÎÆ°ºî
}
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#define back(t) OnRev(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C);
#define right(t) OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_A+OUT_C);
#define left(t) OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_A+OUT_C);
#define straight(t) OnFwd(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C);
//¾å¤«¤é½ç¤ËÁ°¿Ê¡¢±¦ÀÞ¡¢º¸ÀÞ¡¢¸åÂà¡£
task main(){
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
straight(100);
while((SENSOR_1>=40)&&(SENSOR_3>=40)){
straight(10);
} //¤³¤³¤Þ¤Ç¡¤ÎÆ°ºî
straight(10);
right(55); //¹õÀþ¤Ë¾è¤ë
while(SENSOR_2 != 1){
if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
right(20);
}
if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
left(20);
}
else{
OnFwd(OUT_A+OUT_C);
}
} //¤³¤³¤Þ¤Ç¢¤ÎÆ°ºî
back(20);
left(55); //ÊɤÈÊ¿¹Ô¤Î¸þ¤¤Ë¤¹¤ë
while(SENSOR_2 != 1){
straight(10);
} //£¤ÎÆ°ºî
OnRev(OUT_C);
Wait(20);
Off(OUT_C); //´Ì¤ÎÊý¤Ë¸þ¤¤òÊѤ¨¤ë
back(150); //¤¤ÎÆ°ºî
Wait(500); //¥¢¡¼¥àôÅö¤ÎNQC¤ÎÆ°¤(¥¤ÎÆ°ºî)¤òÂÔ¤Ä
right(10);
back(150);
while((SENSOR_1>=40)&&(SENSOR_3>=40)){
if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
right(20);
}
if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
left(20);
}
else{
OnRev(OUT_A+OUT_C);
}
} //¦¤ÎÆ°ºî
left(55); //¹õÀþ¤Ë¾è¤ë
while(SENSOR_2 != 1){
if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
right(20);
}
if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
left(20);
}
else{
OnFwd(OUT_A+OUT_C);
}
} //§¤ÎÆ°ºî
right(55); //´Ì¤ÎÊý¤Ë¥¢¡¼¥à¤ò¸þ¤±¤ë
back(80); //¨¤ÎÆ°ºî
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}
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