2011a/A3/²ÝÂê2º¸/okamoto¤Î¥Ú¡¼¥¸
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[[2011a/A3/²ÝÂꣲº¸]]
#ref(kadai2_1.jpg)
#define THRESHOLD 50 // ïçÃÍ
#define turn_right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C); //±¦¤Ë¶Ê¤¬¤ë
#define turn_left(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_A+OUT_C); //º¸¤Ë¶Ê¤¬¤ë
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C); //Á°¿Ê
#define RUN_TIME1 90 //¡¤Î»þ´Ö
#define RUN_TIME2 70 //¢
#define RUN_TIME3 34 //£
#define RUN_TIME4 27 //¤
#define RUN_TIME5 23 //¥
#define RUN_TIME6 25 //¦
#define RUN_TIME7 25 //§
#define RUN_TIME8 50 //¨
#define RUN_TIME9 50 //©
task main ()
{
SetSensor(SENSOR_1, SENSOR_LIGHT);//¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_3, SENSOR_LIGHT);//¥»¥ó¥µ¡¼3¤Ï¸÷¥»¥ó¥µ¡¼
ClearTimer(0);
while (Timer(0) <=RUN_TIME1) //whileÆâ¤òRUN_TIME1Éôַ«¤êÊÖ¤¹¡¦¡¦¡¦¡
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//(¥»¥ó¥µ¡¼1¡¢¥»¥ó¥µ¡¼3)(¹õ¡¢¹õ)¤Î¤È¤Á°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
Off(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¤Î¤È¤¡¢º¸¼ÖÎؤò»ß¤á¤Æ¿ÊÏ©¤òº¸¤Ë½¤Àµ¤·µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ë
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¤Î¤È¤¿ÊÏ©¤ò±¦¤Ë½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡ÊÇò¡¢Çò¡Ë¤Î¤È¤Á°¿Ê
}
}
Off(OUT_A+OUT_C);
ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
while (Timer(0) <=RUN_TIME2) //¥»¥ó¥µ¡¼1¤ò»ÈÍѤ»¤º¥³¡¼¥¹¤ÎÆ⦤Υ»¥ó¥µ¡¼¤À¤±´¶ÃΤµ¤»¤Æľ³Ñ¤ò¶Ê¤¬¤ë¡¦¡¦¡¦¢
{
if ((SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A);//¥»¥ó¥µ¡¼3¤¬¹õ¤Î¤È¤¿ÊÏ©¤ò±¦¤Ë½¤Àµ
OnRev(OUT_C);
}
if ((SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¥»¥ó¥µ¡¼3¤¬Çò¤Î¤È¤Á°¿Ê
}
}
Off(OUT_A+OUT_C);
ClearTimer(0);
while (Timer(0) <=RUN_TIME3)¡¦¡¦¡¦£
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
Off(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(40); //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëÁ°¤Ë±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME4) //¥í¡¼¥¿¥ê¡¼¤Ç¤Ï¥»¥ó¥µ¡¼1¤À¤±»ÈÍÑ¡¦¡¦¡¦¤
{
if ((SENSOR_1 < THRESHOLD))
{
OnFwd(OUT_C);//¡Ê¹õ¡Ë¡¡¿ÊÏ©½¤Àµ
OnRev(OUT_A);
}
if ((SENSOR_1 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡ÊÇò¡Ë Á°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(50);//¥í¡¼¥¿¥ê¡¼½Ð¤ë¤È¤±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME5)¥×¥í¥°¥é¥à¤Ï£¤ÈƱ¤¸¡¦¡¦¡¦¥
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(55); //¶áÆ»¤ËÆþ¤ëÁ°¤Ë±¦¤Ë¶Ê¤¬¤ë
go_straight(190); //¶áÆ»¤òÁ°¿Ê
turn_right(50); //¶áÆ»¤Ë½Ð¤ë¤È¤¤Ë±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME6)¥×¥í¥°¥é¥à¤Ï£¤ÈƱ¤¸ ¡¦¡¦¡¦¦
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(30);//¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëÁ°¤Ë±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME7) //¥×¥í¥°¥é¥à¤Ï¤¤ÈƱ¤¸¡¦¡¦¡¦§
{
if ((SENSOR_1 < THRESHOLD))
{
OnFwd(OUT_C);//¹õ
OnRev(OUT_A);
}
if ((SENSOR_1 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//Çò
}
}
Off(OUT_A+OUT_C);
turn_right(50); //¥í¡¼¥¿¥ê¡¼½Ð¤ë¤È¤±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME8) ¥×¥í¥°¥é¥à¤Ï£¤ÈƱ¤¸¡¦¡¦¡¦¨
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
ClearTimer(0);
while (Timer(0) <=RUN_TIME9)¡¦¡¦¡¦©
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
Off(OUT_C);//(Çò¡¢¹õ)¤Î¤È¤¡¢±¦¼ÖÎؤò»ß¤á¤Æ¿ÊÏ©¤ò±¦¤Ë½¤Àµ¤·µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ë
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
}
½ªÎ»¹Ô:
[[2011a/A3/²ÝÂꣲº¸]]
#ref(kadai2_1.jpg)
#define THRESHOLD 50 // ïçÃÍ
#define turn_right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C); //±¦¤Ë¶Ê¤¬¤ë
#define turn_left(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_A+OUT_C); //º¸¤Ë¶Ê¤¬¤ë
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C); //Á°¿Ê
#define RUN_TIME1 90 //¡¤Î»þ´Ö
#define RUN_TIME2 70 //¢
#define RUN_TIME3 34 //£
#define RUN_TIME4 27 //¤
#define RUN_TIME5 23 //¥
#define RUN_TIME6 25 //¦
#define RUN_TIME7 25 //§
#define RUN_TIME8 50 //¨
#define RUN_TIME9 50 //©
task main ()
{
SetSensor(SENSOR_1, SENSOR_LIGHT);//¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_3, SENSOR_LIGHT);//¥»¥ó¥µ¡¼3¤Ï¸÷¥»¥ó¥µ¡¼
ClearTimer(0);
while (Timer(0) <=RUN_TIME1) //whileÆâ¤òRUN_TIME1Éôַ«¤êÊÖ¤¹¡¦¡¦¡¦¡
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//(¥»¥ó¥µ¡¼1¡¢¥»¥ó¥µ¡¼3)(¹õ¡¢¹õ)¤Î¤È¤Á°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
Off(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¤Î¤È¤¡¢º¸¼ÖÎؤò»ß¤á¤Æ¿ÊÏ©¤òº¸¤Ë½¤Àµ¤·µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ë
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¤Î¤È¤¿ÊÏ©¤ò±¦¤Ë½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡ÊÇò¡¢Çò¡Ë¤Î¤È¤Á°¿Ê
}
}
Off(OUT_A+OUT_C);
ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
while (Timer(0) <=RUN_TIME2) //¥»¥ó¥µ¡¼1¤ò»ÈÍѤ»¤º¥³¡¼¥¹¤ÎÆ⦤Υ»¥ó¥µ¡¼¤À¤±´¶ÃΤµ¤»¤Æľ³Ñ¤ò¶Ê¤¬¤ë¡¦¡¦¡¦¢
{
if ((SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A);//¥»¥ó¥µ¡¼3¤¬¹õ¤Î¤È¤¿ÊÏ©¤ò±¦¤Ë½¤Àµ
OnRev(OUT_C);
}
if ((SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¥»¥ó¥µ¡¼3¤¬Çò¤Î¤È¤Á°¿Ê
}
}
Off(OUT_A+OUT_C);
ClearTimer(0);
while (Timer(0) <=RUN_TIME3)¡¦¡¦¡¦£
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
Off(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(40); //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëÁ°¤Ë±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME4) //¥í¡¼¥¿¥ê¡¼¤Ç¤Ï¥»¥ó¥µ¡¼1¤À¤±»ÈÍÑ¡¦¡¦¡¦¤
{
if ((SENSOR_1 < THRESHOLD))
{
OnFwd(OUT_C);//¡Ê¹õ¡Ë¡¡¿ÊÏ©½¤Àµ
OnRev(OUT_A);
}
if ((SENSOR_1 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡ÊÇò¡Ë Á°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(50);//¥í¡¼¥¿¥ê¡¼½Ð¤ë¤È¤±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME5)¥×¥í¥°¥é¥à¤Ï£¤ÈƱ¤¸¡¦¡¦¡¦¥
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(55); //¶áÆ»¤ËÆþ¤ëÁ°¤Ë±¦¤Ë¶Ê¤¬¤ë
go_straight(190); //¶áÆ»¤òÁ°¿Ê
turn_right(50); //¶áÆ»¤Ë½Ð¤ë¤È¤¤Ë±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME6)¥×¥í¥°¥é¥à¤Ï£¤ÈƱ¤¸ ¡¦¡¦¡¦¦
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
turn_right(30);//¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëÁ°¤Ë±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME7) //¥×¥í¥°¥é¥à¤Ï¤¤ÈƱ¤¸¡¦¡¦¡¦§
{
if ((SENSOR_1 < THRESHOLD))
{
OnFwd(OUT_C);//¹õ
OnRev(OUT_A);
}
if ((SENSOR_1 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//Çò
}
}
Off(OUT_A+OUT_C);
turn_right(50); //¥í¡¼¥¿¥ê¡¼½Ð¤ë¤È¤±¦¤Ë¶Ê¤¬¤ë
ClearTimer(0);
while (Timer(0) <=RUN_TIME8) ¥×¥í¥°¥é¥à¤Ï£¤ÈƱ¤¸¡¦¡¦¡¦¨
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnRev(OUT_C);//¡ÊÇò¡¢¹õ¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
ClearTimer(0);
while (Timer(0) <=RUN_TIME9)¡¦¡¦¡¦©
{
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
OnFwd(OUT_A+OUT_C);//¡Ê¹õ¡¢¹õ¡ËÁ°¿Ê
}
if ((SENSOR_1 < THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnRev(OUT_A);//¡Ê¹õ¡¢Çò¡Ë¿ÊÏ©½¤Àµ
OnFwd(OUT_C);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 < THRESHOLD))
{
Off(OUT_C);//(Çò¡¢¹õ)¤Î¤È¤¡¢±¦¼ÖÎؤò»ß¤á¤Æ¿ÊÏ©¤ò±¦¤Ë½¤Àµ¤·µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ë
OnFwd(OUT_A);
}
if ((SENSOR_1 > THRESHOLD)&&(SENSOR_3 > THRESHOLD))
{
OnFwd(OUT_A+OUT_C); //¡ÊÇò¡¢Çò¡ËÁ°¿Ê
}
}
Off(OUT_A+OUT_C);
}
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