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#contents
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#define ikichi 39
#define HIPOWER 7
#define LOWPOWER 2
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define set_power_H_2 SetPower(OUT_B,LOWPOWER);
#define go set_power_H;OnFwd(OUT_AC);
#define t_l_hp set_power_L;OnRev(OUT_A);OnFwd(OUT_C);
#define t_l_lp set_power_L;Off(OUT_A);OnFwd(OUT_C);
#define t_r_hp set_power_L;OnFwd(OUT_A);OnRev(OUT_C);
#define t_r_lp set_power_L;OnFwd(OUT_A);Off(OUT_C);
#define step 1
#define t_l_90 OnRev(OUT_A);OnFwd(OUT_C);Wait(90);
#define t_r_90 OnRev(OUT_C);OnFwd(OUT_A);Wait(90);
#define p_1 PlaySound(SOUND_CLICK);
#define p_2 PlaySound(SOUND_UP);
#define set_b_lp SetPower(OUT_B,LOWPOWER);
#define set_b_hp SetPower(OUT_B,HIPOWER);
int n=0;
task main()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_1,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_TOUCH);
OnFwd(OUT_AC);
Wait(200);
until(SENSOR_2<=ikichi-2);
ClearTimer(0);
while(FastTimer(0)<450){
if (SENSOR_2 < ikichi -5){t_l_hp}
else if (SENSOR_2 < ikichi -2){t_l_lp}
else if (SENSOR_2 < ikichi +2){go}
else if (SENSOR_2 < ikichi +5){t_r_lp}
else {t_r_hp}
Wait(step);
}
//1:¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹&ľ³Ñ¤À¤È¼¡¤Ø//
do{
if (SENSOR_2 < ikichi -5){t_l_hp;n +=1;p_1;}
else if (SENSOR_2 < ikichi -2){t_l_lp;int n=0;}
else if (SENSOR_2 < ikichi +2){go;int n=0;}
else if (SENSOR_2 < ikichi +5){t_r_lp;int n=0;}
else {t_r_hp;int n=0;}
Wait(step);
}while(n<3);
p_2;
n=0;
//2:»æ¥Ñ¥Ã¥¯¤òõ¤·¤À¤·ÄϤà//
Off(OUT_AC);
t_r_hp;
Wait(15);
Off(OUT_AC);
Wait(100);
set_b_lp;
OnFwd(OUT_B);
Wait(100);
Off(OUT_B);
//3:180ÅÙ²óž&Á°¿È¸åÀþ¤Î¾å¤Ç¤È¤Þ¤ë//
OnRev(OUT_AC);
Wait(30);
t_r_hp;
Wait(190);
OnFwd(OUT_AC);
Wait(100);
until(SENSOR_2 < ikichi -5);
Off(OUT_AC);
Wait(100);
//¤³¤ÎÅÀ¤ò´ð½à¤Ë¹ÔÆ°//
ClearTimer(2);
//4:°ìÄê»þ´ÖÆâ¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹//
while(FastTimer(2)<100){
if (SENSOR_2 < ikichi -5){t_l_hp}
else if (SENSOR_2 < ikichi -2){t_l_lp}
else if (SENSOR_2 < ikichi +2){go}
else if (SENSOR_2 < ikichi +5){t_r_lp}
else {t_r_hp}
Wait(step);
}
//4:¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹&¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÇȽÃÇ//
do{
if ((SENSOR_1==1)&&(SENSOR_3==1)){n +=5;}
else if (SENSOR_2 <= ikichi -5){t_l_hp;int n=0;p_1;}
else if (SENSOR_2 <= ikichi -2){t_l_lp;int n=0;}
else if (SENSOR_2 <= ikichi +2){go;int n=0;}
else if (SENSOR_2 <= ikichi +5){t_r_lp;int n=0;}
else {t_r_hp;int n=0;}
Wait(step);
}while(n<3);
Off(OUT_ABC);
Wait(100);
//5:¥Ñ¥Ã¥¯¤òÎ¥¤¹//
OnRev(OUT_B);
Wait(80);
Off(OUT_B);
//6:¥Ñ¥Ã¥¯¤Î°ú¤È´¤¾ì½ê¤Ø//
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
t_l_hp;
Wait(70);
OnFwd(OUT_AC);
Wait(175);
t_r_hp;
Wait(70);
OnFwd(OUT_AC);
until((SENSOR_1==1)||(SENSOR_3==1));
Off(OUT_AC);
//7:¥Ñ¥Ã¥¯¤Î°ú¤È´¤//
set_power_H_2;
OnFwd(OUT_B);
Wait(80);
OnRev(OUT_AC);
Wait(200);
Off(OUT_C);
OnRev(OUT_A);
Wait(150);
Off(OUT_A);
//8:¥é¥¤¥ó¤òõ¤¹//
OnFwd(OUT_AC);
until(SENSOR_2<=ikichi-2);
Off(OUT_AC);
OnFwd(OUT_AC);
Wait(20);
Off(OUT_AC);
}
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#define ikichi 39
#define HIPOWER 7
#define LOWPOWER 2
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define set_power_H_2 SetPower(OUT_B,LOWPOWER);
#define go set_power_H;OnFwd(OUT_AC);
#define t_l_hp set_power_L;OnRev(OUT_A);OnFwd(OUT_C);
#define t_l_lp set_power_L;Off(OUT_A);OnFwd(OUT_C);
#define t_r_hp set_power_L;OnFwd(OUT_A);OnRev(OUT_C);
#define t_r_lp set_power_L;OnFwd(OUT_A);Off(OUT_C);
#define step 1
#define t_l_90 OnRev(OUT_A);OnFwd(OUT_C);Wait(90);
#define t_r_90 OnRev(OUT_C);OnFwd(OUT_A);Wait(90);
#define p_1 PlaySound(SOUND_CLICK);
#define p_2 PlaySound(SOUND_UP);
#define set_b_lp SetPower(OUT_B,LOWPOWER);
#define set_b_hp SetPower(OUT_B,HIPOWER);
int n=0;
task main()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetSensor(SENSOR_1,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_TOUCH);
OnFwd(OUT_AC);
Wait(200);
until(SENSOR_2<=ikichi-2);
ClearTimer(0);
while(FastTimer(0)<450){
if (SENSOR_2 < ikichi -5){t_l_hp}
else if (SENSOR_2 < ikichi -2){t_l_lp}
else if (SENSOR_2 < ikichi +2){go}
else if (SENSOR_2 < ikichi +5){t_r_lp}
else {t_r_hp}
Wait(step);
}
//1:¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹&ľ³Ñ¤À¤È¼¡¤Ø//
do{
if (SENSOR_2 < ikichi -5){t_l_hp;n +=1;p_1;}
else if (SENSOR_2 < ikichi -2){t_l_lp;int n=0;}
else if (SENSOR_2 < ikichi +2){go;int n=0;}
else if (SENSOR_2 < ikichi +5){t_r_lp;int n=0;}
else {t_r_hp;int n=0;}
Wait(step);
}while(n<3);
p_2;
n=0;
//2:»æ¥Ñ¥Ã¥¯¤òõ¤·¤À¤·ÄϤà//
Off(OUT_AC);
t_r_hp;
Wait(15);
Off(OUT_AC);
Wait(100);
set_b_lp;
OnFwd(OUT_B);
Wait(100);
Off(OUT_B);
//3:180ÅÙ²óž&Á°¿È¸åÀþ¤Î¾å¤Ç¤È¤Þ¤ë//
OnRev(OUT_AC);
Wait(30);
t_r_hp;
Wait(190);
OnFwd(OUT_AC);
Wait(100);
until(SENSOR_2 < ikichi -5);
Off(OUT_AC);
Wait(100);
//¤³¤ÎÅÀ¤ò´ð½à¤Ë¹ÔÆ°//
ClearTimer(2);
//4:°ìÄê»þ´ÖÆâ¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹//
while(FastTimer(2)<100){
if (SENSOR_2 < ikichi -5){t_l_hp}
else if (SENSOR_2 < ikichi -2){t_l_lp}
else if (SENSOR_2 < ikichi +2){go}
else if (SENSOR_2 < ikichi +5){t_r_lp}
else {t_r_hp}
Wait(step);
}
//4:¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹&¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÇȽÃÇ//
do{
if ((SENSOR_1==1)&&(SENSOR_3==1)){n +=5;}
else if (SENSOR_2 <= ikichi -5){t_l_hp;int n=0;p_1;}
else if (SENSOR_2 <= ikichi -2){t_l_lp;int n=0;}
else if (SENSOR_2 <= ikichi +2){go;int n=0;}
else if (SENSOR_2 <= ikichi +5){t_r_lp;int n=0;}
else {t_r_hp;int n=0;}
Wait(step);
}while(n<3);
Off(OUT_ABC);
Wait(100);
//5:¥Ñ¥Ã¥¯¤òÎ¥¤¹//
OnRev(OUT_B);
Wait(80);
Off(OUT_B);
//6:¥Ñ¥Ã¥¯¤Î°ú¤È´¤¾ì½ê¤Ø//
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
t_l_hp;
Wait(70);
OnFwd(OUT_AC);
Wait(175);
t_r_hp;
Wait(70);
OnFwd(OUT_AC);
until((SENSOR_1==1)||(SENSOR_3==1));
Off(OUT_AC);
//7:¥Ñ¥Ã¥¯¤Î°ú¤È´¤//
set_power_H_2;
OnFwd(OUT_B);
Wait(80);
OnRev(OUT_AC);
Wait(200);
Off(OUT_C);
OnRev(OUT_A);
Wait(150);
Off(OUT_A);
//8:¥é¥¤¥ó¤òõ¤¹//
OnFwd(OUT_AC);
until(SENSOR_2<=ikichi-2);
Off(OUT_AC);
OnFwd(OUT_AC);
Wait(20);
Off(OUT_AC);
}
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