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#define RUN_TIME 750 ¡¡¡¡¡¡¡¡¡¡¡¡//¥×¥í¥°¥é¥à¤Î²ÔƯ»þ´Ö
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ£±(º¸)¤ò¥»¥Ã¥È
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ£²¤ò¥»¥Ã¥È
SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ£³(±¦)¤ò¥»¥Ã¥È
ClearTimer(0);
while(Timer(0) <= RUN_TIME)
{
if(SENSOR_1 < 40) //¸÷¥»¥ó¥µ£±(º¸)¤¬È¿±þ
{
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(4);
} //º¸¤ØÊý¸þ½¤Àµ
else if(SENSOR_3 <40) //¸÷¥»¥ó¥µ£³(±¦)¤¬È¿±þ
{
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(4);
} //±¦¤ØÊý¸þ½¤Àµ
else
{
OnFwd(OUT_A+OUT_C);
Wait(4);
} //Êý¸þ½¤Àµ¤ÎɬÍפ¬¤Ê¤¤»þ¤ÏÁ°¿Ê
if(SENSOR_2 == 1)¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //µíÆý¥Ñ¥Ã¥¯¤¬¤¢¤¿¤Ã¤¿¤È¤
{
Off(OUT_A+OUT_C);
OnFwd(OUT_B);
Wait(170);
Off(OUT_B); //¥¢¡¼¥à¤ò²¼¤²¤ë
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(200); //µíÆý¥Ñ¥Ã¥¯¤òÈ¿ÂÐÊý¸þ¤Ø
OnRev(OUT_A+OUT_C);
Wait(30);
Off(OUT_A+OUT_C); //°ÌÃÖÄ´À°
OnRev(OUT_B);
Wait(170);
Off(OUT_B); //¥¢¡¼¥à¤ò¾å¤²¤ë
OnRev(OUT_A+OUT_C);
Wait(30); //°ÌÃÖÄ´À°
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(200); //Êý¸þ¤òȿž
OnFwd(OUT_C);
Wait(30); //°ÌÃÖÄ´À°
}
if((SENSOR_1 < 40) && (SENSOR_3 < 40)) //¸÷¥»¥ó¥µ£±¤È£³¤¬¤¬Î¾ÊýÈ¿±þ¤·¤¿»þ
{
Off(OUT_A+OUT_C);
Wait(30); //°ì»þÄä»ß
OnFwd(OUT_A+OUT_C);
Wait(50); //Á°¿Ê
}
}
Off(OUT_A+OUT_C);
}
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**2(PuKKu) [#defc5be9]
#define THRESHOLD 40 //ïçÃÍ
#define REST 5 //¾¯¤·¤Î´ÖÆ°¤«¤¹
#define ON_AC SetOutput(OUT_A+OUT_C,OUT_ON); //¥â¡¼¥¿¡¼A¤ÈC¤ËÅŸ»¤òÆþ¤ì¤ë
#define FLOAT_AC SetOutput(OUT_A+OUT_C,OUT_FLOAT); //¥â¡¼¥¿¡¼A¤ÈC¤òFloat¤Ç»ß¤á¤ë
#define FWD_AC SetDirection(OUT_A+OUT_C,OUT_FWD); //¥â¡¼¥¿¡¼A¤ÈC¤òÁ°¿Ê¤µ¤»¤ë
#define FWD_A SetDirection(OUT_A,OUT_FWD); //¥â¡¼¥¿¡¼A¤òÁ°¿Ê¤µ¤»¤ë
#define FWD_C SetDirection(OUT_C,OUT_FWD); //¥â¡¼¥¿¡¼C¤òÁ°¿Ê¤µ¤»¤ë
#define REV_AC SetDirection(OUT_A+OUT_C,OUT_REV); //¥â¡¼¥¿¡¼A¤ÈC¤ò¸åÂव¤»¤ë
#define REV_A SetDirection(OUT_A,OUT_REV); //¥â¡¼¥¿¡¼A¤ò¸åÂव¤»¤ë
#define REV_C SetDirection(OUT_C,OUT_REV); //¥â¡¼¥¿¡¼C¤ò¸åÂव¤»¤ë
#define ARM_DOWN OnFwd(OUT_B);Wait(180);Off(OUT_B); //¥¢¡¼¥à¤ò²¼¤í¤¹
task line_trace(){ //¥é¥¤¥ó¥È¥ì¡¼¥¹
ON_AC; //¥â¡¼¥¿¡¼A¤ÈC¤ËÅŸ»¤òÆþ¤ì¤ë
while(true){
if(SENSOR_3<THRESHOLD){ //¥»¥ó¥µ¡¼3(±¦)¤¬°Å¤¤¤È¤
FWD_A; //±¦¤Ë¶Ê¤¬¤í¤¦¤È¤¹¤ë
REV_C;
Wait(REST);
}else if(SENSOR_1<THRESHOLD){ //¥»¥ó¥µ¡¼1(º¸)¤¬°Å¤¤¤È¤
FWD_C; //º¸¤Ë¶Ê¤¬¤í¤¦¤È¤¹¤ë
REV_A;
Wait(REST);
}else { //¤½¤Î¾
FWD_AC; //Á°¿Ê¤ò¤¹¤ë
Wait(REST);
}
}
}
sub arm_up(){ //¥¢¡¼¥à¤ò¾å¤²¤ë
OnRev(OUT_B);Wait(180);
Off(OUT_B);
REV_AC; //¸åÂà¤ò¤¹¤ë
ON_AC;
Wait(50);
FLOAT_AC;
}
sub turn(){ //¥¿¡¼¥ó¤ò¤¹¤ë(º¸²ó¤ê)
int turn=0; //¥¿¡¼¥ó¤¬¤Ç¤¤¿¤«¤Ç¤¤Ê¤«¤Ã¤¿¤«
int time2=0; //»þ´Ö¤òµÏ¿
while(turn==0){
REV_A;FWD_C;
ON_AC;
ClearTimer(1);
Wait(70);
until(FastTimer(1)>300 || (SENSOR_1<THRESHOLD));
time2=FastTimer(1);
until(SENSOR_3<THRESHOLD); //¥»¥ó¥µ¡¼3(±¦)¤¬¹õ¤¯¤Ê¤ë¤Þ¤Ç
FLOAT_AC;
if(time2>300){ //3Éðʾå²ó¤Ã¤¿¤é¾¯¤·Á°¤Ø¿Ê¤à
start line_trace;
Wait(50);
stop line_trace;FLOAT_AC;
time2=0;
}else{ //¤½¤Î¾(¥¿¡¼¥ó½ªÎ»¤Ø)
turn=1;
}
}
}
task main(){
SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼1(º¸)
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼3(±¦)
int i=0; //±¿¤ó¤À²ó¿ô
int get=0; //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤ë¤«¤¤¤Ê¤¤¤«
int time=0; //»þ´Ö¤òµÏ¿
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢¥¹¥¿¡¼¥È
while(i<=3){ //»æ¥Ñ¥Ã¥¯¤ò3²ó±¿¤Ö
if((SENSOR_2==1) && (get==0)){ //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤Ê¤¯¤Æ¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
if(i==3){ //3²ó±¿¤ó¤Ç¤¤¤¿¤é
i++; //½ªÎ»¤Ø
}
Wait(30);
stop line_trace;FLOAT_AC; //¾¯¤·¿Ê¤ó¤Ç»ß¤Þ¤ë
ARM_DOWN; //¥¢¡¼¥à¤ò²¼¤í¤¹
get=1; //»æ¥Ñ¥Ã¥¯¤ò»ý¤Á¤Þ¤·¤¿
//±¿¤Ö¤Ù¤¤â¤Î¤«¡¢ÃÖ¤µî¤ë¤Ù¤¤â¤Î¤«¤ÎȽÃǤØ
REV_A;FWD_C; //º¸¤Ë¾¯¤·¶Ê¤¬¤Ã¤Æ¡¢¥»¥ó¥µ¡¼1(º¸)¤¬°Å¤¯¤Ê¤ë¤«³Îǧ¤Ø
ON_AC;
Wait(30);
ClearTimer(0);
FWD_A;
until((FastTimer(0)>80) || (SENSOR_1<THRESHOLD));
time=FastTimer(0);
if(FastTimer(0)>80){ //°Å¤¯¤Ê¤é¤Ê¤«¤Ã¤¿¤é(±¿¤Ö¤Ù¤¤â¤Î)
REV_AC;Wait(time); //¸µ¤Î¾ì½ê¤ØÌá¤ë
FWD_A;Wait(50);
FLOAT_AC;
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
}else if(SENSOR_1<THRESHOLD){ //°Å¤¯¤Ê¤Ã¤¿¤é(ÃÖ¤µî¤ë¤Ù¤¤â¤Î)
REV_AC;Wait(time); //¸µ¤Î¾ì½ê¤ØÌá¤ë
FWD_A;
Wait(50);
FLOAT_AC;
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¾¯¤·¤À¤±ºÆ³«
Wait(200);
stop line_trace;FLOAT_AC;
turn(); //¥¿¡¼¥ó¤ò¤¹¤ë
start line_trace; //ºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢¥³¡¼¥¹¤Ë¤¤Á¤ó¤ÈÆþ¤ë
Wait(80);
stop line_trace;
REV_AC; //¸åÂà¤ò¤¹¤ë(¥¿¡¼¥ó¤ò¤·¤¿ÊÕ¤ê¤ØÌá¤ë)
Wait(50);
FLOAT_AC;
arm_up(); //¥¢¡¼¥à¤ò¾å¤²¤ë
get=0; //»æ¥Ñ¥Ã¥¯¤òÎ¥¤·¤Þ¤·¤¿
turn(); //¥¿¡¼¥ó¤ò¤·¤Æ¸µ¤Î¸þ¤¤Ø
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«
}
}else if((SENSOR_1<THRESHOLD) && (SENSOR_3<THRESHOLD)){//¥»¥ó¥µ¡¼1(º¸)¤È¥»¥ó¥µ¡¼3(±¦)¤¬¶¦¤Ë°Å¤¯¤Ê¤Ã¤¿¤é
stop line_trace;FLOAT_AC; //¸òº¹ÅÀ¤À¤«¤éÄä»ß
if(i<=2){ //±¿¤ó¤À²ó¿ô¤¬2²ó°Ê²¼¤À¤Ã¤¿¤é
Wait(50); //°ì»þÄä»ß
FWD_AC; //Á°¿Ê
ON_AC;
if(get==1){ //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤¿¤é
Wait(50);
until((SENSOR_1<THRESHOLD) && (SENSOR_3<THRESHOLD));
//¥»¥ó¥µ¡¼1(º¸)¤È¥»¥ó¥µ¡¼3(±¦)¤¬¶¦¤Ë°Å¤¯¤Ê¤Ã¤¿¤È¤¤è¤ê¤â¤¦¾¯¤·Á°¤Ø
Wait(50);
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¡¢¥é¥¤¥ó¤ØÌá¤ê¤Ê¤¬¤é¿Ê¤à
Wait(100);
stop line_trace;FLOAT_AC;
turn(); //¥¿¡¼¥ó¤ò¤¹¤ë
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¡¢¥é¥¤¥ó¤Î¾å¤ËÌá¤ë
Wait(80);
stop line_trace;
REV_AC; //¸åÂह¤ë(¥¿¡¼¥ó¤ò¤·¤¿ÊÕ¤ê¤ØÌá¤ë)
Wait(50);
FLOAT_AC;
arm_up(); //¥¢¡¼¥à¤ò¾å¤²¤ë
get=0; //»æ¥Ñ¥Ã¥¯¤òÎ¥¤·¤Þ¤·¤¿
turn(); //¥¿¡¼¥ó¤ò¤¹¤ë
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«
i++; //±¿¤ó¤À²ó¿ô¤ò¥×¥é¥¹1
}else{ //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤Ê¤«¤Ã¤¿¤é
Wait(100); //°ì»þÄä»ß
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
}
}
}
}
stop line_trace;FLOAT_AC; //¥é¥¤¥ó¥È¥ì¡¼¥¹½ªÎ»
}
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#comment
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[[2009b]]
*²ÝÂê2¡§¹õ¤¤Àþ¤Ë±è¤Ã¤ÆÆ°¤¯¥í¥Ü¥Ã¥È [#mab0506c]
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**1(¤æ¤¦¤¿¤í¤¦) [#ze3575e8]
#define RUN_TIME 750 ¡¡¡¡¡¡¡¡¡¡¡¡//¥×¥í¥°¥é¥à¤Î²ÔƯ»þ´Ö
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ£±(º¸)¤ò¥»¥Ã¥È
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ£²¤ò¥»¥Ã¥È
SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ£³(±¦)¤ò¥»¥Ã¥È
ClearTimer(0);
while(Timer(0) <= RUN_TIME)
{
if(SENSOR_1 < 40) //¸÷¥»¥ó¥µ£±(º¸)¤¬È¿±þ
{
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(4);
} //º¸¤ØÊý¸þ½¤Àµ
else if(SENSOR_3 <40) //¸÷¥»¥ó¥µ£³(±¦)¤¬È¿±þ
{
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(4);
} //±¦¤ØÊý¸þ½¤Àµ
else
{
OnFwd(OUT_A+OUT_C);
Wait(4);
} //Êý¸þ½¤Àµ¤ÎɬÍפ¬¤Ê¤¤»þ¤ÏÁ°¿Ê
if(SENSOR_2 == 1)¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //µíÆý¥Ñ¥Ã¥¯¤¬¤¢¤¿¤Ã¤¿¤È¤
{
Off(OUT_A+OUT_C);
OnFwd(OUT_B);
Wait(170);
Off(OUT_B); //¥¢¡¼¥à¤ò²¼¤²¤ë
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(200); //µíÆý¥Ñ¥Ã¥¯¤òÈ¿ÂÐÊý¸þ¤Ø
OnRev(OUT_A+OUT_C);
Wait(30);
Off(OUT_A+OUT_C); //°ÌÃÖÄ´À°
OnRev(OUT_B);
Wait(170);
Off(OUT_B); //¥¢¡¼¥à¤ò¾å¤²¤ë
OnRev(OUT_A+OUT_C);
Wait(30); //°ÌÃÖÄ´À°
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(200); //Êý¸þ¤òȿž
OnFwd(OUT_C);
Wait(30); //°ÌÃÖÄ´À°
}
if((SENSOR_1 < 40) && (SENSOR_3 < 40)) //¸÷¥»¥ó¥µ£±¤È£³¤¬¤¬Î¾ÊýÈ¿±þ¤·¤¿»þ
{
Off(OUT_A+OUT_C);
Wait(30); //°ì»þÄä»ß
OnFwd(OUT_A+OUT_C);
Wait(50); //Á°¿Ê
}
}
Off(OUT_A+OUT_C);
}
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**2(PuKKu) [#defc5be9]
#define THRESHOLD 40 //ïçÃÍ
#define REST 5 //¾¯¤·¤Î´ÖÆ°¤«¤¹
#define ON_AC SetOutput(OUT_A+OUT_C,OUT_ON); //¥â¡¼¥¿¡¼A¤ÈC¤ËÅŸ»¤òÆþ¤ì¤ë
#define FLOAT_AC SetOutput(OUT_A+OUT_C,OUT_FLOAT); //¥â¡¼¥¿¡¼A¤ÈC¤òFloat¤Ç»ß¤á¤ë
#define FWD_AC SetDirection(OUT_A+OUT_C,OUT_FWD); //¥â¡¼¥¿¡¼A¤ÈC¤òÁ°¿Ê¤µ¤»¤ë
#define FWD_A SetDirection(OUT_A,OUT_FWD); //¥â¡¼¥¿¡¼A¤òÁ°¿Ê¤µ¤»¤ë
#define FWD_C SetDirection(OUT_C,OUT_FWD); //¥â¡¼¥¿¡¼C¤òÁ°¿Ê¤µ¤»¤ë
#define REV_AC SetDirection(OUT_A+OUT_C,OUT_REV); //¥â¡¼¥¿¡¼A¤ÈC¤ò¸åÂव¤»¤ë
#define REV_A SetDirection(OUT_A,OUT_REV); //¥â¡¼¥¿¡¼A¤ò¸åÂव¤»¤ë
#define REV_C SetDirection(OUT_C,OUT_REV); //¥â¡¼¥¿¡¼C¤ò¸åÂव¤»¤ë
#define ARM_DOWN OnFwd(OUT_B);Wait(180);Off(OUT_B); //¥¢¡¼¥à¤ò²¼¤í¤¹
task line_trace(){ //¥é¥¤¥ó¥È¥ì¡¼¥¹
ON_AC; //¥â¡¼¥¿¡¼A¤ÈC¤ËÅŸ»¤òÆþ¤ì¤ë
while(true){
if(SENSOR_3<THRESHOLD){ //¥»¥ó¥µ¡¼3(±¦)¤¬°Å¤¤¤È¤
FWD_A; //±¦¤Ë¶Ê¤¬¤í¤¦¤È¤¹¤ë
REV_C;
Wait(REST);
}else if(SENSOR_1<THRESHOLD){ //¥»¥ó¥µ¡¼1(º¸)¤¬°Å¤¤¤È¤
FWD_C; //º¸¤Ë¶Ê¤¬¤í¤¦¤È¤¹¤ë
REV_A;
Wait(REST);
}else { //¤½¤Î¾
FWD_AC; //Á°¿Ê¤ò¤¹¤ë
Wait(REST);
}
}
}
sub arm_up(){ //¥¢¡¼¥à¤ò¾å¤²¤ë
OnRev(OUT_B);Wait(180);
Off(OUT_B);
REV_AC; //¸åÂà¤ò¤¹¤ë
ON_AC;
Wait(50);
FLOAT_AC;
}
sub turn(){ //¥¿¡¼¥ó¤ò¤¹¤ë(º¸²ó¤ê)
int turn=0; //¥¿¡¼¥ó¤¬¤Ç¤¤¿¤«¤Ç¤¤Ê¤«¤Ã¤¿¤«
int time2=0; //»þ´Ö¤òµÏ¿
while(turn==0){
REV_A;FWD_C;
ON_AC;
ClearTimer(1);
Wait(70);
until(FastTimer(1)>300 || (SENSOR_1<THRESHOLD));
time2=FastTimer(1);
until(SENSOR_3<THRESHOLD); //¥»¥ó¥µ¡¼3(±¦)¤¬¹õ¤¯¤Ê¤ë¤Þ¤Ç
FLOAT_AC;
if(time2>300){ //3Éðʾå²ó¤Ã¤¿¤é¾¯¤·Á°¤Ø¿Ê¤à
start line_trace;
Wait(50);
stop line_trace;FLOAT_AC;
time2=0;
}else{ //¤½¤Î¾(¥¿¡¼¥ó½ªÎ»¤Ø)
turn=1;
}
}
}
task main(){
SetSensor(SENSOR_1,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼1(º¸)
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼3(±¦)
int i=0; //±¿¤ó¤À²ó¿ô
int get=0; //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤ë¤«¤¤¤Ê¤¤¤«
int time=0; //»þ´Ö¤òµÏ¿
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢¥¹¥¿¡¼¥È
while(i<=3){ //»æ¥Ñ¥Ã¥¯¤ò3²ó±¿¤Ö
if((SENSOR_2==1) && (get==0)){ //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤Ê¤¯¤Æ¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
if(i==3){ //3²ó±¿¤ó¤Ç¤¤¤¿¤é
i++; //½ªÎ»¤Ø
}
Wait(30);
stop line_trace;FLOAT_AC; //¾¯¤·¿Ê¤ó¤Ç»ß¤Þ¤ë
ARM_DOWN; //¥¢¡¼¥à¤ò²¼¤í¤¹
get=1; //»æ¥Ñ¥Ã¥¯¤ò»ý¤Á¤Þ¤·¤¿
//±¿¤Ö¤Ù¤¤â¤Î¤«¡¢ÃÖ¤µî¤ë¤Ù¤¤â¤Î¤«¤ÎȽÃǤØ
REV_A;FWD_C; //º¸¤Ë¾¯¤·¶Ê¤¬¤Ã¤Æ¡¢¥»¥ó¥µ¡¼1(º¸)¤¬°Å¤¯¤Ê¤ë¤«³Îǧ¤Ø
ON_AC;
Wait(30);
ClearTimer(0);
FWD_A;
until((FastTimer(0)>80) || (SENSOR_1<THRESHOLD));
time=FastTimer(0);
if(FastTimer(0)>80){ //°Å¤¯¤Ê¤é¤Ê¤«¤Ã¤¿¤é(±¿¤Ö¤Ù¤¤â¤Î)
REV_AC;Wait(time); //¸µ¤Î¾ì½ê¤ØÌá¤ë
FWD_A;Wait(50);
FLOAT_AC;
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
}else if(SENSOR_1<THRESHOLD){ //°Å¤¯¤Ê¤Ã¤¿¤é(ÃÖ¤µî¤ë¤Ù¤¤â¤Î)
REV_AC;Wait(time); //¸µ¤Î¾ì½ê¤ØÌá¤ë
FWD_A;
Wait(50);
FLOAT_AC;
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¾¯¤·¤À¤±ºÆ³«
Wait(200);
stop line_trace;FLOAT_AC;
turn(); //¥¿¡¼¥ó¤ò¤¹¤ë
start line_trace; //ºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢¥³¡¼¥¹¤Ë¤¤Á¤ó¤ÈÆþ¤ë
Wait(80);
stop line_trace;
REV_AC; //¸åÂà¤ò¤¹¤ë(¥¿¡¼¥ó¤ò¤·¤¿ÊÕ¤ê¤ØÌá¤ë)
Wait(50);
FLOAT_AC;
arm_up(); //¥¢¡¼¥à¤ò¾å¤²¤ë
get=0; //»æ¥Ñ¥Ã¥¯¤òÎ¥¤·¤Þ¤·¤¿
turn(); //¥¿¡¼¥ó¤ò¤·¤Æ¸µ¤Î¸þ¤¤Ø
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«
}
}else if((SENSOR_1<THRESHOLD) && (SENSOR_3<THRESHOLD)){//¥»¥ó¥µ¡¼1(º¸)¤È¥»¥ó¥µ¡¼3(±¦)¤¬¶¦¤Ë°Å¤¯¤Ê¤Ã¤¿¤é
stop line_trace;FLOAT_AC; //¸òº¹ÅÀ¤À¤«¤éÄä»ß
if(i<=2){ //±¿¤ó¤À²ó¿ô¤¬2²ó°Ê²¼¤À¤Ã¤¿¤é
Wait(50); //°ì»þÄä»ß
FWD_AC; //Á°¿Ê
ON_AC;
if(get==1){ //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤¿¤é
Wait(50);
until((SENSOR_1<THRESHOLD) && (SENSOR_3<THRESHOLD));
//¥»¥ó¥µ¡¼1(º¸)¤È¥»¥ó¥µ¡¼3(±¦)¤¬¶¦¤Ë°Å¤¯¤Ê¤Ã¤¿¤È¤¤è¤ê¤â¤¦¾¯¤·Á°¤Ø
Wait(50);
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¡¢¥é¥¤¥ó¤ØÌá¤ê¤Ê¤¬¤é¿Ê¤à
Wait(100);
stop line_trace;FLOAT_AC;
turn(); //¥¿¡¼¥ó¤ò¤¹¤ë
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¡¢¥é¥¤¥ó¤Î¾å¤ËÌá¤ë
Wait(80);
stop line_trace;
REV_AC; //¸åÂह¤ë(¥¿¡¼¥ó¤ò¤·¤¿ÊÕ¤ê¤ØÌá¤ë)
Wait(50);
FLOAT_AC;
arm_up(); //¥¢¡¼¥à¤ò¾å¤²¤ë
get=0; //»æ¥Ñ¥Ã¥¯¤òÎ¥¤·¤Þ¤·¤¿
turn(); //¥¿¡¼¥ó¤ò¤¹¤ë
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«
i++; //±¿¤ó¤À²ó¿ô¤ò¥×¥é¥¹1
}else{ //»æ¥Ñ¥Ã¥¯¤ò»ý¤Ã¤Æ¤¤¤Ê¤«¤Ã¤¿¤é
Wait(100); //°ì»þÄä»ß
start line_trace; //¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
}
}
}
}
stop line_trace;FLOAT_AC; //¥é¥¤¥ó¥È¥ì¡¼¥¹½ªÎ»
}
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- ¥í¥Ü¥Ã¥È¤ÎÀâÌÀ¡¢¥×¥í¥°¥é¥à¤ÎÀâÌÀ¤È¤â¤Ë¡¢¼Ì¿¿¤ä¿Þ¤ò»ÈÍѤ·¤Æ¤ï¤«¤ê¤ä¤¹¤¯¤Ç¤¤Æ¤¤¤Æ¡¢¤È¤Æ¤â¤è¤¤¤Ç¤¹¡£¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Ï¡¢ifÉôʬ¤ò¥¤¥ó¥Ç¥ó¥È¤·¤Æ¸«¤ä¤¹¤¯¤·¤Æ¤¯¤À¤µ¤¤¡£¤Þ¤¿¡¢¥Ñ¥Ã¥¯¤¬·Ú¤¹¤®¤ÆÈ¿±þ¤·¤Å¤é¤¤¾ì¹ç¡¢¥»¥ó¥µ¡¼Éôʬ¤ò²þÎɤ¹¤ë¤³¤È¤ÇÈ¿±þ¤·¤ä¤¹¤¯¤¹¤ë¤³¤È¤¬¤Ç¤¤Ê¤¤¤«¹Í¤¨¤Æ¤ß¤Æ¤¯¤À¤µ¤¤¡Êº£²ó¤Ï¹©Éפ·¤Ê¤¯¤Æ¤âÈ¿±þ¤¹¤ëÈϰϤ«¤â¤·¤ì¤Þ¤»¤ó¤¬¡Ë¡£ -- [[¤³¤µ¤«]] &new{2009-12-11 (¶â) 15:32:20};
- ¥í¥Ü¥Ã¥È¤â¥×¥í¥°¥é¥à¤â¤¤¤í¤¤¤í¤È¹©Éפ·¤Æ¤¤¤ë¤è¤¦¤Ç¤¹¤·¡¢¤½¤ÎÀâÌÀ¤â¾Ü¤·¤¯¤Æ¤È¤Æ¤â¤è¤¤¤Ç¤¹¡£°ì¤ÄÌÜ¤Î¥×¥í¥°¥é¥à¤Ç¤ÏïçÃͤËľÀÜ¿ôÃͤò½ñ¤¤¤Æ¤¤¤Þ¤¹¤¬¡¢ÊÑ¿ô¤ò»È¤Ã¤¿Êý¤¬¸å¤Ç¤Þ¤È¤á¤ÆÄ´Àá¤Ç¤¤Þ¤¹¡£¤Þ¤¿¡¢while¤«¤éÈ´¤±½Ð¤¹ÊýË¡¤È¤·¤Æ¡¢ÊÑ¿ô¤òÀßÄꤷ¤Ê¤¯¤È¤âbreak¤â¤¢¤ê¤Þ¤¹¡£Â¾¤Ë¤â¡¢ºÙ¤«¤¤¤³¤È¤Ç¤¹¤¬¡¢ÊÑ¿ô¤ò¥Þ¥¯¥íÆâ¤ÇÄêµÁ¤¹¤ë¤È¡¢¸Æ¤Ó½Ð¤¹¤¿¤Ó¤Ë²¿²ó¤âÄêµÁ¤¹¤ë¤³¤È¤Ë¤Ê¤ë¤Î¤Ç¡¢ÊÑ¿ô¤òÄêµÁ¤¹¤ë¾ì½ê¤Ë¤âÃí°Õ¤Ç¤¤¿¤é¤è¤ê̵Â̤¬¤Ê¤¯¤Ê¤ë¤È»×¤¤¤Þ¤¹¡£¥×¥í¥°¥é¥à¤¬¤´¤Á¤ã¤´¤Á¤ã¤·¤Æ¤·¤Þ¤Ã¤¿¤é¡¢¥Õ¥í¡¼¥Á¥ã¡¼¥È¤Ê¤É¤ò½ñ¤¤¤ÆÀ°Íý¤·¤Ê¤ª¤¹¤ÈÎɤ¤¤«¤â¤·¤ì¤Þ¤»¤ó¡£¿Þ¤ä¼Ì¿¿¤ò¥Õ¥ë¤Ë³èÍѤ·¤Æ¤¤¤ë¤·¡¢ÌäÂê¤òÌÀ³Î¤Ë¤·¤Æ¤½¤ì¤ËÂФ·¤Æ¤É¤¦²ò·è¤¹¤ë¤«¤¬¤¤Á¤ó¤È½ñ¤«¤ì¤Æ¤¤¤¿ÅÀ¤ÏÁÇÀ²¤é¤·¤«¤Ã¤¿¤È»×¤¤¤Þ¤¹-- [[FI]] &new{2009-12-20 (Æü) 16:41:36};
#comment
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