2011b/A3/²ÝÂꣲ±¦
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[[2011b]]
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#contents
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*¥×¥í¥°¥é¥à [#i4ee00c0]
**t.s [#z3379f44]
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#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë
#define POW 20//ξÊý¤¬¹õ¤Ç¤¢¤ë¤È¤¤ËÁ°¿Ê¤¹¤ëÎÌ
#define G_TIME 0//¸íº¹½¤Àµ
#defineRORTARY();Rot++;while(SENSOR_1>IKT)
{OnRev(OUT_C);OnFwd(OUT_A);}OnFwd(OUT_C);Off(OUT_A);Wait(60);
//¥í¡¼¥¿¥ê
#define TIKAMITI_1();tika=1;
//°ì¼þÌܤÎÄ̾ï¥ë¡¼¥È
#define TIKAMITI_2();tika2=1;
//Æó¼þÌܤζáÆ»¥ë¡¼¥È
sub MAE()//ξÊý¹õ¤Î»þ¡¢°ìÊâÁ°¤ËÁ°¿Ê
{OnFwd(OUT_A+OUT_C);
Wait(POW);
Off(OUT_A+OUT_C);
}
sub IPOMAE()//¶áÆ»¤Ç¤Ê¤¤¤È¤¤ÎÁ°¿Ê
{OnFwd(OUT_A+OUT_C);
Wait(5);
Off(OUT_A+OUT_C);
}
sub SEAMAE()//¥µ¡¼¥ÁÁ°
{OnFwd(OUT_B);
Wait(100+33*G_TIME);
Off(OUT_B);
}
sub SEAEND()//¥µ¡¼¥Á½ªÎ»
{OnRev(OUT_B);
Wait(860+33*G_TIME);
Off(OUT_B);
}
task main()
{
SetSensor (SENSOR_1,SENSOR_LIGHT);
SetSensor (SENSOR_3,SENSOR_LIGHT);
int sens=0;
int Rot=0;
int TKMT=0;
int kuro=0;
int count=0;
int tika=0;
int tika2=0;
OnRev(OUT_B);
Wait(30+G_TIME);
Float(OUT_B);
while(true){
SetPower(OUT_A,7);
SetPower(OUT_C,7);
OnFwd(OUT_A+OUT_C);//Ä̾ïÁö¹Ô
Wait(2);
Float(OUT_A+OUT_C);
Wait(1);
if(sens==0&&SENSOR_3<=IKT&&Rot!=0){ //¥í¡¼¥¿¥ê¡¼
sens++;
OnFwd(OUT_C);
Off(OUT_A);
Wait(55+G_TIME);
PlaySound(SOUND_CLICK);Wait(5+G_TIME);
}
if(Rot!=0&&SENSOR_1<=IKT&&SENSOR_3<=IKT){
Rot=0;
sens=0;
OnFwd(OUT_A);
Off(OUT_C);
Wait(50+G_TIME);
while(SENSOR_1>IKT){
OnFwd(OUT_A);
Off(OUT_C);
}
}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=1&&tika<3){ //¶áÆ»1
PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C);
OnFwd(OUT_C);until(SENSOR_3>IKT);OnRev(OUT_A);Wait(20);tika++;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=3){
PlaySound(SOUND_CLICK);tika=0;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=1&&tika2<3){ //¶áÆ»2
PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C);
OnFwd(OUT_A);until(SENSOR_1>IKT);OnRev(OUT_C);Wait(20);tika2++;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=3){
PlaySound(SOUND_CLICK);tika2=0;}
while(SENSOR_1<=IKT&&SENSOR_3>IKT){//º¸¤Ë¶Ê¤¬¤ë¤È¤
OnRev(OUT_A+OUT_C);
}
while(SENSOR_3<=IKT&&SENSOR_1>IKT&&Rot==0){//±¦¤Ë¶Ê¤¬¤ë¤È¤
OnRev(OUT_C);
}
while(SENSOR_1<=IKT&&SENSOR_3<=IKT&&Rot==0&&tika==0&&tika2==0){ //¹õ¤¤Àþ¤¬Î¾Êý¿¨¤ì¤¿¤È¤
MAE();
if(SENSOR_1<=IKT&&SENSOR_3<=IKT){//¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤¿¡Ê¶áÆ»¤ÈȽÃÇ¡Ë
PlaySound(SOUND_DOWN);
if(count==0){//°ì¼þÌܤλþ
TIKAMITI_1();
}
if(count>0){//Æó¼þÌܰʹß
TIKAMITI_2();
}
}
else{ //¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤Ê¤«¤Ã¤¿¡Ê¶áÆ»°Õ³°¤ÈȽÃÇ¡Ë
IPOMAE();
ClearTimer(0);
kuro=0;
SEAMAE();
while(FastTimer(0)<=750+33*G_TIME&&tika==0&&tika2==0){//¥µ¡¼¥ÁÃæ
OnFwd(OUT_B);
if(SENSOR_1<=IKT){
PlaySound(SOUND_LOW_BEEP);
kuro++;
Wait(500+33*G_TIME);
¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡}
¡¡¡¡¡¡¡¡¡¡¡¡¡¡}
SEAEND();
if(kuro==1){ //¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬1Ëܡʸòº¹ÅÀ¤ÈȽÃÇ¡Ë
PlaySound(SOUND_UP);
OnFwd(OUT_A+OUT_C);
Wait(30+G_TIME);
break;
}
if(kuro>=2){//¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬2ËÜ(¥¹¥¿¡¼¥È¤ÈȽÃÇ¡Ë
count++;
PlaySound(SOUND_UP);
OnFwd(OUT_A+OUT_C);
Wait(55+G_TIME);
break;
}
if(kuro==0){//¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬0ËÜ(¥í¡¼¥¿¥ê¡¼¤«±Ô³Ñ¡Ë
PlaySound(SOUND_FAST_UP);
if(SENSOR_3<=IKT){ //¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(±¦)
OnFwd(OUT_C);
until(SENSOR_3>IKT);
Wait(30+G_TIME);
Off(OUT_C);
OnRev(OUT_A);
Wait(70+G_TIME);
break;
}
if(SENSOR_1<=IKT){//¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(º¸¡Ë
OnFwd(OUT_A);
until(SENSOR_1>IKT);
Wait(30+G_TIME);
Off(OUT_A);
OnRev(OUT_C);
Wait(70+G_TIME);
break;
}
else {//¤â¤·¥í¡¼¥¿¥ê¡¼¤Ç¤¢¤ì¤Ð
RORTARY();
break;
}
}
}
}
}
}
**¤Ò¤í [#ifb3fd25]
#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë
#define t 780//b¤ò´¬Ì᤹»þ´Ö
sub turn_r(){ //±¦ÀÞ
OnFwd(OUT_A);
Off(OUT_C);
}
sub turn_l(){ //º¸ÀÞ
OnFwd(OUT_C);
Off(OUT_A);
}
sub turn_rb(){ //¥Ð¥Ã¥¯¤Ç±¦ÀÞ
OnRev(OUT_C);
Off(OUT_A);
}
sub turn_lb(){ //¥Ð¥Ã¥¯¤Çº¸ÀÞ
OnRev(OUT_A);
Off(OUT_C);
}
task main()
{
SetSensor (SENSOR_1,SENSOR_LIGHT);
SetSensor (SENSOR_3,SENSOR_LIGHT);
int go=1; //0¡§¥í¡¼¥¿¥ê¡¼¡¢1¡§½½»ú
int sens=0; //¥í¡¼¥¿¥ê¡¼¤Î±¦¤ò1²óÈô¤Ð¤¹
int Rot=0; //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0
int tika=0; //¶áÆ»¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0
int count=0; //²¿¼þ¤·¤¿¤«
int l=0; //1¤Ê¤éºÇ¸å¤Ëº¸ÀÞ
int r=0; //1¤Ê¤éºÇ¸å¤Ë±¦ÀÞ
int ex_turn=0; //µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ëÄ´À°¤ò¤·¤¿¤é1¡¢µÞ¥«¡¼¥Ö¤ò¤·¤¿¤é0
int time=0; //´¬¤Ìᤷ¤Î»þ´Ö
SetPower(OUT_A,7);SetPower(OUT_B,7);SetPower(OUT_C,7); //½ÐÎÏÄ´À°
OnRev(OUT_B);
Wait(50);
while(true){
if(count==2){ //Æó¼þÌܤ¬½ª¤ï¤ë
Off(OUT_A+OUT_B+OUT_C); //Ää»ß
break;
}
OnFwd(OUT_A+OUT_C); //º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ê¤éÁ°¿Ê
Wait(3);
Float(OUT_A+OUT_C);
Wait(1);
Off(OUT_B);
if(sens==0&&SENSOR_3<IKT&&Rot!=0){//¥í¡¼¥¿¥ê¡¼¤Ç±¦¤ò1²óÈô¤Ð¤¹
sens=1;
while(SENSOR_3<IKT){
turn_l();
}
Wait(20);
PlaySound(SOUND_CLICK);Wait(5);
}
if(Rot!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){ //¥í¡¼¥¿¥ê¡¼¤ò½Ð¤ë
Rot=0;
sens=0;
while(SENSOR_1<IKT){
turn_r();
}
Wait(20);
while(SENSOR_1>IKT){
turn_r();
}
}
if(tika!=0&&count!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){//¶áÆ»&2¼þÌÜ¡¢Î¾Êý¹õ¤Çº¸¤Î¹õ¤ò̵»ë
turn_r();Wait(70);
if(tika==2){
tika=0;
}
if(tika==1){
tika++;
}
}
if(tika!=0&&count==0&&SENSOR_1<IKT&&SENSOR_3<IKT){ //¶áÆ»&1¼þÌÜ¡¢Î¾Êý¹õ¤Ç±¦¤Î¹õ¤ò̵»ë
turn_l();Wait(70);
if(tika==2){
tika=0;
}
if(tika==1){
tika++;
}
}
ClearTimer(0);
while(SENSOR_1<IKT&&SENSOR_3>IKT){ //º¸ÀÞ
if(FastTimer(0)>55){ //¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö
ex_turn=0;
turn_lb();
PlaySound(SOUND_CLICK);
}
if(FastTimer(0)<17){
turn_l();
l=1;
r=0;
}
else{
turn_lb();
}
}
ClearTimer(0);
while(SENSOR_3<IKT&&SENSOR_1>IKT&&Rot==0){ //±¦ÀÞ
if(FastTimer(0)>55){ //¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö
ex_turn=0;
turn_rb();
PlaySound(SOUND_CLICK);
}
if(FastTimer(0)<17){
turn_r();
r=1;
l=0;
}
else{
turn_rb();
}
}
while(SENSOR_1<IKT&&SENSOR_3<IKT&&Rot==0&&tika==0){//ξÊý¹õ¤Ç¥í¡¼¥¿¥ê¡¼¡¢¶áÆ»¤ò¤·¤Æ¤Ê¤¤»þ
if(l==1&&ex_turn==0){//ºÇ¸å¤Ëº¸ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é
OnRev(OUT_A+OUT_C);
Wait(25);
while(SENSOR_3>IKT&&SENSOR_1>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤ê±¦¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤êº¸¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤¤ë
turn_rb();
}
ex_turn=1;
PlaySound(SOUND_CLICK);
break;
}
if(r==1&&ex_turn==0){//ºÇ¸å¤Ë±¦ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é
OnRev(OUT_A+OUT_C);
Wait(25);
while(SENSOR_1>IKT&&SENSOR_3>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤êº¸¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤ê±¦¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤¤ë
turn_lb();
}
ex_turn=1;
PlaySound(SOUND_CLICK);
break;
}
else{ //µÞ¥«¡¼¥Ö¤ÎÄ´À°¤ò¤·¤Æ¤âξÊý¹õ¤Ë¤Ê¤Ã¤¿»þ
ex_turn=0;
OnRev(OUT_A+OUT_C);
Wait(27);
while(SENSOR_1<IKT||SENSOR_3<IKT){
OnFwd(OUT_A+OUT_C);
}
Off(OUT_A+OUT_C);
ClearTimer(0);
while(FastTimer(0)<t&&tika==0){//¶áÆ»¤ÎȽÄê
OnFwd(OUT_B);
if(SENSOR_1<IKT&&FastTimer(0)<t&&tika==0){//¹õÀþ¤ÎŤµ¤ò¬¤ë
PlaySound(SOUND_CLICK);
OnFwd(OUT_B);
Wait(235);
PlaySound(SOUND_UP);
ClearTimer(1);
while(SENSOR_1>IKT&&FastTimer(1)<120){//¶áÆ»¤Ê¤éŤ¤Çò
OnFwd(OUT_B);
Wait(12);
if(SENSOR_1<IKT){
tika=0;
break;
}
tika=1;PlaySound(SOUND_DOWN);
}
if(SENSOR_1<IKT){//¤½¤ì°Ê³°¤Ï¹õ
break;
}
}
}
time=FastTimer(0);
if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë
OnRev(OUT_B);
Wait(time-12);
}
OnFwd(OUT_A+OUT_C);
Wait(22);
Off(OUT_B);
if(tika==0){//¥í¡¼¥¿¥ê¡¼¤«½½»ú¤«¥¹¥¿¡¼¥È¤ÎȽÄê
go=1;
Wait(38);
Off(OUT_A+OUT_C);
ClearTimer(0);
while(SENSOR_1>IKT&&SENSOR_3>IKT&&FastTimer(0)<t){ //¹õ¤òõ¤¹
OnFwd(OUT_B);
if(FastTimer(0)>730){ //¹õ¤¬Ìµ¤¤¤Ê¤é¡¢¥í¡¼¥¿¥ê¡¼
go=0;
Wait(5);
break;
}
}
time=FastTimer(0);
if(FastTimer(0)<160&&SENSOR_1<IKT){//¹õ¤¬º¸¤Î¥»¥ó¥µ¡¼¤È¶á¤¤¤È¥¹¥¿¡¼¥È
count++;
PlaySound(SOUND_DOUBLE_BEEP);
OnFwd(OUT_A+OUT_C);
OnRev(OUT_B);
Wait(27);
Off(OUT_A+OUT_B+OUT_C);
if(time>=27){
Wait(time-27);//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë
}
break;
}
if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë
OnRev(OUT_B);
Wait(time-12);
}
if(go==1){//½½»ú¤Î¸òº¹ÅÀ
PlaySound(SOUND_DOWN);
OnRev(OUT_B);
Wait(22);
OnFwd(OUT_A+OUT_C);
Off(OUT_B);
}
else {//¥í¡¼¥¿¥ê¡¼¤Î»þ
PlaySound(SOUND_DOUBLE_BEEP);
Rot=1;
go=1;
OnRev(OUT_A+OUT_C);
Wait(31);
Off(OUT_B);
while(SENSOR_1<IKT){
turn_r();
}
Wait(20);
while(SENSOR_1>IKT){
turn_r();
}
while(SENSOR_3<IKT){
turn_l();
}
turn_l();
Wait(15);
}
Off(OUT_B);
}
}
}
}
}
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#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë
#define POW 20//ξÊý¤¬¹õ¤Ç¤¢¤ë¤È¤¤ËÁ°¿Ê¤¹¤ëÎÌ
#define G_TIME 0//¸íº¹½¤Àµ
#defineRORTARY();Rot++;while(SENSOR_1>IKT)
{OnRev(OUT_C);OnFwd(OUT_A);}OnFwd(OUT_C);Off(OUT_A);Wait(60);
//¥í¡¼¥¿¥ê
#define TIKAMITI_1();tika=1;
//°ì¼þÌܤÎÄ̾ï¥ë¡¼¥È
#define TIKAMITI_2();tika2=1;
//Æó¼þÌܤζáÆ»¥ë¡¼¥È
sub MAE()//ξÊý¹õ¤Î»þ¡¢°ìÊâÁ°¤ËÁ°¿Ê
{OnFwd(OUT_A+OUT_C);
Wait(POW);
Off(OUT_A+OUT_C);
}
sub IPOMAE()//¶áÆ»¤Ç¤Ê¤¤¤È¤¤ÎÁ°¿Ê
{OnFwd(OUT_A+OUT_C);
Wait(5);
Off(OUT_A+OUT_C);
}
sub SEAMAE()//¥µ¡¼¥ÁÁ°
{OnFwd(OUT_B);
Wait(100+33*G_TIME);
Off(OUT_B);
}
sub SEAEND()//¥µ¡¼¥Á½ªÎ»
{OnRev(OUT_B);
Wait(860+33*G_TIME);
Off(OUT_B);
}
task main()
{
SetSensor (SENSOR_1,SENSOR_LIGHT);
SetSensor (SENSOR_3,SENSOR_LIGHT);
int sens=0;
int Rot=0;
int TKMT=0;
int kuro=0;
int count=0;
int tika=0;
int tika2=0;
OnRev(OUT_B);
Wait(30+G_TIME);
Float(OUT_B);
while(true){
SetPower(OUT_A,7);
SetPower(OUT_C,7);
OnFwd(OUT_A+OUT_C);//Ä̾ïÁö¹Ô
Wait(2);
Float(OUT_A+OUT_C);
Wait(1);
if(sens==0&&SENSOR_3<=IKT&&Rot!=0){ //¥í¡¼¥¿¥ê¡¼
sens++;
OnFwd(OUT_C);
Off(OUT_A);
Wait(55+G_TIME);
PlaySound(SOUND_CLICK);Wait(5+G_TIME);
}
if(Rot!=0&&SENSOR_1<=IKT&&SENSOR_3<=IKT){
Rot=0;
sens=0;
OnFwd(OUT_A);
Off(OUT_C);
Wait(50+G_TIME);
while(SENSOR_1>IKT){
OnFwd(OUT_A);
Off(OUT_C);
}
}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=1&&tika<3){ //¶áÆ»1
PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C);
OnFwd(OUT_C);until(SENSOR_3>IKT);OnRev(OUT_A);Wait(20);tika++;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=3){
PlaySound(SOUND_CLICK);tika=0;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=1&&tika2<3){ //¶áÆ»2
PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C);
OnFwd(OUT_A);until(SENSOR_1>IKT);OnRev(OUT_C);Wait(20);tika2++;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=3){
PlaySound(SOUND_CLICK);tika2=0;}
while(SENSOR_1<=IKT&&SENSOR_3>IKT){//º¸¤Ë¶Ê¤¬¤ë¤È¤
OnRev(OUT_A+OUT_C);
}
while(SENSOR_3<=IKT&&SENSOR_1>IKT&&Rot==0){//±¦¤Ë¶Ê¤¬¤ë¤È¤
OnRev(OUT_C);
}
while(SENSOR_1<=IKT&&SENSOR_3<=IKT&&Rot==0&&tika==0&&tika2==0){ //¹õ¤¤Àþ¤¬Î¾Êý¿¨¤ì¤¿¤È¤
MAE();
if(SENSOR_1<=IKT&&SENSOR_3<=IKT){//¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤¿¡Ê¶áÆ»¤ÈȽÃÇ¡Ë
PlaySound(SOUND_DOWN);
if(count==0){//°ì¼þÌܤλþ
TIKAMITI_1();
}
if(count>0){//Æó¼þÌܰʹß
TIKAMITI_2();
}
}
else{ //¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤Ê¤«¤Ã¤¿¡Ê¶áÆ»°Õ³°¤ÈȽÃÇ¡Ë
IPOMAE();
ClearTimer(0);
kuro=0;
SEAMAE();
while(FastTimer(0)<=750+33*G_TIME&&tika==0&&tika2==0){//¥µ¡¼¥ÁÃæ
OnFwd(OUT_B);
if(SENSOR_1<=IKT){
PlaySound(SOUND_LOW_BEEP);
kuro++;
Wait(500+33*G_TIME);
¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡}
¡¡¡¡¡¡¡¡¡¡¡¡¡¡}
SEAEND();
if(kuro==1){ //¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬1Ëܡʸòº¹ÅÀ¤ÈȽÃÇ¡Ë
PlaySound(SOUND_UP);
OnFwd(OUT_A+OUT_C);
Wait(30+G_TIME);
break;
}
if(kuro>=2){//¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬2ËÜ(¥¹¥¿¡¼¥È¤ÈȽÃÇ¡Ë
count++;
PlaySound(SOUND_UP);
OnFwd(OUT_A+OUT_C);
Wait(55+G_TIME);
break;
}
if(kuro==0){//¥µ¡¼¥Á¤·¤¿¤È¤¤Î¹õ¤¤Àþ¤Î¿ô¤¬0ËÜ(¥í¡¼¥¿¥ê¡¼¤«±Ô³Ñ¡Ë
PlaySound(SOUND_FAST_UP);
if(SENSOR_3<=IKT){ //¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(±¦)
OnFwd(OUT_C);
until(SENSOR_3>IKT);
Wait(30+G_TIME);
Off(OUT_C);
OnRev(OUT_A);
Wait(70+G_TIME);
break;
}
if(SENSOR_1<=IKT){//¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(º¸¡Ë
OnFwd(OUT_A);
until(SENSOR_1>IKT);
Wait(30+G_TIME);
Off(OUT_A);
OnRev(OUT_C);
Wait(70+G_TIME);
break;
}
else {//¤â¤·¥í¡¼¥¿¥ê¡¼¤Ç¤¢¤ì¤Ð
RORTARY();
break;
}
}
}
}
}
}
**¤Ò¤í [#ifb3fd25]
#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë
#define t 780//b¤ò´¬Ì᤹»þ´Ö
sub turn_r(){ //±¦ÀÞ
OnFwd(OUT_A);
Off(OUT_C);
}
sub turn_l(){ //º¸ÀÞ
OnFwd(OUT_C);
Off(OUT_A);
}
sub turn_rb(){ //¥Ð¥Ã¥¯¤Ç±¦ÀÞ
OnRev(OUT_C);
Off(OUT_A);
}
sub turn_lb(){ //¥Ð¥Ã¥¯¤Çº¸ÀÞ
OnRev(OUT_A);
Off(OUT_C);
}
task main()
{
SetSensor (SENSOR_1,SENSOR_LIGHT);
SetSensor (SENSOR_3,SENSOR_LIGHT);
int go=1; //0¡§¥í¡¼¥¿¥ê¡¼¡¢1¡§½½»ú
int sens=0; //¥í¡¼¥¿¥ê¡¼¤Î±¦¤ò1²óÈô¤Ð¤¹
int Rot=0; //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0
int tika=0; //¶áÆ»¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0
int count=0; //²¿¼þ¤·¤¿¤«
int l=0; //1¤Ê¤éºÇ¸å¤Ëº¸ÀÞ
int r=0; //1¤Ê¤éºÇ¸å¤Ë±¦ÀÞ
int ex_turn=0; //µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ëÄ´À°¤ò¤·¤¿¤é1¡¢µÞ¥«¡¼¥Ö¤ò¤·¤¿¤é0
int time=0; //´¬¤Ìᤷ¤Î»þ´Ö
SetPower(OUT_A,7);SetPower(OUT_B,7);SetPower(OUT_C,7); //½ÐÎÏÄ´À°
OnRev(OUT_B);
Wait(50);
while(true){
if(count==2){ //Æó¼þÌܤ¬½ª¤ï¤ë
Off(OUT_A+OUT_B+OUT_C); //Ää»ß
break;
}
OnFwd(OUT_A+OUT_C); //º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ê¤éÁ°¿Ê
Wait(3);
Float(OUT_A+OUT_C);
Wait(1);
Off(OUT_B);
if(sens==0&&SENSOR_3<IKT&&Rot!=0){//¥í¡¼¥¿¥ê¡¼¤Ç±¦¤ò1²óÈô¤Ð¤¹
sens=1;
while(SENSOR_3<IKT){
turn_l();
}
Wait(20);
PlaySound(SOUND_CLICK);Wait(5);
}
if(Rot!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){ //¥í¡¼¥¿¥ê¡¼¤ò½Ð¤ë
Rot=0;
sens=0;
while(SENSOR_1<IKT){
turn_r();
}
Wait(20);
while(SENSOR_1>IKT){
turn_r();
}
}
if(tika!=0&&count!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){//¶áÆ»&2¼þÌÜ¡¢Î¾Êý¹õ¤Çº¸¤Î¹õ¤ò̵»ë
turn_r();Wait(70);
if(tika==2){
tika=0;
}
if(tika==1){
tika++;
}
}
if(tika!=0&&count==0&&SENSOR_1<IKT&&SENSOR_3<IKT){ //¶áÆ»&1¼þÌÜ¡¢Î¾Êý¹õ¤Ç±¦¤Î¹õ¤ò̵»ë
turn_l();Wait(70);
if(tika==2){
tika=0;
}
if(tika==1){
tika++;
}
}
ClearTimer(0);
while(SENSOR_1<IKT&&SENSOR_3>IKT){ //º¸ÀÞ
if(FastTimer(0)>55){ //¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö
ex_turn=0;
turn_lb();
PlaySound(SOUND_CLICK);
}
if(FastTimer(0)<17){
turn_l();
l=1;
r=0;
}
else{
turn_lb();
}
}
ClearTimer(0);
while(SENSOR_3<IKT&&SENSOR_1>IKT&&Rot==0){ //±¦ÀÞ
if(FastTimer(0)>55){ //¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö
ex_turn=0;
turn_rb();
PlaySound(SOUND_CLICK);
}
if(FastTimer(0)<17){
turn_r();
r=1;
l=0;
}
else{
turn_rb();
}
}
while(SENSOR_1<IKT&&SENSOR_3<IKT&&Rot==0&&tika==0){//ξÊý¹õ¤Ç¥í¡¼¥¿¥ê¡¼¡¢¶áÆ»¤ò¤·¤Æ¤Ê¤¤»þ
if(l==1&&ex_turn==0){//ºÇ¸å¤Ëº¸ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é
OnRev(OUT_A+OUT_C);
Wait(25);
while(SENSOR_3>IKT&&SENSOR_1>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤ê±¦¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤êº¸¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤¤ë
turn_rb();
}
ex_turn=1;
PlaySound(SOUND_CLICK);
break;
}
if(r==1&&ex_turn==0){//ºÇ¸å¤Ë±¦ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é
OnRev(OUT_A+OUT_C);
Wait(25);
while(SENSOR_1>IKT&&SENSOR_3>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤êº¸¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤ê±¦¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤¤ë
turn_lb();
}
ex_turn=1;
PlaySound(SOUND_CLICK);
break;
}
else{ //µÞ¥«¡¼¥Ö¤ÎÄ´À°¤ò¤·¤Æ¤âξÊý¹õ¤Ë¤Ê¤Ã¤¿»þ
ex_turn=0;
OnRev(OUT_A+OUT_C);
Wait(27);
while(SENSOR_1<IKT||SENSOR_3<IKT){
OnFwd(OUT_A+OUT_C);
}
Off(OUT_A+OUT_C);
ClearTimer(0);
while(FastTimer(0)<t&&tika==0){//¶áÆ»¤ÎȽÄê
OnFwd(OUT_B);
if(SENSOR_1<IKT&&FastTimer(0)<t&&tika==0){//¹õÀþ¤ÎŤµ¤ò¬¤ë
PlaySound(SOUND_CLICK);
OnFwd(OUT_B);
Wait(235);
PlaySound(SOUND_UP);
ClearTimer(1);
while(SENSOR_1>IKT&&FastTimer(1)<120){//¶áÆ»¤Ê¤éŤ¤Çò
OnFwd(OUT_B);
Wait(12);
if(SENSOR_1<IKT){
tika=0;
break;
}
tika=1;PlaySound(SOUND_DOWN);
}
if(SENSOR_1<IKT){//¤½¤ì°Ê³°¤Ï¹õ
break;
}
}
}
time=FastTimer(0);
if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë
OnRev(OUT_B);
Wait(time-12);
}
OnFwd(OUT_A+OUT_C);
Wait(22);
Off(OUT_B);
if(tika==0){//¥í¡¼¥¿¥ê¡¼¤«½½»ú¤«¥¹¥¿¡¼¥È¤ÎȽÄê
go=1;
Wait(38);
Off(OUT_A+OUT_C);
ClearTimer(0);
while(SENSOR_1>IKT&&SENSOR_3>IKT&&FastTimer(0)<t){ //¹õ¤òõ¤¹
OnFwd(OUT_B);
if(FastTimer(0)>730){ //¹õ¤¬Ìµ¤¤¤Ê¤é¡¢¥í¡¼¥¿¥ê¡¼
go=0;
Wait(5);
break;
}
}
time=FastTimer(0);
if(FastTimer(0)<160&&SENSOR_1<IKT){//¹õ¤¬º¸¤Î¥»¥ó¥µ¡¼¤È¶á¤¤¤È¥¹¥¿¡¼¥È
count++;
PlaySound(SOUND_DOUBLE_BEEP);
OnFwd(OUT_A+OUT_C);
OnRev(OUT_B);
Wait(27);
Off(OUT_A+OUT_B+OUT_C);
if(time>=27){
Wait(time-27);//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë
}
break;
}
if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤Ìᤷ¤ò¤¹¤ë
OnRev(OUT_B);
Wait(time-12);
}
if(go==1){//½½»ú¤Î¸òº¹ÅÀ
PlaySound(SOUND_DOWN);
OnRev(OUT_B);
Wait(22);
OnFwd(OUT_A+OUT_C);
Off(OUT_B);
}
else {//¥í¡¼¥¿¥ê¡¼¤Î»þ
PlaySound(SOUND_DOUBLE_BEEP);
Rot=1;
go=1;
OnRev(OUT_A+OUT_C);
Wait(31);
Off(OUT_B);
while(SENSOR_1<IKT){
turn_r();
}
Wait(20);
while(SENSOR_1>IKT){
turn_r();
}
while(SENSOR_3<IKT){
turn_l();
}
turn_l();
Wait(15);
}
Off(OUT_B);
}
}
}
}
}
*Æñ¤·¤«¤Ã¤¿¤È¤³¤í¡¢¹©Éפ·¤¿¤È¤³¤í[#zeaeda64]
**t.s [#v011c1ad]
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-Á°¿Ê¡¢¸åÂà¤ÎWait¤¬ÅÅÃӤλÄÎ̤˱ƶÁ¤µ¤ì¤Æ¡¢°ÜÆ°Î̤¬ÊѲ½¤¹¤ë¡£SetPower¤Ç½ÐÎϤ¬½ÅÎ̤ËÉ餱¤Ê¤¤¤è¤¦¤ËÄ´À°¤·¤¿¡£
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*Á´ÂΤòÄ̤·¤Æ¤Î´¶ÁÛ [#x59ef2c0]
**t.s [#we7e883e]
-¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¥í¥Ü¥Ã¥È¤òºî¤ë¤³¤È¤Ï¼ÂºÝ¤Ë¤ä¤Ã¤Æ¤ß¤ë¤ÈÈó¾ï¤ËÆñ¤·¤¯¡¢ÍÍ¡¹¤Êº¤Æñ¤Ë¤Ö¤ÁÅö¤¿¤Ã¤Æ¤¤¿¡£~¤·¤«¤·¼ÂºÝ¤Ëºî¤Ã¤Æ¤ß¤ë¤³¤È¤Ç¡¢¤É¤Î¤è¤¦¤Ê¥í¥Ü¥Ã¥È¤òÀ½ºî¤¹¤ì¤Ð¤¤¤¤¤Î¤«¡¦¤É¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºî¤ì¤Ð¤¤¤¤¤Î¤«¤È¤¤¤í¤¤¤í¤ÈǺ¤à¤³¤È¤Ç¡¢¿·¤·¤¤È¯¸«¤¬¤Ç¤¤¿¡£
-¤¢¤é¤æ¤ë¥³¡¼¥¹¤ËÂбþ¤¹¤ë¤¿¤á¤Ëµ¡Ç½¤ò½Å»ë¤·¤¿¡£¤ª¤«¤²¤Ç¤è¤¤Ì̤¬¤¿¤¯¤µ¤ó¤¢¤ê¡¢¾ã³²Êª°ì¤Ä°ì¤Ä¤¬¹¶Î¬¤Ç¤¤ëÅÙ¤ËãÀ®´¶¤¬¤¢¤Ã¤¿¡£¤¿¤À¡¢ÅÅÃӤξÃÈñ¤Ë¤è¤ë°ÜÆ°Î̤ÎÁý¸º¤ò¹Í¤¨¤Æ¤ª¤é¤º¡¢Àµ³ÎÀ¤òÍ׵᤹¤ë¾ìÌ̤ǤϤ«¤Ê¤ê¶ìÏ«¤·¤¿¤¿¤á¡¢¤â¤Ã¤È¹©Éפ¹¤ë¤Ù¤¤À¤Ã¤¿¡£
**¤Ò¤í [#gc371ba1]
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#comment
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