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*¥×¥í¥°¥é¥à [#c3c175b9]
**¥Ü¡¼¥ë¤ò²¡¤·½Ð¤¹¥×¥í¥°¥é¥à [#zfb633a7]
#define signal_on 11
#define signal_off 12
#define turn_right OnFwd(OUT_C);Wait(124);Off(OUT_A+OUT_C);
#define turn_left OnFwd(OUT_A);Wait(124);Off(OUT_A+OUT_C);
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Float(OUT_A+OUT_C);
sub SEND() //¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¥×¥í¥°¥é¥à
{
ClearTimer(0);
ClearMessage();
while (FastTimer(0) < 200)
{
SendMessage(signal_on);
if (Message() == 1)
{
PlaySound(SOUND_CLICK); // Á÷¿®¤ËÀ®¸ù¤·¤¿¤È¤¤Ï¥Ô¥Ã¤ÈÌĤ餹
}
else
{
PlaySound(SOUND_LOW_BEEP); // Á÷¿®¤Ë¼ºÇÔ¤·¤¿¤È¤¤Ï¥Ö¥Ã¤ÈÌĤ餹
}
}
}
task main()
{
SetSensor(SENSOR_1, SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼1¤Ë¥»¥Ã¥È
SetSensor(SENSOR_3, SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼3¤Ë¥»¥Ã¥È
go_straight(70); //±ß¤«¤é¤Ç¤Æ¥é¥¤¥ó¤Ë¤Î¤ë
turn_left;
go_straight(240); //¥é¥¤¥ó¤Îü¤Þ¤Ç¤¹¤¹¤à
turn_left;
go_straight(160); //¥Ü¡¼¥ë¤ò¤Ä¤¯
SEND();
ClearMessage(); //¥á¥Ã¥»¡¼¥¸¤ò¥¯¥ê¥¢
until(Message() == signal_on); //¥á¥Ã¥»¡¼¥¸¤¬signal_on¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡
go_straight(40); //¥Ü¡¼¥ë¤ò¤Ä¤¯
SEND();
ClearMessage();
until(Message() == signal_on);
go_straight(40);
SEND();
}
**¥Ü¡¼¥ë¤ò±¿¤Ö¥×¥í¥°¥é¥à [#c132ebaf]
#define go_s(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C); //ľ¿Ê
#define back(t) OnRev(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C); //¸åÂà
#define turn_r(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C); //±¦¤Ë¶Ê¤¬¤ë
#define turn_l(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C); //º¸¤Ë¶Ê¤¬¤ë
#define arm_d OnRev(OUT_B);Wait(90);Off(OUT_B); //¥¢¡¼¥à¤ò²¼¤²¤ë
#define arm_u OnFwd(OUT_B);Wait(90);Off(OUT_B); //¥¢¡¼¥à¤ò¾å¤²¤ë
#define SPIN 200 //°ì²óž¤¹¤ë»þ´Ö
#define signal_on 11
#define signal_off 12
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼¤Ë
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ¡¼1¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë
SetSensor(SENSOR_3,SENSOR_LIGHT); //¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼¤Ë¡Ê¥é¥ó¥¿¥ó¤òõ¤¹¡Ë
SetPower(OUT_B,6);
int l_max=0; //l_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë
int t_max=0; //t_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë
go_s(180); //¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¥Ü¡¼¥ëÃÖ¤¾ì¤Ø°ÜÆ°
turn_l(80);
OnFwd(OUT_A+OUT_C);
until(SENSOR_1<40); //Àþ¾å¤Þ¤ÇÍ褿¤é
turn_r(100); //¸þ¤¤òÊѤ¨¤Æľ¿Ê
go_s(180);
turn_r(150);
arm_d; //¥Ü¡¼¥ëÃÖ¤¾ì¤Þ¤ÇÍ褿¤é¥¢¡¼¥à¤ò²¼¤²
OnFwd(OUT_A+OUT_C);
until(SENSOR_2 == 1); //ÌڤΥ֥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
Wait(500); //¤â¤¦°ì¤Ä¤Î¥í¥Ü¥Ã¥È¤¬¥Ü¡¼¥ë¤ò²¡¤¹¤Þ¤ÇÂÔ¤Ä
OnRev(OUT_A+OUT_C);
Wait(20); //¥¢¡¼¥à¤¬¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤Þ¤Ç¸åÂà
Float(OUT_A+OUT_C); //¤æ¤Ã¤¯¤ê»ß¤Þ¤ë
arm_u; //¥¢¡¼¥à¤ò¾å¤²¤Æ¥Ü¡¼¥ë¤ò¸ÇÄê
back(50);
turn_r(150); //¥´¡¼¥ë¤ÎÊý¸þ¤ËÊý¸þž´¹
go_s(850); //¥´¡¼¥ëÁ°¤Ë¸þ¤«¤Ã¤Æľ¿Ê
turn_r(90); //¥í¥Ü¥Ã¥È¤È¥´¡¼¥ë¤¬Ä¾³Ñ¤Ë¤Ê¤ë¤è¤¦¸þ¤¤òÄ´À°
go_s(200); //¥´¡¼¥ë¤Ë¸þ¤«¤Ã¤Æľ¿Ê
arm_d; //¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤òÊü¤¹
repeat(3)
{go_s(10); back(10);} //¼ÖÂΤòÍɤ餷¡¢¥Ü¡¼¥ë¤ò³Î¼Â¤ËÍî¤È¤¹
arm_u; //¥¢¡¼¥à¤ò¾å¤²¤ë
repeat(2)
{
turn_r(200); //¥Ü¡¼¥ëÃÖ¤¾ì¤ØÌá¤ë¥×¥í¥°¥é¥à
go_s(800); //¤Þ¤Ã¤¹¤°¥¹¥¿¡¼¥ÈÃÏÅÀ¤Þ¤ÇÌá¤ë
turn_r(100); //Êý¸þž´¹
OnFwd(OUT_A+OUT_C);
until(SENSOR_1<40); //Àþ¾å¤Þ¤Çľ¿Ê¤·¤¿¤é
turn_l(100); //¥Ü¡¼¥ëÃÖ¤¾ì¤ØÊý¸þž´¹
go_s(180);
turn_r(120); //¥Ü¡¼¥ëÃÖ¤¾ì¤Ø
arm_d;
OnFwd(OUT_A+OUT_C);
until(SENSOR_2 == 1); //¥Ö¥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
ClearMessage(); //¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤È¥á¥Ã¥»¡¼¥¸¤ÎÁ÷¼õ¿®
while(true)
{until(Message() == signal_on); //¥¢¡¼¥à¤ò¾å¤²¤ë¥×¥í¥°¥é¥à¤ò¼Â¹Ô
arm_u; }
//¥´¡¼¥ë¤Ë¸þ¤«¤¦¥×¥í¥°¥é¥à
back(40);
turn_r(120);
go_s(830);
turn_r(90);
go_s(200);
arm_d; //¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤ò½³¤ê½Ð¤¹
repeat(3)
{go_s(10); back(10);}
arm_u;
} //¡Ð¡ÑÆâ¤òÆó²ó·«¤êÊÖ¤¹
back(500); //¥³¡¼¥¹¤ÎÃæ¿´¤¢¤¿¤ê¤Þ¤ÇÌá¤Ã¤Æ½ªÎ»
}
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*¥×¥í¥°¥é¥à [#c3c175b9]
**¥Ü¡¼¥ë¤ò²¡¤·½Ð¤¹¥×¥í¥°¥é¥à [#zfb633a7]
#define signal_on 11
#define signal_off 12
#define turn_right OnFwd(OUT_C);Wait(124);Off(OUT_A+OUT_C);
#define turn_left OnFwd(OUT_A);Wait(124);Off(OUT_A+OUT_C);
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Float(OUT_A+OUT_C);
sub SEND() //¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¥×¥í¥°¥é¥à
{
ClearTimer(0);
ClearMessage();
while (FastTimer(0) < 200)
{
SendMessage(signal_on);
if (Message() == 1)
{
PlaySound(SOUND_CLICK); // Á÷¿®¤ËÀ®¸ù¤·¤¿¤È¤¤Ï¥Ô¥Ã¤ÈÌĤ餹
}
else
{
PlaySound(SOUND_LOW_BEEP); // Á÷¿®¤Ë¼ºÇÔ¤·¤¿¤È¤¤Ï¥Ö¥Ã¤ÈÌĤ餹
}
}
}
task main()
{
SetSensor(SENSOR_1, SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼1¤Ë¥»¥Ã¥È
SetSensor(SENSOR_3, SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼3¤Ë¥»¥Ã¥È
go_straight(70); //±ß¤«¤é¤Ç¤Æ¥é¥¤¥ó¤Ë¤Î¤ë
turn_left;
go_straight(240); //¥é¥¤¥ó¤Îü¤Þ¤Ç¤¹¤¹¤à
turn_left;
go_straight(160); //¥Ü¡¼¥ë¤ò¤Ä¤¯
SEND();
ClearMessage(); //¥á¥Ã¥»¡¼¥¸¤ò¥¯¥ê¥¢
until(Message() == signal_on); //¥á¥Ã¥»¡¼¥¸¤¬signal_on¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡
go_straight(40); //¥Ü¡¼¥ë¤ò¤Ä¤¯
SEND();
ClearMessage();
until(Message() == signal_on);
go_straight(40);
SEND();
}
**¥Ü¡¼¥ë¤ò±¿¤Ö¥×¥í¥°¥é¥à [#c132ebaf]
#define go_s(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C); //ľ¿Ê
#define back(t) OnRev(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C); //¸åÂà
#define turn_r(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C); //±¦¤Ë¶Ê¤¬¤ë
#define turn_l(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C); //º¸¤Ë¶Ê¤¬¤ë
#define arm_d OnRev(OUT_B);Wait(90);Off(OUT_B); //¥¢¡¼¥à¤ò²¼¤²¤ë
#define arm_u OnFwd(OUT_B);Wait(90);Off(OUT_B); //¥¢¡¼¥à¤ò¾å¤²¤ë
#define SPIN 200 //°ì²óž¤¹¤ë»þ´Ö
#define signal_on 11
#define signal_off 12
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼¤Ë
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ¡¼1¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë
SetSensor(SENSOR_3,SENSOR_LIGHT); //¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼¤Ë¡Ê¥é¥ó¥¿¥ó¤òõ¤¹¡Ë
SetPower(OUT_B,6);
int l_max=0; //l_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë
int t_max=0; //t_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë
go_s(180); //¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¥Ü¡¼¥ëÃÖ¤¾ì¤Ø°ÜÆ°
turn_l(80);
OnFwd(OUT_A+OUT_C);
until(SENSOR_1<40); //Àþ¾å¤Þ¤ÇÍ褿¤é
turn_r(100); //¸þ¤¤òÊѤ¨¤Æľ¿Ê
go_s(180);
turn_r(150);
arm_d; //¥Ü¡¼¥ëÃÖ¤¾ì¤Þ¤ÇÍ褿¤é¥¢¡¼¥à¤ò²¼¤²
OnFwd(OUT_A+OUT_C);
until(SENSOR_2 == 1); //ÌڤΥ֥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
Wait(500); //¤â¤¦°ì¤Ä¤Î¥í¥Ü¥Ã¥È¤¬¥Ü¡¼¥ë¤ò²¡¤¹¤Þ¤ÇÂÔ¤Ä
OnRev(OUT_A+OUT_C);
Wait(20); //¥¢¡¼¥à¤¬¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤Þ¤Ç¸åÂà
Float(OUT_A+OUT_C); //¤æ¤Ã¤¯¤ê»ß¤Þ¤ë
arm_u; //¥¢¡¼¥à¤ò¾å¤²¤Æ¥Ü¡¼¥ë¤ò¸ÇÄê
back(50);
turn_r(150); //¥´¡¼¥ë¤ÎÊý¸þ¤ËÊý¸þž´¹
go_s(850); //¥´¡¼¥ëÁ°¤Ë¸þ¤«¤Ã¤Æľ¿Ê
turn_r(90); //¥í¥Ü¥Ã¥È¤È¥´¡¼¥ë¤¬Ä¾³Ñ¤Ë¤Ê¤ë¤è¤¦¸þ¤¤òÄ´À°
go_s(200); //¥´¡¼¥ë¤Ë¸þ¤«¤Ã¤Æľ¿Ê
arm_d; //¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤òÊü¤¹
repeat(3)
{go_s(10); back(10);} //¼ÖÂΤòÍɤ餷¡¢¥Ü¡¼¥ë¤ò³Î¼Â¤ËÍî¤È¤¹
arm_u; //¥¢¡¼¥à¤ò¾å¤²¤ë
repeat(2)
{
turn_r(200); //¥Ü¡¼¥ëÃÖ¤¾ì¤ØÌá¤ë¥×¥í¥°¥é¥à
go_s(800); //¤Þ¤Ã¤¹¤°¥¹¥¿¡¼¥ÈÃÏÅÀ¤Þ¤ÇÌá¤ë
turn_r(100); //Êý¸þž´¹
OnFwd(OUT_A+OUT_C);
until(SENSOR_1<40); //Àþ¾å¤Þ¤Çľ¿Ê¤·¤¿¤é
turn_l(100); //¥Ü¡¼¥ëÃÖ¤¾ì¤ØÊý¸þž´¹
go_s(180);
turn_r(120); //¥Ü¡¼¥ëÃÖ¤¾ì¤Ø
arm_d;
OnFwd(OUT_A+OUT_C);
until(SENSOR_2 == 1); //¥Ö¥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
ClearMessage(); //¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤È¥á¥Ã¥»¡¼¥¸¤ÎÁ÷¼õ¿®
while(true)
{until(Message() == signal_on); //¥¢¡¼¥à¤ò¾å¤²¤ë¥×¥í¥°¥é¥à¤ò¼Â¹Ô
arm_u; }
//¥´¡¼¥ë¤Ë¸þ¤«¤¦¥×¥í¥°¥é¥à
back(40);
turn_r(120);
go_s(830);
turn_r(90);
go_s(200);
arm_d; //¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤ò½³¤ê½Ð¤¹
repeat(3)
{go_s(10); back(10);}
arm_u;
} //¡Ð¡ÑÆâ¤òÆó²ó·«¤êÊÖ¤¹
back(500); //¥³¡¼¥¹¤ÎÃæ¿´¤¢¤¿¤ê¤Þ¤ÇÌá¤Ã¤Æ½ªÎ»
}
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*¥³¥á¥ó¥È [#g786f5cb]
#comment
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