2013b/Member/kk14/Mission1
をテンプレートにして作成
[
トップ
] [
新規
|
一覧
|
検索
|
最終更新
|
ヘルプ
|
ログイン
]
開始行:
[[2013b/MemberOnly/進行状況]]
#define THRESHOLD 45
#define SPEED_H 50
#define SPEED_L 25
#define OnRL(speedR,speedL)\
OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define go OnRL(SPEED_H,SPEED_H);
#define turn_L OnRL(-SPEED_L,SPEED_H);
#define turn_l OnRL(-SPEED_L,SPEED_L);
#define turn_R OnRL(SPEED_H,-SPEED_L);
#define turn_r OnRL(SPEED_L,-SPEED_L);
#define turn_u OnRL(-SPEED_L,SPEED_L);Wait(2000);
#define tukamu OnFwd(OUT_A,SPEED_L);Wait(1000);
#define hanasu OnRev(OUT_A,SPEED_L);Wait(1000);
#define STEP 1
task main()
{
Wait(2000);
SetSensorLight(S1);
SetSensorLowspeed(2);
int n=0;
int k=0;
int f=0;
long t0=CurrentTick();
while(true){
while(CurrentTick()-t0<=35000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;
}else{
turn_r;
}Wait(STEP);
}
while(CurrentTick()-t0<=45000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;n++;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;n++;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;n=0;
}else{
turn_r;n=0;
}
if(n>=500){turn_r;Wait(100);n=0;k++;}
if(k>=3){turn_l;Wait(300);go;Wait(300);k=0;}
Wait(1);
}
while(CurrentTick()-t0<=50000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;
}else{
turn_r;
}
Wait(STEP);
}
while(CurrentTick()-t0<=90000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;n++;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;n++;
}else if(SENSOR_1 < THRESHOLD +7){
go;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;n=0;
}else{
turn_r;
}
if(n>=50){turn_r;Wait(100);n=0;k++;}
if(k>=3){turn_l;Wait(300);go;Wait(300);k=0;}
Wait(1);
}
if(SENSOR_1 < THRESHOLD -35){
turn_l;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;
}else if(SENSOR_1 < THRESHOLD +7){
go;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;
}else{
turn_r;
}Wait(STEP);
if(SensorUS(S2) <= 8){
while(f==1){
tukamu;
go;
Wait(3000);
turn_u;
go;
Wait(3000);
hanasu;
turn_u;
f=1;
}
}
}
}
終了行:
[[2013b/MemberOnly/進行状況]]
#define THRESHOLD 45
#define SPEED_H 50
#define SPEED_L 25
#define OnRL(speedR,speedL)\
OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define go OnRL(SPEED_H,SPEED_H);
#define turn_L OnRL(-SPEED_L,SPEED_H);
#define turn_l OnRL(-SPEED_L,SPEED_L);
#define turn_R OnRL(SPEED_H,-SPEED_L);
#define turn_r OnRL(SPEED_L,-SPEED_L);
#define turn_u OnRL(-SPEED_L,SPEED_L);Wait(2000);
#define tukamu OnFwd(OUT_A,SPEED_L);Wait(1000);
#define hanasu OnRev(OUT_A,SPEED_L);Wait(1000);
#define STEP 1
task main()
{
Wait(2000);
SetSensorLight(S1);
SetSensorLowspeed(2);
int n=0;
int k=0;
int f=0;
long t0=CurrentTick();
while(true){
while(CurrentTick()-t0<=35000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;
}else{
turn_r;
}Wait(STEP);
}
while(CurrentTick()-t0<=45000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;n++;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;n++;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;n=0;
}else{
turn_r;n=0;
}
if(n>=500){turn_r;Wait(100);n=0;k++;}
if(k>=3){turn_l;Wait(300);go;Wait(300);k=0;}
Wait(1);
}
while(CurrentTick()-t0<=50000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;
}else{
turn_r;
}
Wait(STEP);
}
while(CurrentTick()-t0<=90000){
if(SENSOR_1 < THRESHOLD -35){
turn_l;n++;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;n++;
}else if(SENSOR_1 < THRESHOLD +7){
go;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;n=0;
}else{
turn_r;
}
if(n>=50){turn_r;Wait(100);n=0;k++;}
if(k>=3){turn_l;Wait(300);go;Wait(300);k=0;}
Wait(1);
}
if(SENSOR_1 < THRESHOLD -35){
turn_l;
}else if(SENSOR_1 < THRESHOLD -7){
turn_L;
}else if(SENSOR_1 < THRESHOLD +7){
go;
}else if(SENSOR_1 < THRESHOLD +15){
turn_R;
}else{
turn_r;
}Wait(STEP);
if(SensorUS(S2) <= 8){
while(f==1){
tukamu;
go;
Wait(3000);
turn_u;
go;
Wait(3000);
hanasu;
turn_u;
f=1;
}
}
}
}
ページ名: