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#define BLACK 40 //¢¨
#define WHITE 40 //¢¨
#define RUN_SECTION1 100 //Â裱¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION2 445 //Â裲¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION3 470 //Â裳¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION4 210 //Â裴¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION5 240 //Â裵¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION6 620 //Â裶¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION7 200 //Â裷¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION8 360 //Â裸¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION9 150 //Â裹¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
sub line_1st() //ľ¿Ê:(º¸ ±¦)=(¹õ Çò),(¹õ ¹õ),(Çò Çò) ±¦¤ËÀû²ó:(º¸ ±¦)=(Çò ¹õ)
{
if ((SENSOR_1 < BLACK) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_C);
OnRev(OUT_A);
}
if ((SENSOR_1 < BLACK) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
}
sub line_2nd() //ľ¿Ê:(º¸ ±¦)=(Çò ¹õ),(¹õ ¹õ),(Çò Çò) º¸¤ËÀû²ó:(º¸ ±¦)=(¹õ Çò)
{
if ((SENSOR_1 < BLACK) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_A);
OnRev(OUT_C);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 < BLACK) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
}
sub line_default() //ľ¿Ê:(º¸ ±¦)=(¹õ ¹õ),(Çò Çò) º¸¤ËÀû²ó:(º¸ ±¦)=(¹õ Çò) ±¦¤ËÀû²ó:(º¸ ±¦)=(Çò ¹õ)
{
if ((SENSOR_1 < BLACK) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_A);
OnRev(OUT_C);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_C);
OnRev(OUT_A);
}
if ((SENSOR_1 < BLACK) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
}
task main ()
{
SetSensor(SENSOR_1, SENSOR_LIGHT); //ü»Ò£±¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¡¼¤¬¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
SetSensor(SENSOR_3, SENSOR_LIGHT); //ü»Ò£³¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¡¼¤¬¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION1 ) //Â裱¥»¥¯¥·¥ç¥ó³«»Ï
{
line_1st();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //²»¤òÌĤ餹¡¡¥×¥í¥°¥é¥à¤ÎÀÚ¤êÂؤ¨»þ¤Ë²»¤ÇÊѹ¹¤òÃΤ餻¤ë
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION2 ) //Â裲¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION3 ) //Â裳¥»¥¯¥·¥ç¥ó³«»Ï
{
line_2nd();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION4 ) //Â裴¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION5 ) //Â裵¥»¥¯¥·¥ç¥ó³«»Ï
{
line_1st();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION6 ) //Â裶¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION7 ) //Â裷¥»¥¯¥·¥ç¥ó³«»Ï
{
line_2nd();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION8 ) //Â裸¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION9 ) //Â裹¥»¥¯¥·¥ç¥ó³«»Ï
{
line_1st();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
OnFwd(OUT_AC); //½Ð¸ýæ½Ð¸å¾¯¤·Ä¾¿Ê
Wait(RUN_SECTION9);
Off(OUT_AC);
PlaySound(SOUND_CLICK); //½ªÎ»²»
}
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#define BLACK 40 //¢¨
#define WHITE 40 //¢¨
#define RUN_SECTION1 100 //Â裱¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION2 445 //Â裲¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION3 470 //Â裳¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION4 210 //Â裴¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION5 240 //Â裵¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION6 620 //Â裶¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION7 200 //Â裷¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION8 360 //Â裸¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
#define RUN_SECTION9 150 //Â裹¥»¥¯¥·¥ç¥ó¤Î»þ´Ö
sub line_1st() //ľ¿Ê:(º¸ ±¦)=(¹õ Çò),(¹õ ¹õ),(Çò Çò) ±¦¤ËÀû²ó:(º¸ ±¦)=(Çò ¹õ)
{
if ((SENSOR_1 < BLACK) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_C);
OnRev(OUT_A);
}
if ((SENSOR_1 < BLACK) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
}
sub line_2nd() //ľ¿Ê:(º¸ ±¦)=(Çò ¹õ),(¹õ ¹õ),(Çò Çò) º¸¤ËÀû²ó:(º¸ ±¦)=(¹õ Çò)
{
if ((SENSOR_1 < BLACK) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_A);
OnRev(OUT_C);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 < BLACK) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
}
sub line_default() //ľ¿Ê:(º¸ ±¦)=(¹õ ¹õ),(Çò Çò) º¸¤ËÀû²ó:(º¸ ±¦)=(¹õ Çò) ±¦¤ËÀû²ó:(º¸ ±¦)=(Çò ¹õ)
{
if ((SENSOR_1 < BLACK) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_A);
OnRev(OUT_C);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_C);
OnRev(OUT_A);
}
if ((SENSOR_1 < BLACK) && (SENSOR_3 < BLACK))
{
OnFwd(OUT_AC);
}
if ((SENSOR_1 > WHITE) && (SENSOR_3 > WHITE))
{
OnFwd(OUT_AC);
}
}
task main ()
{
SetSensor(SENSOR_1, SENSOR_LIGHT); //ü»Ò£±¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¡¼¤¬¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
SetSensor(SENSOR_3, SENSOR_LIGHT); //ü»Ò£³¤ËÀܳ¤µ¤ì¤¿¥»¥ó¥µ¡¼¤¬¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION1 ) //Â裱¥»¥¯¥·¥ç¥ó³«»Ï
{
line_1st();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //²»¤òÌĤ餹¡¡¥×¥í¥°¥é¥à¤ÎÀÚ¤êÂؤ¨»þ¤Ë²»¤ÇÊѹ¹¤òÃΤ餻¤ë
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION2 ) //Â裲¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION3 ) //Â裳¥»¥¯¥·¥ç¥ó³«»Ï
{
line_2nd();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION4 ) //Â裴¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION5 ) //Â裵¥»¥¯¥·¥ç¥ó³«»Ï
{
line_1st();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION6 ) //Â裶¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION7 ) //Â裷¥»¥¯¥·¥ç¥ó³«»Ï
{
line_2nd();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION8 ) //Â裸¥»¥¯¥·¥ç¥ó³«»Ï
{
line_default();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
ClearTimer(0);
while ( Timer(0) <= RUN_SECTION9 ) //Â裹¥»¥¯¥·¥ç¥ó³«»Ï
{
line_1st();
}
Off(OUT_AC);
PlaySound(SOUND_DOUBLE_BEEP); //¥×¥í¥°¥é¥àÊѹ¹²»
OnFwd(OUT_AC); //½Ð¸ýæ½Ð¸å¾¯¤·Ä¾¿Ê
Wait(RUN_SECTION9);
Off(OUT_AC);
PlaySound(SOUND_CLICK); //½ªÎ»²»
}
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