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#contents
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#define THRES1 39 //ïçÃÍ1(¹õ¡¢¹õÀþÃæ±û)
#define THRES2 43 //ïçÃÍ2(¹õ¤Ë¶á¤¤¹õ¡¢¹õÀþÃæ±û¤«¤é¾¯¤·³°Â¦)
#define THRES3 53 //ïçÃÍ3(Çö¹õ¡¢¹õÀþÃæ±û¤È¶³¦¤ÎÃæ´Ö)
#define THRES4 59 //ïçÃÍ4(Çò¤Ë¶á¤¤¹õ¡¢¹õÀþ¶³¦¤«¤é¾¯¤·Æâ¦)
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#define SPEED_H 40 //®¤¤¥¹¥Ô¡¼¥É
#define SPEED_L 17 //ÃÙ¤¤¥¹¥Ô¡¼¥É
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#define TIME_CROSS 230 //¸òº¹ÅÀ¤òÅϤë»þ¤Î»þ´Ö
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#define STEP 1 //1²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
#define nMAX 280 //¸òº¹ÅÀ¤Ç¤Î¹õ¤ÎȽÄê´ð½à
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#define move_RL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); //´ðËÜÆ°ºî
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#define short_break Off(OUT_BC); Wait(500); //¾®µÙ·Æ
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sub go_forward() //ľ¿Ê
{
move_RL(SPEED_H,SPEED_H);
}
sub turn_left_A() //º¸ÀÞ
{
move_RL(SPEED_L,0);
}
sub turn_left_B() //º¸Àû²ó
{
move_RL(SPEED_L,-SPEED_L);
}
sub turn_right_A() //±¦ÀÞ
{
move_RL(0, SPEED_L);
}
sub turn_right_B() //±¦Àû²ó
{
move_RL(-SPEED_L,SPEED_L);
}
sub go_crossline() //¸òº¹ÅÀ¤òÅϤë
{
move_RL(SPEED_H,SPEED_H);
Wait(TIME_CROSS);short_break;
}
sub left_crossline() //¸òº¹ÅÀ¤òº¸ÀÞ
{
move_RL(SPEED_L,-SPEED_L);
Wait(1400);short_break;
}
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task main ()
{
SetSensorLight(S1);
int n_black=0; //¹õ¤ò¥«¥¦¥ó¥È
int m_kousa=0; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
while(m_kousa < 5) { //¸òº¹ÅÀ¤¬5²óÌṲ̈Ëþ¤Î´Ö
while (n_black < nMAX) { //n_black(¹õ)¤¬nMAX̤Ëþ¤Î´Ö¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
if (SENSOR_1 < THRES1) { //¤â¤·¹õ¤Î¤È¤º¸Àû²ó¡¢¹õ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È
turn_left_B();
n_black++;
} else { //¤½¤¦¤Ç¤Ê¤¤¤È¤
if (SENSOR_1 < THRES2) { //¤â¤·¹õ¤Ë¶á¤¤¹õ¢Î¹õ¤Î´Ö¤Ïº¸ÀÞ
turn_left_A();
} else if (SENSOR_1 < THRES3) { //Çö¹õ¢Î¹õ¤Ë¶á¤¤¹õ¤Î´Ö¤Ïľ¿Ê
go_forward();
} else if (SENSOR_1 < THRES4) { //Çò¤Ë¶á¤¤¹õ¢ÎÇö¹õ¤Î´Ö¤Ï±¦ÀÞ
turn_right_A();
} else { //Çò¤Î¤È¤±¦Àû²ó
turn_right_B();
}
n_black=0; //n_black(¹õ)¤ò¥ê¥»¥Ã¥È¤·¤Æ
}
Wait(STEP); //¾åµ¤ÎÆ°ºî¤ò¡¢STEP(1²ó)¤º¤Ä¹Ô¤¦¡£
}
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if (m_kousa < 3) { //¤â¤·¸òº¹ÅÀ¤¬3²óÌܤޤǸòº¹ÅÀ¤òľ¿Ê
short_break;
PlaySound(SOUND_DOUBLE_BEEP); //ľ¿Ê¤Î¹ç¿Þ
go_crossline();
m_kousa++; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
n_black=0; //n_black¤ò0¤ËÌ᤹¤³¤È¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë¡£
} else if (m_kousa < 4) { //¸òº¹ÅÀ¤¬4²óÌܤΤȤ¸òº¹ÅÀ¤òº¸ÀÞ
short_break;
PlaySound(SOUND_DOWN); //º¸Àޤιç¿Þ
turn_left_B();
Wait(1100);
m_kousa++;
n_black=0;
} else { //BÃÏÅÀÁ°T»ú¤ò¸òº¹ÅÀ5²óÌܤȤ·¤Æľ¿Ê¤·BÃÏÅÀ¤ØÆþ¤ë
short_break;
go_forward();
Wait(1500);
Off(OUT_BC);
m_kousa++; //m_kousa(¸òº¹ÅÀ)=5²óÌܤȤʤꡢWhile(m_kousa<5)¤«¤éÈ´¤±½Ð¤¹¡£
PlaySound(SOUND_FAST_UP); //½ªÎ»¤Î¹ç¿Þ
}
}
}
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#define THRES1 39 //ïçÃÍ1(¹õ¡¢¹õÀþÃæ±û)
#define THRES2 43 //ïçÃÍ2(¹õ¤Ë¶á¤¤¹õ¡¢¹õÀþÃæ±û¤«¤é¾¯¤·³°Â¦)
#define THRES3 53 //ïçÃÍ3(Çö¹õ¡¢¹õÀþÃæ±û¤È¶³¦¤ÎÃæ´Ö)
#define THRES4 59 //ïçÃÍ4(Çò¤Ë¶á¤¤¹õ¡¢¹õÀþ¶³¦¤«¤é¾¯¤·Æâ¦)
#define SPEED_H 40 //®¤¤¥¹¥Ô¡¼¥É
#define SPEED_L 17 //ÃÙ¤¤¥¹¥Ô¡¼¥É
#define TIME_CROSS 230 //¸òº¹ÅÀ¤òÅϤë»þ¤Î»þ´Ö
#define STEP 1 //1²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
#define nMAX 280 //¸òº¹ÅÀ¤Ç¤Î¹õ¤ÎȽÄê´ð½à
#define move_RL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); //´ðËÜÆ°ºî
#define short_break Off(OUT_BC); Wait(500); //¾®µÙ·Æ
sub go_forward() //ľ¿Ê
{
move_RL(SPEED_H,SPEED_H);
}
sub turn_left_A() //º¸ÀÞ
{
move_RL(SPEED_L,0);
}
sub turn_left_B() //º¸Àû²ó
{
move_RL(SPEED_L,-SPEED_L);
}
sub turn_right_A() //±¦ÀÞ
{
move_RL(0, SPEED_L);
}
sub turn_right_B() //±¦Àû²ó
{
move_RL(-SPEED_L,SPEED_L);
}
sub go_crossline() //¸òº¹ÅÀ¤òÅϤë
{
move_RL(SPEED_H,SPEED_H);
Wait(TIME_CROSS);short_break;
}
sub left_crossline() //¸òº¹ÅÀ¤òº¸ÀÞ
{
move_RL(SPEED_L,-SPEED_L);
Wait(1400);short_break;
}
task main ()
{
SetSensorLight(S1);
int n_black=0; //¹õ¤ò¥«¥¦¥ó¥È
int m_kousa=0; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
while(m_kousa < 5) { //¸òº¹ÅÀ¤¬5²óÌṲ̈Ëþ¤Î´Ö
while (n_black < nMAX) { //n_black(¹õ)¤¬nMAX̤Ëþ¤Î´Ö¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
if (SENSOR_1 < THRES1) { //¤â¤·¹õ¤Î¤È¤º¸Àû²ó¡¢¹õ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È
turn_left_B();
n_black++;
} else { //¤½¤¦¤Ç¤Ê¤¤¤È¤
if (SENSOR_1 < THRES2) { //¤â¤·¹õ¤Ë¶á¤¤¹õ¢Î¹õ¤Î´Ö¤Ïº¸ÀÞ
turn_left_A();
} else if (SENSOR_1 < THRES3) { //Çö¹õ¢Î¹õ¤Ë¶á¤¤¹õ¤Î´Ö¤Ïľ¿Ê
go_forward();
} else if (SENSOR_1 < THRES4) { //Çò¤Ë¶á¤¤¹õ¢ÎÇö¹õ¤Î´Ö¤Ï±¦ÀÞ
turn_right_A();
} else { //Çò¤Î¤È¤±¦Àû²ó
turn_right_B();
}
n_black=0; //n_black(¹õ)¤ò¥ê¥»¥Ã¥È¤·¤Æ
}
Wait(STEP); //¾åµ¤ÎÆ°ºî¤ò¡¢STEP(1²ó)¤º¤Ä¹Ô¤¦¡£
}
if (m_kousa < 3) { //¤â¤·¸òº¹ÅÀ¤¬3²óÌܤޤǸòº¹ÅÀ¤òľ¿Ê
short_break;
PlaySound(SOUND_DOUBLE_BEEP); //ľ¿Ê¤Î¹ç¿Þ
go_crossline();
m_kousa++; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
n_black=0; //n_black¤ò0¤ËÌ᤹¤³¤È¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë¡£
} else if (m_kousa < 4) { //¸òº¹ÅÀ¤¬4²óÌܤΤȤ¸òº¹ÅÀ¤òº¸ÀÞ
short_break;
PlaySound(SOUND_DOWN); //º¸Àޤιç¿Þ
turn_left_B();
Wait(1100);
m_kousa++;
n_black=0;
} else { //BÃÏÅÀÁ°T»ú¤ò¸òº¹ÅÀ5²óÌܤȤ·¤Æľ¿Ê¤·BÃÏÅÀ¤ØÆþ¤ë
short_break;
go_forward();
Wait(1500);
Off(OUT_BC);
m_kousa++; //m_kousa(¸òº¹ÅÀ)=5²óÌܤȤʤꡢWhile(m_kousa<5)¤«¤éÈ´¤±½Ð¤¹¡£
PlaySound(SOUND_FAST_UP); //½ªÎ»¤Î¹ç¿Þ
}
}
}
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#contents
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#define THRES1 39 //ïçÃÍ1(¹õ¡¢¹õÀþÃæ±û)
#define THRES2 43 //ïçÃÍ2(¹õ¤Ë¶á¤¤¹õ¡¢¹õÀþÃæ±û¤«¤é¾¯¤·³°Â¦)
#define THRES3 53 //ïçÃÍ3(Çö¹õ¡¢¹õÀþÃæ±û¤È¶³¦¤ÎÃæ´Ö)
#define THRES4 59 //ïçÃÍ4(Çò¤Ë¶á¤¤¹õ¡¢¹õÀþ¶³¦¤«¤é¾¯¤·Æâ¦)
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#define SPEED_H 40 //®¤¤¥¹¥Ô¡¼¥É
#define SPEED_L 17 //ÃÙ¤¤¥¹¥Ô¡¼¥É
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#define TIME_CROSS 230 //¸òº¹ÅÀ¤òÅϤë»þ¤Î»þ´Ö
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#define STEP 1 //1²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
#define nMAX 280 //¸òº¹ÅÀ¤Ç¤Î¹õ¤ÎȽÄê´ð½à
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#define move_RL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); //´ðËÜÆ°ºî
¸òº¹ÅÀ¤ÇÆ°ºî¤¹¤ë¤È¤1²ó»ß¤Þ¤ë¡£
#define short_break Off(OUT_BC); Wait(500); //¾®µÙ·Æ
**¥µ¥Ö¥ë¡¼¥Á¥ó [#ac6b450c]
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sub go_forward() //ľ¿Ê
{
move_RL(SPEED_H,SPEED_H);
}
sub turn_left_A() //º¸ÀÞ
{
move_RL(SPEED_L,0);
}
sub turn_left_B() //º¸Àû²ó
{
move_RL(SPEED_L,-SPEED_L);
}
sub turn_right_A() //±¦ÀÞ
{
move_RL(0, SPEED_L);
}
sub turn_right_B() //±¦Àû²ó
{
move_RL(-SPEED_L,SPEED_L);
}
sub go_crossline() //¸òº¹ÅÀ¤òÅϤë
{
move_RL(SPEED_H,SPEED_H);
Wait(TIME_CROSS);short_break;
}
sub left_crossline() //¸òº¹ÅÀ¤òº¸ÀÞ
{
move_RL(SPEED_L,-SPEED_L);
Wait(1400);short_break;
}
**¥á¥¤¥ó¥×¥í¥°¥é¥à [#xb17aafa]
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task main ()
{
SetSensorLight(S1);
int n_black=0; //¹õ¤ò¥«¥¦¥ó¥È
int m_kousa=0; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
while(m_kousa < 5) { //¸òº¹ÅÀ¤¬5²óÌṲ̈Ëþ¤Î´Ö
while (n_black < nMAX) { //n_black(¹õ)¤¬nMAX̤Ëþ¤Î´Ö¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
if (SENSOR_1 < THRES1) { //¤â¤·¹õ¤Î¤È¤º¸Àû²ó¡¢¹õ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È
turn_left_B();
n_black++;
} else { //¤½¤¦¤Ç¤Ê¤¤¤È¤
if (SENSOR_1 < THRES2) { //¤â¤·¹õ¤Ë¶á¤¤¹õ¢Î¹õ¤Î´Ö¤Ïº¸ÀÞ
turn_left_A();
} else if (SENSOR_1 < THRES3) { //Çö¹õ¢Î¹õ¤Ë¶á¤¤¹õ¤Î´Ö¤Ïľ¿Ê
go_forward();
} else if (SENSOR_1 < THRES4) { //Çò¤Ë¶á¤¤¹õ¢ÎÇö¹õ¤Î´Ö¤Ï±¦ÀÞ
turn_right_A();
} else { //Çò¤Î¤È¤±¦Àû²ó
turn_right_B();
}
n_black=0; //n_black(¹õ)¤ò¥ê¥»¥Ã¥È¤·¤Æ
}
Wait(STEP); //¾åµ¤ÎÆ°ºî¤ò¡¢STEP(1²ó)¤º¤Ä¹Ô¤¦¡£
}
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if (m_kousa < 3) { //¤â¤·¸òº¹ÅÀ¤¬3²óÌܤޤǸòº¹ÅÀ¤òľ¿Ê
short_break;
PlaySound(SOUND_DOUBLE_BEEP); //ľ¿Ê¤Î¹ç¿Þ
go_crossline();
m_kousa++; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
n_black=0; //n_black¤ò0¤ËÌ᤹¤³¤È¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë¡£
} else if (m_kousa < 4) { //¸òº¹ÅÀ¤¬4²óÌܤΤȤ¸òº¹ÅÀ¤òº¸ÀÞ
short_break;
PlaySound(SOUND_DOWN); //º¸Àޤιç¿Þ
turn_left_B();
Wait(1100);
m_kousa++;
n_black=0;
} else { //BÃÏÅÀÁ°T»ú¤ò¸òº¹ÅÀ5²óÌܤȤ·¤Æľ¿Ê¤·BÃÏÅÀ¤ØÆþ¤ë
short_break;
go_forward();
Wait(1500);
Off(OUT_BC);
m_kousa++; //m_kousa(¸òº¹ÅÀ)=5²óÌܤȤʤꡢWhile(m_kousa<5)¤«¤éÈ´¤±½Ð¤¹¡£
PlaySound(SOUND_FAST_UP); //½ªÎ»¤Î¹ç¿Þ
}
}
}
**Á´ÂÎ [#lb24f140]
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#define THRES1 39 //ïçÃÍ1(¹õ¡¢¹õÀþÃæ±û)
#define THRES2 43 //ïçÃÍ2(¹õ¤Ë¶á¤¤¹õ¡¢¹õÀþÃæ±û¤«¤é¾¯¤·³°Â¦)
#define THRES3 53 //ïçÃÍ3(Çö¹õ¡¢¹õÀþÃæ±û¤È¶³¦¤ÎÃæ´Ö)
#define THRES4 59 //ïçÃÍ4(Çò¤Ë¶á¤¤¹õ¡¢¹õÀþ¶³¦¤«¤é¾¯¤·Æâ¦)
#define SPEED_H 40 //®¤¤¥¹¥Ô¡¼¥É
#define SPEED_L 17 //ÃÙ¤¤¥¹¥Ô¡¼¥É
#define TIME_CROSS 230 //¸òº¹ÅÀ¤òÅϤë»þ¤Î»þ´Ö
#define STEP 1 //1²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
#define nMAX 280 //¸òº¹ÅÀ¤Ç¤Î¹õ¤ÎȽÄê´ð½à
#define move_RL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); //´ðËÜÆ°ºî
#define short_break Off(OUT_BC); Wait(500); //¾®µÙ·Æ
sub go_forward() //ľ¿Ê
{
move_RL(SPEED_H,SPEED_H);
}
sub turn_left_A() //º¸ÀÞ
{
move_RL(SPEED_L,0);
}
sub turn_left_B() //º¸Àû²ó
{
move_RL(SPEED_L,-SPEED_L);
}
sub turn_right_A() //±¦ÀÞ
{
move_RL(0, SPEED_L);
}
sub turn_right_B() //±¦Àû²ó
{
move_RL(-SPEED_L,SPEED_L);
}
sub go_crossline() //¸òº¹ÅÀ¤òÅϤë
{
move_RL(SPEED_H,SPEED_H);
Wait(TIME_CROSS);short_break;
}
sub left_crossline() //¸òº¹ÅÀ¤òº¸ÀÞ
{
move_RL(SPEED_L,-SPEED_L);
Wait(1400);short_break;
}
task main ()
{
SetSensorLight(S1);
int n_black=0; //¹õ¤ò¥«¥¦¥ó¥È
int m_kousa=0; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
while(m_kousa < 5) { //¸òº¹ÅÀ¤¬5²óÌṲ̈Ëþ¤Î´Ö
while (n_black < nMAX) { //n_black(¹õ)¤¬nMAX̤Ëþ¤Î´Ö¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
if (SENSOR_1 < THRES1) { //¤â¤·¹õ¤Î¤È¤º¸Àû²ó¡¢¹õ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È
turn_left_B();
n_black++;
} else { //¤½¤¦¤Ç¤Ê¤¤¤È¤
if (SENSOR_1 < THRES2) { //¤â¤·¹õ¤Ë¶á¤¤¹õ¢Î¹õ¤Î´Ö¤Ïº¸ÀÞ
turn_left_A();
} else if (SENSOR_1 < THRES3) { //Çö¹õ¢Î¹õ¤Ë¶á¤¤¹õ¤Î´Ö¤Ïľ¿Ê
go_forward();
} else if (SENSOR_1 < THRES4) { //Çò¤Ë¶á¤¤¹õ¢ÎÇö¹õ¤Î´Ö¤Ï±¦ÀÞ
turn_right_A();
} else { //Çò¤Î¤È¤±¦Àû²ó
turn_right_B();
}
n_black=0; //n_black(¹õ)¤ò¥ê¥»¥Ã¥È¤·¤Æ
}
Wait(STEP); //¾åµ¤ÎÆ°ºî¤ò¡¢STEP(1²ó)¤º¤Ä¹Ô¤¦¡£
}
if (m_kousa < 3) { //¤â¤·¸òº¹ÅÀ¤¬3²óÌܤޤǸòº¹ÅÀ¤òľ¿Ê
short_break;
PlaySound(SOUND_DOUBLE_BEEP); //ľ¿Ê¤Î¹ç¿Þ
go_crossline();
m_kousa++; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
n_black=0; //n_black¤ò0¤ËÌ᤹¤³¤È¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë¡£
} else if (m_kousa < 4) { //¸òº¹ÅÀ¤¬4²óÌܤΤȤ¸òº¹ÅÀ¤òº¸ÀÞ
short_break;
PlaySound(SOUND_DOWN); //º¸Àޤιç¿Þ
turn_left_B();
Wait(1100);
m_kousa++;
n_black=0;
} else { //BÃÏÅÀÁ°T»ú¤ò¸òº¹ÅÀ5²óÌܤȤ·¤Æľ¿Ê¤·BÃÏÅÀ¤ØÆþ¤ë
short_break;
go_forward();
Wait(1500);
Off(OUT_BC);
m_kousa++; //m_kousa(¸òº¹ÅÀ)=5²óÌܤȤʤꡢWhile(m_kousa<5)¤«¤éÈ´¤±½Ð¤¹¡£
PlaySound(SOUND_FAST_UP); //½ªÎ»¤Î¹ç¿Þ
}
}
}
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