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[[2011b]]
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-z:Îп§¤Î°ìÈÖŤ¤Ä¾ÀþÉôʬ¡ÊÃæ±û¡©¡¡2¤ÄÌܤÎľÀþ¡Ë
#define rota abs(SENSOR_1) //²óž¥»¥ó¥µ¡¼¤ÎÀäÂÐÃͤò¼è¤ê¤Þ¤¹
#define senb SENSOR_2 //¥Ö¥í¥Ã¥¯¡Ê»æ¥Ñ¥Ã¥¯¡Ë¤Ë»ÈÍѤ¹¤ë¸÷¥»¥ó¥µ¡¼¤Ç¤¹
#define senl SENSOR_3 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë»ÈÍѤ¹¤ë¸÷¥»¥ó¥µ¡¼¤Ç¤¹
#define zero ClearSensor(SENSOR_1); //²óž¥»¥ó¥µ¡¼¤ÎÃͤò£°¤Ë¤·¤Þ¤¹
#define AAAL ClearSensor(SENSOR_1);until( abs(SENSOR_1) > 260); //²óž¥»¥ó¥µ¡¼¤Ç£¹£°Åٶʤ¬¤ë¤È¤¤Ë»È¤¤¤Þ¤¹¡£Ê¸»ú¤Ë°ÕÌ£¤Ï¤Ê¤·
#define AAAR ClearSensor(SENSOR_1);until( abs(SENSOR_1) > 240); //ºÇ½é¤Î²óž¤Î»þ¡¢¤Ê¤¼¤«¾å¤ÎÃͤǤ϶ʤ¬¤ê¤¹¤®¤ë¤Î¤Ç
#define siro 49 //Çò¥Ö¥í¥Ã¥¯¤òȽÃǤ¹¤ë¤¿¤á¤ÎÃͤǤ¹
#define kuro 36 //¹õ¥Ö¥í¥Ã¥¯¤òȽÃǤ¹¤ë¤¿¤á¤ÎÃͤǤ¹
#define line 45 //¥é¥¤¥ó¤òȽÃǤ¹¤ë¤¿¤á¤ÎÃͤǤ¹
#define fwdr OnFwd(OUT_C); //±¦ÀÞ
#define fwdl OnFwd(OUT_A); //º¸ÀÞ
#define fwdw OnFwd(OUT_AC); //Á°¿Ê
#define revr OnRev(OUT_C); //¸å¿Ê±¦ÀÞ
#define revl OnRev(OUT_A); //¸å¿Êº¸ÀÞ
#define revw OnRev(OUT_AC); //¸å¿Ê
#define ueni OnFwd(OUT_B);Wait(140);Off(OUT_B); //¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤ë¥¢¡¼¥à¤ò¾å¤²¤Þ¤¹
#define sita OnRev(OUT_B);Wait(136);Off(OUT_B); //¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤ë¥¢¡¼¥à¤ò²¼¤²¤Þ¤¹
#define time Off(OUT_AC);Wait(50); //¹ç´Ö¹ç´Ö¤ËÄä»ß»þ´Ö¤òÆþ¤ì¤¿Êý¤¬Àµ³Î¤Ê¤Î¤Ç¤Þ¤È¤á¤Æ¤¢¤ê¤Þ¤¹
#define otoA PlaySound(SOUND_UP); //²»¤òÌĤ餷¤Þ¤¹
int phase=1; //¥Ö¥í¥Ã¥¯¤Ï±¿¤Ö¤Î¤¬²¿²óÌܤ«¤òɽ¤·¤Æ¤¤¤Þ¤¹
int i=1; //for¡Ê·«¤êÊÖ¤·¡Ë¤Î»þ¤Ë»È¤¤¤Þ¤¹¡Ë
void angle(int t){ //²óž¥»¥ó¥µ¡¼¤ÇǤ°Õ¤Î³ÑÅÙ¡¢µ÷Î¥¤ò¬¤ë¤È¤¤Ë»È¤¦´Ø¿ô¤Ç¤¹
ClearSensor(SENSOR_1);until( abs(SENSOR_1) > t);
}
void senl_traceR(int t){ //¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯»þ¤Î´Ø¿ô¤Ç¤¹¡£ºÇ½é¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤¿»þ¤Î̾Á°¤òÊѤ¨Ëº¤ì¤Æ¤¤¤Þ¤¹¡£
revw;angle(700);otoA; //¤Þ¤º¤¢¤ëÄøÅÙ²¼¤¬¤Ã¤Æ¤«¤é
revw;Wait(320);time; //¸å¤í¤ÎÊɤˤ֤Ĥ«¤ê¤Þ¤¹¡Ê¡¡Ë
fwdw;angle(t);time; //£ô¤À¤±Á°¿Ê¤·¤¿¸å
revr;AAAL;time; //¤Ö¤Ã¤í¤¯¤ÎÊý¤Ë¸þ¤¤Þ¤¹
}
void attack_lamp(int t){ //ºÇ½é¼ÙËâ¤Ê¥é¥ó¥×¤ò¤É¤«¤¹»þ¤Ë»È¤¦´Ø¿ô¤Ç¤¹
fwdr;AAAR;time;ueni; //½é´ü°ÌÃÖ¤«¤é90ÅÙ±¦ÀÞ¤·¤¿¤Î¤Á¥¢¡¼¥à¤ò¾å¤²¤Þ¤¹¡ÊÊɤ˥¢¡¼¥à¤¬¤Ö¤Ä¤«¤ë¤ó¤òËɤ°¤¿¤á¡Ë
fwdw;Wait(100);until(senl < line);until(senl > line);
angle(50);time; //angle(50);¤ÏÈùÄ´À°
fwdl;until(senl < line);time; //¥é¥¤¥ó¤Þ¤ÇÍ褿¤é¤Û¤Ü90ÅÙº¸ÀÞ¤·¤Þ¤¹
zero;
while(rota < t){ //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤¢¤ëÄøÅ٤ޤǿʤߤޤ¹
if(senl < line) {Off(OUT_AC);fwdr;}
else {Off(OUT_AC);fwdl;}
}
time;otoA;sita; //¥¢¡¼¥à¤ò²¼¤²¤Æ¥é¥ó¥×¤ò²¡¤¹½àÈ÷¤ò¤·¤Æ¤¤¤Þ¤¹
fwdw;angle(1700);time; //¤³¤ÎÁ´¿ÈÅÓÃæ¤Ç¥é¥ó¥×¤Ë¤Ö¤Ä¤«¤ê¤Þ¤¹
revw;angle(340);time;ueni; //¥¢¡¼¥à¤ò¾å¤²¤Æ¥Ö¥í¥Ã¥¯¤ò¤È¤ë½àÈ÷¤ò¤·¤Æ¤¤¤Þ¤¹
revr;AAAL;time;
}
void approach_block(int t){ //¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯¢ª¼è¤ë¢ªÎ¥¤ì¤ë¤ò¤·¤Æ¤¤¤Þ¤¹
revw;Wait(250);time; //¤Þ¤º¸å¤í¤ÎÊɤËÅö¤Æ¤Æ³ÑÅÙ¤òÀµ¤·¤Þ¤¹¡Ê¢¡Ë
fwdw;angle(270);time;otoA; //¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯
fwdw;angle(t); //¸÷¥»¥ó¥µ¡¼¤Ç¥Ö¥í¥Ã¥¯¤¬¼êÁ°¤Ë¤¢¤ë¤«È½ÃǤ·¤Þ¤¹
if(phase==3 || phase==4){until(senb < kuro);} //3,4²óÌܤϹõ¥Ö¥í¥Ã¥¯¤¬Íè¤Þ¤¹
else {until(senb > siro);} //¤½¤ì°Ê³°¤ÏÇò¥Ö¥í¥Ã¥¯¤Ç¤¹
time;zero;
sita;revw;angle(t);time; //¥¢¡¼¥à¤ò²¼¤²¤Æ¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤Ä¤±¤¿¤Î¤Á¥Ð¥Ã¥¯¤·¤Þ¤¹
}
void come_back(int t){ //¥Ö¥í¥Ã¥¯¤òÀѤ߾夲¾ì½ê¤Þ¤Ç°ÜÆ°¤µ¤»¤Þ¤¹
revr;AAAL;time; //ÀѤ߾夲¾ì½ê¤Þ¤Ç°ÜÆ°¤·¤Þ¤¹¡Ê¡ö¤Þ¤Ç¡Ë
fwdw;angle(t);time;
if(phase != 4){ for(i=1; i<=5; i++){SendMessage(11);Wait(16);}} //ÄÌ¿®¤ò¹Ô¤Ã¤Æ¤¤¤Þ¤¹¡Ê£¡Ë
else{ for(i=1; i<=5; i++){SendMessage(12);Wait(16);}} //ºÇ¸å¤Ï°ã¤¦¤â¤Î¤òÁ÷¿®¤·¤Þ¤¹
fwdr;AAAL;time; //¡ö
revw;Wait(400); //¸å¤í¤ÎÊɤˤ֤Ĥ«¤ê³ÑÅÙ¤òÀµ¤·¤Þ¤¹¡Ê¤¡Ë
fwdw;angle(370);time;ueni; //¤½¤Î¤Þ¤Þ»ý¤Ã¤Æ¤¤¤¯¤È¥¢¡¼¥à¤¬ÀѤ߾夲¤Î¥í¥Ü¥Ã¥È¤Ë
revw;angle(350);time;sita; //¤Ö¤Ä¤«¤ë¤Î¤Ç¸å¤í¤«¤é¥¢¡¼¥à¤Ç²¡¤·¹þ¤ß¤Þ¤¹
fwdw;angle(450);until(senl < line);time;//ÀѤ߾夲¾ì½ê¤Þ¤Ç»ý¤Ã¤Æ¤¤¤¤Þ¤¹
revw;angle(50);until(senl < line);time; //²¼¤¬¤ê¤Þ¤¹
fwdr;AAAR;time;ueni;
}
task main(){
int x; //x¡§¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯»þ¤Îµ÷Î¥µ
int y; //y¡§¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯»þ¤Îµ÷Î¥¶
int z; //z¡§¥Ö¥í¥Ã¥¯¤ò±¿¤Ö»þ¤Îµ÷Î¥
SetSensor(SENSOR_1,SENSOR_ROTATION);
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
attack_lamp(780);
while(phase<=4){
if(phase==1){y=230;z=1830;}
if(phase==2){x=3350;y=130;z=2190;}
if(phase==3){x=2985;y=350;z=1790;}
if(phase==4){x=3355;y=350;z=2205;}
if(phase==5){x=2985;y=500;z=1790;}
if(phase==6){x=3355;y=500;z=2295;} //ÀѤ߾夲¥í¥Ü¥Ã¥È¤¬»ý¤Á¾å¤²¤ë¤³¤È¤¬¤Ç¤¤ë¤Î¤Ê¤é¤Ð6²ó¡ß2¸Ä¡á12¸ÄÁ´ÉôÀѤ߾夲¤ì¤ë¤Î¤Ç¿ôÃͤÀ¤±¤ÏÆþ¤ì¤Æ¤¢¤ê¤Þ¤¹¡£
if(phase!=1){senl_traceR(x);} //phase=1¤Ïattack_lamp¤Ç¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¤Þ¤¹¡£
approach_block(y);
come_back(z);
phase++;
}
sita; //ºÇ½é¥¢¡¼¥à¤Ï²¼¤¬¤Ã¤Æ¤¤¤ë¤Î¤ÇºÇ¸å¤â¤½¤¦¤·¤Þ¤¹¡£
}
**ÀѤ߾夲¥í¥Ü¥Ã¥È [#fab4fa6a]
sub up() {OnFwd(OUT_C);Wait(765);Float(OUT_C);Wait(20);Off(OUT_ABC);}
sub down() {OnRev(OUT_C);Wait(200);Float(OUT_C);}
sub cat() {OnFwd(OUT_A);Wait(115);Off(OUT_A);}
sub hanasu() {OnRev(OUT_A);Wait(100);Float(OUT_A);Wait(20);}
task main(){
ClearMessage();
SetPower(OUT_ABC,7);
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
Off(OUT_BC);
Wait(700);//¼è¤ê¤Ë¤¤¤¯¥í¥Ü¥Ã¥È¤¬½Ð¤Æ¹Ô¤¯¤Î¤òÂÔ¤Ä
OnRev(OUT_B);
Wait(120);
while(true){
Off(OUT_ABC);
if(Message()==11){//»ý¤Ã¤Æ¤¤¿¤È¤
PlaySound(SOUND_UP);
Wait(2000);//»æ¥Ñ¥Ã¥¯¤òÆþ¤ì¤ëÂÔ¤Á»þ´Ö
down();
Wait(230);
Off(OUT_C);
hanasu();
OnRev(OUT_C);
Wait(130);
Float(OUT_C);
Wait(50);
cat();
up();
ClearMessage();
}
if(Message()==12){//½ª¤ï¤Ã¤¿¤È¤
PlaySound(SOUND_FAST_UP);
Wait(2000);
down();
Wait(230);
Off(OUT_C);
hanasu();
OnRev(OUT_B);
Wait(500);
Off(OUT_B);
break;
}
}
}
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[[2011b]]
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#define rota abs(SENSOR_1) //²óž¥»¥ó¥µ¡¼¤ÎÀäÂÐÃͤò¼è¤ê¤Þ¤¹
#define senb SENSOR_2 //¥Ö¥í¥Ã¥¯¡Ê»æ¥Ñ¥Ã¥¯¡Ë¤Ë»ÈÍѤ¹¤ë¸÷¥»¥ó¥µ¡¼¤Ç¤¹
#define senl SENSOR_3 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë»ÈÍѤ¹¤ë¸÷¥»¥ó¥µ¡¼¤Ç¤¹
#define zero ClearSensor(SENSOR_1); //²óž¥»¥ó¥µ¡¼¤ÎÃͤò£°¤Ë¤·¤Þ¤¹
#define AAAL ClearSensor(SENSOR_1);until( abs(SENSOR_1) > 260); //²óž¥»¥ó¥µ¡¼¤Ç£¹£°Åٶʤ¬¤ë¤È¤¤Ë»È¤¤¤Þ¤¹¡£Ê¸»ú¤Ë°ÕÌ£¤Ï¤Ê¤·
#define AAAR ClearSensor(SENSOR_1);until( abs(SENSOR_1) > 240); //ºÇ½é¤Î²óž¤Î»þ¡¢¤Ê¤¼¤«¾å¤ÎÃͤǤ϶ʤ¬¤ê¤¹¤®¤ë¤Î¤Ç
#define siro 49 //Çò¥Ö¥í¥Ã¥¯¤òȽÃǤ¹¤ë¤¿¤á¤ÎÃͤǤ¹
#define kuro 36 //¹õ¥Ö¥í¥Ã¥¯¤òȽÃǤ¹¤ë¤¿¤á¤ÎÃͤǤ¹
#define line 45 //¥é¥¤¥ó¤òȽÃǤ¹¤ë¤¿¤á¤ÎÃͤǤ¹
#define fwdr OnFwd(OUT_C); //±¦ÀÞ
#define fwdl OnFwd(OUT_A); //º¸ÀÞ
#define fwdw OnFwd(OUT_AC); //Á°¿Ê
#define revr OnRev(OUT_C); //¸å¿Ê±¦ÀÞ
#define revl OnRev(OUT_A); //¸å¿Êº¸ÀÞ
#define revw OnRev(OUT_AC); //¸å¿Ê
#define ueni OnFwd(OUT_B);Wait(140);Off(OUT_B); //¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤ë¥¢¡¼¥à¤ò¾å¤²¤Þ¤¹
#define sita OnRev(OUT_B);Wait(136);Off(OUT_B); //¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤ë¥¢¡¼¥à¤ò²¼¤²¤Þ¤¹
#define time Off(OUT_AC);Wait(50); //¹ç´Ö¹ç´Ö¤ËÄä»ß»þ´Ö¤òÆþ¤ì¤¿Êý¤¬Àµ³Î¤Ê¤Î¤Ç¤Þ¤È¤á¤Æ¤¢¤ê¤Þ¤¹
#define otoA PlaySound(SOUND_UP); //²»¤òÌĤ餷¤Þ¤¹
int phase=1; //¥Ö¥í¥Ã¥¯¤Ï±¿¤Ö¤Î¤¬²¿²óÌܤ«¤òɽ¤·¤Æ¤¤¤Þ¤¹
int i=1; //for¡Ê·«¤êÊÖ¤·¡Ë¤Î»þ¤Ë»È¤¤¤Þ¤¹¡Ë
void angle(int t){ //²óž¥»¥ó¥µ¡¼¤ÇǤ°Õ¤Î³ÑÅÙ¡¢µ÷Î¥¤ò¬¤ë¤È¤¤Ë»È¤¦´Ø¿ô¤Ç¤¹
ClearSensor(SENSOR_1);until( abs(SENSOR_1) > t);
}
void senl_traceR(int t){ //¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯»þ¤Î´Ø¿ô¤Ç¤¹¡£ºÇ½é¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤¿»þ¤Î̾Á°¤òÊѤ¨Ëº¤ì¤Æ¤¤¤Þ¤¹¡£
revw;angle(700);otoA; //¤Þ¤º¤¢¤ëÄøÅÙ²¼¤¬¤Ã¤Æ¤«¤é
revw;Wait(320);time; //¸å¤í¤ÎÊɤˤ֤Ĥ«¤ê¤Þ¤¹¡Ê¡¡Ë
fwdw;angle(t);time; //£ô¤À¤±Á°¿Ê¤·¤¿¸å
revr;AAAL;time; //¤Ö¤Ã¤í¤¯¤ÎÊý¤Ë¸þ¤¤Þ¤¹
}
void attack_lamp(int t){ //ºÇ½é¼ÙËâ¤Ê¥é¥ó¥×¤ò¤É¤«¤¹»þ¤Ë»È¤¦´Ø¿ô¤Ç¤¹
fwdr;AAAR;time;ueni; //½é´ü°ÌÃÖ¤«¤é90ÅÙ±¦ÀÞ¤·¤¿¤Î¤Á¥¢¡¼¥à¤ò¾å¤²¤Þ¤¹¡ÊÊɤ˥¢¡¼¥à¤¬¤Ö¤Ä¤«¤ë¤ó¤òËɤ°¤¿¤á¡Ë
fwdw;Wait(100);until(senl < line);until(senl > line);
angle(50);time; //angle(50);¤ÏÈùÄ´À°
fwdl;until(senl < line);time; //¥é¥¤¥ó¤Þ¤ÇÍ褿¤é¤Û¤Ü90ÅÙº¸ÀÞ¤·¤Þ¤¹
zero;
while(rota < t){ //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤¢¤ëÄøÅ٤ޤǿʤߤޤ¹
if(senl < line) {Off(OUT_AC);fwdr;}
else {Off(OUT_AC);fwdl;}
}
time;otoA;sita; //¥¢¡¼¥à¤ò²¼¤²¤Æ¥é¥ó¥×¤ò²¡¤¹½àÈ÷¤ò¤·¤Æ¤¤¤Þ¤¹
fwdw;angle(1700);time; //¤³¤ÎÁ´¿ÈÅÓÃæ¤Ç¥é¥ó¥×¤Ë¤Ö¤Ä¤«¤ê¤Þ¤¹
revw;angle(340);time;ueni; //¥¢¡¼¥à¤ò¾å¤²¤Æ¥Ö¥í¥Ã¥¯¤ò¤È¤ë½àÈ÷¤ò¤·¤Æ¤¤¤Þ¤¹
revr;AAAL;time;
}
void approach_block(int t){ //¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯¢ª¼è¤ë¢ªÎ¥¤ì¤ë¤ò¤·¤Æ¤¤¤Þ¤¹
revw;Wait(250);time; //¤Þ¤º¸å¤í¤ÎÊɤËÅö¤Æ¤Æ³ÑÅÙ¤òÀµ¤·¤Þ¤¹¡Ê¢¡Ë
fwdw;angle(270);time;otoA; //¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯
fwdw;angle(t); //¸÷¥»¥ó¥µ¡¼¤Ç¥Ö¥í¥Ã¥¯¤¬¼êÁ°¤Ë¤¢¤ë¤«È½ÃǤ·¤Þ¤¹
if(phase==3 || phase==4){until(senb < kuro);} //3,4²óÌܤϹõ¥Ö¥í¥Ã¥¯¤¬Íè¤Þ¤¹
else {until(senb > siro);} //¤½¤ì°Ê³°¤ÏÇò¥Ö¥í¥Ã¥¯¤Ç¤¹
time;zero;
sita;revw;angle(t);time; //¥¢¡¼¥à¤ò²¼¤²¤Æ¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤Ä¤±¤¿¤Î¤Á¥Ð¥Ã¥¯¤·¤Þ¤¹
}
void come_back(int t){ //¥Ö¥í¥Ã¥¯¤òÀѤ߾夲¾ì½ê¤Þ¤Ç°ÜÆ°¤µ¤»¤Þ¤¹
revr;AAAL;time; //ÀѤ߾夲¾ì½ê¤Þ¤Ç°ÜÆ°¤·¤Þ¤¹¡Ê¡ö¤Þ¤Ç¡Ë
fwdw;angle(t);time;
if(phase != 4){ for(i=1; i<=5; i++){SendMessage(11);Wait(16);}} //ÄÌ¿®¤ò¹Ô¤Ã¤Æ¤¤¤Þ¤¹¡Ê£¡Ë
else{ for(i=1; i<=5; i++){SendMessage(12);Wait(16);}} //ºÇ¸å¤Ï°ã¤¦¤â¤Î¤òÁ÷¿®¤·¤Þ¤¹
fwdr;AAAL;time; //¡ö
revw;Wait(400); //¸å¤í¤ÎÊɤˤ֤Ĥ«¤ê³ÑÅÙ¤òÀµ¤·¤Þ¤¹¡Ê¤¡Ë
fwdw;angle(370);time;ueni; //¤½¤Î¤Þ¤Þ»ý¤Ã¤Æ¤¤¤¯¤È¥¢¡¼¥à¤¬ÀѤ߾夲¤Î¥í¥Ü¥Ã¥È¤Ë
revw;angle(350);time;sita; //¤Ö¤Ä¤«¤ë¤Î¤Ç¸å¤í¤«¤é¥¢¡¼¥à¤Ç²¡¤·¹þ¤ß¤Þ¤¹
fwdw;angle(450);until(senl < line);time;//ÀѤ߾夲¾ì½ê¤Þ¤Ç»ý¤Ã¤Æ¤¤¤¤Þ¤¹
revw;angle(50);until(senl < line);time; //²¼¤¬¤ê¤Þ¤¹
fwdr;AAAR;time;ueni;
}
task main(){
int x; //x¡§¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯»þ¤Îµ÷Î¥µ
int y; //y¡§¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¯»þ¤Îµ÷Î¥¶
int z; //z¡§¥Ö¥í¥Ã¥¯¤ò±¿¤Ö»þ¤Îµ÷Î¥
SetSensor(SENSOR_1,SENSOR_ROTATION);
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
attack_lamp(780);
while(phase<=4){
if(phase==1){y=230;z=1830;}
if(phase==2){x=3350;y=130;z=2190;}
if(phase==3){x=2985;y=350;z=1790;}
if(phase==4){x=3355;y=350;z=2205;}
if(phase==5){x=2985;y=500;z=1790;}
if(phase==6){x=3355;y=500;z=2295;} //ÀѤ߾夲¥í¥Ü¥Ã¥È¤¬»ý¤Á¾å¤²¤ë¤³¤È¤¬¤Ç¤¤ë¤Î¤Ê¤é¤Ð6²ó¡ß2¸Ä¡á12¸ÄÁ´ÉôÀѤ߾夲¤ì¤ë¤Î¤Ç¿ôÃͤÀ¤±¤ÏÆþ¤ì¤Æ¤¢¤ê¤Þ¤¹¡£
if(phase!=1){senl_traceR(x);} //phase=1¤Ïattack_lamp¤Ç¥Ö¥í¥Ã¥¯¤Ë¶á¤Å¤¤Þ¤¹¡£
approach_block(y);
come_back(z);
phase++;
}
sita; //ºÇ½é¥¢¡¼¥à¤Ï²¼¤¬¤Ã¤Æ¤¤¤ë¤Î¤ÇºÇ¸å¤â¤½¤¦¤·¤Þ¤¹¡£
}
**ÀѤ߾夲¥í¥Ü¥Ã¥È [#fab4fa6a]
sub up() {OnFwd(OUT_C);Wait(765);Float(OUT_C);Wait(20);Off(OUT_ABC);}
sub down() {OnRev(OUT_C);Wait(200);Float(OUT_C);}
sub cat() {OnFwd(OUT_A);Wait(115);Off(OUT_A);}
sub hanasu() {OnRev(OUT_A);Wait(100);Float(OUT_A);Wait(20);}
task main(){
ClearMessage();
SetPower(OUT_ABC,7);
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
Off(OUT_BC);
Wait(700);//¼è¤ê¤Ë¤¤¤¯¥í¥Ü¥Ã¥È¤¬½Ð¤Æ¹Ô¤¯¤Î¤òÂÔ¤Ä
OnRev(OUT_B);
Wait(120);
while(true){
Off(OUT_ABC);
if(Message()==11){//»ý¤Ã¤Æ¤¤¿¤È¤
PlaySound(SOUND_UP);
Wait(2000);//»æ¥Ñ¥Ã¥¯¤òÆþ¤ì¤ëÂÔ¤Á»þ´Ö
down();
Wait(230);
Off(OUT_C);
hanasu();
OnRev(OUT_C);
Wait(130);
Float(OUT_C);
Wait(50);
cat();
up();
ClearMessage();
}
if(Message()==12){//½ª¤ï¤Ã¤¿¤È¤
PlaySound(SOUND_FAST_UP);
Wait(2000);
down();
Wait(230);
Off(OUT_C);
hanasu();
OnRev(OUT_B);
Wait(500);
Off(OUT_B);
break;
}
}
}
*º£¤Þ¤Ç¤Î¥í¥Ü¥Ã¥ÈÀ½ºî¤Ë´Ø¤·¤Æ¤Î´¶ÁÛ¡¢³Ø¤ó¤À¤³¤È¤Ê¤É [#t946c37d]
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