2013a/Member/ma/Mission1
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#contents
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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#sa2fe1d4]
#define THRESHOLD 42 //¤·¤¤¤ÃÍ
#define HIPOWER 5 //®¤µ¤ÎÃÍ¡Ê®¡Ë
#define LOWPOWER 1 //®¤µ¤ÎÃÍ¡ÊÃÙ¡Ë
#define set_power_H SetPower(OUT_AC,HIPOWER); //®¤¤²óž
#define set_power_L SetPower(OUT_AC,LOWPOWER); //ÃÙ¤¤²óž
#define go_forward set_power_H; OnFwd(OUT_AC); //Á°¿Ê
#define turn_left1 set_power_L; OnRev(OUT_A); OnFwd(OUT_C);//±¦Àû²ó
#define turn_left0 set_power_L; Off(OUT_A); OnFwd(OUT_C); //±¦ÀÞ
#define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C); //º¸ÀÞ
#define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C); //º¸Àû²ó
#define STEP 1 //¹õ¤òȽÃǤ¹¤ë´Ö³Ö
#define nMAX 3 //¸òº¹ÅÀ¤òȽÃǤ¹¤ë´ð½à¤ÎÃÍ
#define short_break Off(OUT_AC); Wait(10); //¾®µÙ»ß
#define cross_time 20 //¸òº¹ÅÀ¤òÅϤë»þ´Ö
#define cross_line go_forward set_power_H; OnFwd(OUT_AC); Wait(cross_time); short_break; //¸òº¹ÅÀ¤òÅϤëÆ°ºî
#define time1 1600 //·è¤á¤é¤ì¤¿¥Ý¥¤¥ó¥È¤Þ¤ÇÆ°ºî¤¹¤ë»þ´Ö
#define time3 900
#define time5 900
task main() {
SetSensor(SENSOR_2, SENSOR_LIGHT);
SetSensor(SENSOR_1, SENSOR_TOUCH);
ClearTimer(0);
int counter=0;
int nOnline=0;
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if (SENSOR_1 == 0){ //¡¤Î¥³¡¼¥¹¤ÎÅÓÃæ¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
OnFwd(OUT_B);
}
while(FastTimer(0) <= time1){
if (SENSOR_1 == 1){
OnRev(OUT_B);
}
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
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while(counter < 3){ //¸òº¹ÅÀ¤ò£³¤ÄÅϤë
while(nOnline < nMAX){
if (SENSOR_2 < THRESHOLD -3){
turn_left1;
nOnline++;
} else {
if (SENSOR_2 < THRESHOLD -2){
turn_left0;
} else if (SENSOR_2 < THRESHOLD -0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1; Wait(nMAX*STEP);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
counter++;
}
PlaySound(SOUND_CLICK);
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ClearTimer(0);
while(FastTimer(0) <= time3){ //Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
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counter=0;
while(counter < 1){ //¸òº¹ÅÀ¤ò°ì¤ÄÅϤë
while(nOnline < nMAX){
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
nOnline++;
} else {
if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD -0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1; Wait(nMAX*STEP);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
counter++;
}
PlaySound(SOUND_CLICK);
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ClearTimer(0);
while(FastTimer(0) <= time5){ //¥³¡¼¥¹ÅÓÃæ¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +4){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
counter=0;
while(counter < 1){ //¥¹¥¿¡¼¥È¤Î°ÌÃÖ¤òȽÃǤ·¤Æ¼¡¤ÎÌ¿Îá¤Ë°Ü¤ë
while(nOnline < nMAX){
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
nOnline++;
} else {
if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD -0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
OnRev(OUT_B); //È¿ÂÐÊý¸þ¤ò¸þ¤¯
OnRev(OUT_A);
OnFwd(OUT_C);
Wait(400);
Off(OUT_AC);
OnFwd(OUT_AC); //´Ì¤òÃÖ¤¯°ÌÃ֤ޤǿʤà
Wait(200);
OnFwd(OUT_B);
Off(OUT_AC);
Wait(100);
Off(OUT_B); //´Ì¤òÎ¥¤·¤Æ¸åÂह¤ë
OnRev(OUT_AC);
Wait(100);
OnRev(OUT_C); //È¿ÂÐÊý¸þ¤ò¸þ¤¯
OnFwd(OUT_A);
Wait(400);
counter++;
-´Ì¤òÃÖ¤½ª¤ï¤ë¤È¥´¡¼¥ë¤Ø¸þ¤«¤¦
while(true){ //¥´¡¼¥ë¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
}
}
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#contents
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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#sa2fe1d4]
#define THRESHOLD 42 //¤·¤¤¤ÃÍ
#define HIPOWER 5 //®¤µ¤ÎÃÍ¡Ê®¡Ë
#define LOWPOWER 1 //®¤µ¤ÎÃÍ¡ÊÃÙ¡Ë
#define set_power_H SetPower(OUT_AC,HIPOWER); //®¤¤²óž
#define set_power_L SetPower(OUT_AC,LOWPOWER); //ÃÙ¤¤²óž
#define go_forward set_power_H; OnFwd(OUT_AC); //Á°¿Ê
#define turn_left1 set_power_L; OnRev(OUT_A); OnFwd(OUT_C);//±¦Àû²ó
#define turn_left0 set_power_L; Off(OUT_A); OnFwd(OUT_C); //±¦ÀÞ
#define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C); //º¸ÀÞ
#define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C); //º¸Àû²ó
#define STEP 1 //¹õ¤òȽÃǤ¹¤ë´Ö³Ö
#define nMAX 3 //¸òº¹ÅÀ¤òȽÃǤ¹¤ë´ð½à¤ÎÃÍ
#define short_break Off(OUT_AC); Wait(10); //¾®µÙ»ß
#define cross_time 20 //¸òº¹ÅÀ¤òÅϤë»þ´Ö
#define cross_line go_forward set_power_H; OnFwd(OUT_AC); Wait(cross_time); short_break; //¸òº¹ÅÀ¤òÅϤëÆ°ºî
#define time1 1600 //·è¤á¤é¤ì¤¿¥Ý¥¤¥ó¥È¤Þ¤ÇÆ°ºî¤¹¤ë»þ´Ö
#define time3 900
#define time5 900
task main() {
SetSensor(SENSOR_2, SENSOR_LIGHT);
SetSensor(SENSOR_1, SENSOR_TOUCH);
ClearTimer(0);
int counter=0;
int nOnline=0;
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if (SENSOR_1 == 0){ //¡¤Î¥³¡¼¥¹¤ÎÅÓÃæ¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
OnFwd(OUT_B);
}
while(FastTimer(0) <= time1){
if (SENSOR_1 == 1){
OnRev(OUT_B);
}
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
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while(counter < 3){ //¸òº¹ÅÀ¤ò£³¤ÄÅϤë
while(nOnline < nMAX){
if (SENSOR_2 < THRESHOLD -3){
turn_left1;
nOnline++;
} else {
if (SENSOR_2 < THRESHOLD -2){
turn_left0;
} else if (SENSOR_2 < THRESHOLD -0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1; Wait(nMAX*STEP);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
counter++;
}
PlaySound(SOUND_CLICK);
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ClearTimer(0);
while(FastTimer(0) <= time3){ //Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
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counter=0;
while(counter < 1){ //¸òº¹ÅÀ¤ò°ì¤ÄÅϤë
while(nOnline < nMAX){
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
nOnline++;
} else {
if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD -0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1; Wait(nMAX*STEP);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
counter++;
}
PlaySound(SOUND_CLICK);
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ClearTimer(0);
while(FastTimer(0) <= time5){ //¥³¡¼¥¹ÅÓÃæ¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +4){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
counter=0;
while(counter < 1){ //¥¹¥¿¡¼¥È¤Î°ÌÃÖ¤òȽÃǤ·¤Æ¼¡¤ÎÌ¿Îá¤Ë°Ü¤ë
while(nOnline < nMAX){
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
nOnline++;
} else {
if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD -0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
OnRev(OUT_B); //È¿ÂÐÊý¸þ¤ò¸þ¤¯
OnRev(OUT_A);
OnFwd(OUT_C);
Wait(400);
Off(OUT_AC);
OnFwd(OUT_AC); //´Ì¤òÃÖ¤¯°ÌÃ֤ޤǿʤà
Wait(200);
OnFwd(OUT_B);
Off(OUT_AC);
Wait(100);
Off(OUT_B); //´Ì¤òÎ¥¤·¤Æ¸åÂह¤ë
OnRev(OUT_AC);
Wait(100);
OnRev(OUT_C); //È¿ÂÐÊý¸þ¤ò¸þ¤¯
OnFwd(OUT_A);
Wait(400);
counter++;
-´Ì¤òÃÖ¤½ª¤ï¤ë¤È¥´¡¼¥ë¤Ø¸þ¤«¤¦
while(true){ //¥´¡¼¥ë¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
if (SENSOR_2 < THRESHOLD -4){
turn_left1;
} else if (SENSOR_2 < THRESHOLD -3){
turn_left0;
} else if (SENSOR_2 < THRESHOLD +0){
go_forward;
} else if (SENSOR_2 < THRESHOLD +2){
turn_right0;
} else {
turn_right1;
}
Wait(STEP);
}
PlaySound(SOUND_CLICK);
}
}
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