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[[2016a/Member]]
#contents
*º£²ó¤Î²ÝÂê [#vb924856]
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CÃÏÅÀ ¢ª Sº¸ÀÞ ¢ª Pº¸ÀÞ ¢ª Qľ¿Ê ¢ª Qľ¿Ê ¢ª R±¦ÀÞ ¢ª Pº¸ÀÞ ¢ª AÃÏÅÀ~
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#define THRESHOLD 45 //¤³¤ÎÃͤÏÃæ´Ö¤Î¿§¤Ç¤¹
#define BRACK 37 //¹õ¤Ç¤¹
#define DARK 36 //¤µ¤é¤Ë°Å¤¤¹õ¤Ç¤¹
#define WHITE 47 //Çò¤Ç¤¹
#define left Off(OUT_A); OnFwd(OUT_C); //º¸¤Ë¶Ê¤¬¤ê¤Þ¤¹
#define right OnFwd(OUT_A); Off(OUT_C); //±¦¤Ø¶Ê¤¬¤ê¤Þ¤¹
#define go_long OnFwd(OUT_AC);Wait(800);Off(OUT_AC); //Á°¤Ë¿Ê¤ß¤Þ¤¹¡ÊŤ¤»þ´Ö¡Ë
#define go OnFwd(OUT_AC);Wait(200);Off(OUT_AC); //Á°¤Ë¿Ê¤ß¤Þ¤¹¡Êû¤¤»þ´Ö¡Ë
#define right_senkai OnFwd(OUT_C); OnRev(OUT_A); //±¦¤Ø¤ÎÀû²ó¤Ç¤¹
#define left_senkai OnFwd(OUT_A);OnRev(OUT_C); //º¸¤Ø¤ÎÀû²ó¤Ç¤¹
#define STEP 1 //0.01Éäδֳ֤ǥí¥Ü¤¬Ãͤò¬Äꤷ¤Æ¥¿¥¹¥¯¤ò¹Ô¤¤¤Þ¤¹
#define short_break Off(OUT_AC);Wait(100); //¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤È¤¤Î¤Ç¤¹
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¡¦¥é¥¤¥ó¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤ò¤¹¤ë¤¿¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
sub line_followR()
{
int zk=0;¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤ò³Îǧ¤·¤¿¤È¤¤Ë¿ô¤¬Áý¤¨¤ë¥«¥¦¥ó¥¿¡¼
SetSensor(SENSOR_3, SENSOR_LIGHT);
ClearTimer(0);
while(zk==0) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥«¥¦¥ó¥¿¡¼¤¬0¤Î»þ¤³¤ÎÃæ¿È¤ò·«¤êÊÖ¤·¤Þ¤¹
while(FastTimer(0)>100);¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤Ç1Éðʾ崶ÃΤ¹¤ë¤È²¼¤Îifʸ¤ò¹Ô¤¦¤Ï¤º¤À¤Ã¤¿
if (SENSOR_3 < DARK){¡¡¡¡¡¡//¹õ¤ò1Éðʾ崶ÃΤ¹¤ë¤È¸òº¹ÅÀ¤È¸«¤Ê¤¹
short_break;
PlaySound(SOUND_DOUBLE_BEEP); ¡¡¡¡//1ÉÃÄä»ß¤·²»¤òÌĤ餹
zk=1; ¡¡//¥«¥¦¥ó¥¿¡¼¤¬1¤Î»þ¤³¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ò½ª¤ï¤ê¼¡¤ÎÆ°ºî¤Ø°Ü¤ê¤Þ¤¹
}else if (SENSOR_3<BRACK){
right_senkai;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤¬37°Ê²¼¤ò´¶ÃΤ·¤¿¤È¤±¦Àû²ó
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ëè²ó¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë¤¿¤áɬÍ×
}else if (SENSOR_3 < THRESHOLD){
left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// ¥»¥ó¥µ¡¼¤¬45°Ê²¼¤ò´¶ÃΤ·¤¿¤È¤º¸¤Ø
ClearTimer(0);
}else if(SENSOR_3> THRESHOLD) {
right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤¬45°Ê¾å¤ò´¶ÃΤ·¤¿¤È¤±¦¤Ø
ClearTimer(0);
}
Wait(STEP);
}
}
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sub line_followL()
{
int zk=0;
SetSensor(SENSOR_3, SENSOR_LIGHT);
ClearTimer(0);
while(zk==0) {
while(FastTimer(0)>100);
if (SENSOR_3 < DARK){
short_break;
PlaySound(SOUND_DOUBLE_BEEP);
zk=1;
}else if (SENSOR_3>WHITE){
right_senkai;
ClearTimer(0);
}else if (SENSOR_3 < THRESHOLD){
right;
ClearTimer(0);
}else if(SENSOR_3> THRESHOLD) {
left;
ClearTimer(0);
}
Wait(STEP);
}
}
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¡¦¸òº¹ÅÀ¤Çº¸ÀÞ¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
sub cross_left()
{
go;
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(280);
Off(OUT_AC);
}
¡¦¸òº¹ÅÀ¤Ç±¦ÀÞ¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó~
sub cross_right()
{
go;
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(250);
Off(OUT_AC);
}
¡¦¼Ð¤á¤ËÆ°¤¯¥µ¥Ö¥ë¡¼¥Á¥ó~
sub cross_nanameL()
{
OnFwd(OUT_A);
Off(OUT_C);
Wait(230);
Off(OUT_A);
}
¡¦º¸¤ØÀû²ó¤¹¤ë¤À¤±¤Î¥µ¥Ö¥ë¡¼¥Á¥ó~
sub cross_leftshort()
{
go;
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(220);
Off(OUT_AC);
}
¡¦ºÇ½ªÅª¤Ê¥¿¥¹¥¯~
task main()
{
line_followR();¡¡¡¡//C¢ªS¸òº¹ÅÀ¤Ø¡ÊºÇ½é¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï±¦¡Ë
cross_left();¡¡¡¡¡¡//S¸òº¹ÅÀ¤òº¸ÀÞ¡¡
line_followR();¡¡¡¡//S¢ªP¸òº¹ÅÀ¤Ø
cross_left();¡¡¡¡¡¡//P¸òº¹ÅÀ¤òº¸ÀÞ
line_followR();¡¡¡¡//P¢ªQ¸òº¹ÅÀ¤Ø
go;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê
line_followR();¡¡¡¡//Q¸òº¹ÅÀ¤«¤é±ß¤òÉÁ¤¤¤ÆQ¸òº¹ÅÀ¤Ø
cross_nanameL();¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÀÚ¤êÂؤ¨¤Î¤¿¤á¼Ð¤á°ÜÆ°
line_followL();¡¡ //Q¢ªR¸òº¹ÅÀ¤Ø¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ïº¸¤ØÊѲ½¡Ë
cross_right();¡¡¡¡//R¸òº¹ÅÀ¤ò±¦ÀÞ
line_followL();¡¡ //R¢ªP¸òº¹ÅÀ¤Ø
cross_leftshort();¡¡//P¸òº¹ÅÀ¤òº¸ÀÞ
line_followR();¡¡¡¡//P¢ªAÃÏÅÀ¤Ø¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï±¦¤ØÊѲ½¡Ë
go_long ;¡¡¡¡¡¡¡¡¡¡ //¥´¡¼¥ë¤ÎÃæ¤ËÆþ¤ë°Ù¤Îľ¿Ê
PlaySound(SOUND_UP);¡¡¡¡//¾¡Íø¤Î¥µ¥¦¥ó¥É
}
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[[2016a/Member]]
#contents
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#define THRESHOLD 45 //¤³¤ÎÃͤÏÃæ´Ö¤Î¿§¤Ç¤¹
#define BRACK 37 //¹õ¤Ç¤¹
#define DARK 36 //¤µ¤é¤Ë°Å¤¤¹õ¤Ç¤¹
#define WHITE 47 //Çò¤Ç¤¹
#define left Off(OUT_A); OnFwd(OUT_C); //º¸¤Ë¶Ê¤¬¤ê¤Þ¤¹
#define right OnFwd(OUT_A); Off(OUT_C); //±¦¤Ø¶Ê¤¬¤ê¤Þ¤¹
#define go_long OnFwd(OUT_AC);Wait(800);Off(OUT_AC); //Á°¤Ë¿Ê¤ß¤Þ¤¹¡ÊŤ¤»þ´Ö¡Ë
#define go OnFwd(OUT_AC);Wait(200);Off(OUT_AC); //Á°¤Ë¿Ê¤ß¤Þ¤¹¡Êû¤¤»þ´Ö¡Ë
#define right_senkai OnFwd(OUT_C); OnRev(OUT_A); //±¦¤Ø¤ÎÀû²ó¤Ç¤¹
#define left_senkai OnFwd(OUT_A);OnRev(OUT_C); //º¸¤Ø¤ÎÀû²ó¤Ç¤¹
#define STEP 1 //0.01Éäδֳ֤ǥí¥Ü¤¬Ãͤò¬Äꤷ¤Æ¥¿¥¹¥¯¤ò¹Ô¤¤¤Þ¤¹
#define short_break Off(OUT_AC);Wait(100); //¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤È¤¤Î¤Ç¤¹
¡¦¥µ¥Ö¥ë¡¼¥Á¥ó~
¡¦¥é¥¤¥ó¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤ò¤¹¤ë¤¿¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
sub line_followR()
{
int zk=0;¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤ò³Îǧ¤·¤¿¤È¤¤Ë¿ô¤¬Áý¤¨¤ë¥«¥¦¥ó¥¿¡¼
SetSensor(SENSOR_3, SENSOR_LIGHT);
ClearTimer(0);
while(zk==0) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥«¥¦¥ó¥¿¡¼¤¬0¤Î»þ¤³¤ÎÃæ¿È¤ò·«¤êÊÖ¤·¤Þ¤¹
while(FastTimer(0)>100);¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤Ç1Éðʾ崶ÃΤ¹¤ë¤È²¼¤Îifʸ¤ò¹Ô¤¦¤Ï¤º¤À¤Ã¤¿
if (SENSOR_3 < DARK){¡¡¡¡¡¡//¹õ¤ò1Éðʾ崶ÃΤ¹¤ë¤È¸òº¹ÅÀ¤È¸«¤Ê¤¹
short_break;
PlaySound(SOUND_DOUBLE_BEEP); ¡¡¡¡//1ÉÃÄä»ß¤·²»¤òÌĤ餹
zk=1; ¡¡//¥«¥¦¥ó¥¿¡¼¤¬1¤Î»þ¤³¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ò½ª¤ï¤ê¼¡¤ÎÆ°ºî¤Ø°Ü¤ê¤Þ¤¹
}else if (SENSOR_3<BRACK){
right_senkai;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤¬37°Ê²¼¤ò´¶ÃΤ·¤¿¤È¤±¦Àû²ó
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ëè²ó¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë¤¿¤áɬÍ×
}else if (SENSOR_3 < THRESHOLD){
left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// ¥»¥ó¥µ¡¼¤¬45°Ê²¼¤ò´¶ÃΤ·¤¿¤È¤º¸¤Ø
ClearTimer(0);
}else if(SENSOR_3> THRESHOLD) {
right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤¬45°Ê¾å¤ò´¶ÃΤ·¤¿¤È¤±¦¤Ø
ClearTimer(0);
}
Wait(STEP);
}
}
ºÇ½é¤Ë¥«¥¦¥ó¥¿¡¼¡Ê£ú£ë¡Ë¤òÀßÃÖ¤·¤Æ¤¤¤Ê¤«¤Ã¤¿¤¿¤á¼¡¤ÎÆ°ºî¤Ë°Ü¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£~
¤¿¤À¥µ¥Ö¥ë¡¼¥Á¥ó¤ò¤Ä¤Ê¤²¤¿¤À¤±¤Ç¤Ï¼¡¤ÎÆ°ºî¤Ë¿Ê¤Þ¤Ê¤¤¤È¤¤¤¦¤³¤È¤¬¤ï¤«¤Ã¤¿¡£~
¤·¤«¤â¤³¤Î¥×¥í¥°¥é¥à¤Ï¥ß¥¹¤¬¤¢¤ê¡¢¥¿¥¤¥Þ¡¼¤¬ºîÆ°¤·¤Æ¤¤¤Þ¤»¤ó¤Ç¤·¤¿¡£~
¡¡
¡¦¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
sub line_followL()
{
int zk=0;
SetSensor(SENSOR_3, SENSOR_LIGHT);
ClearTimer(0);
while(zk==0) {
while(FastTimer(0)>100);
if (SENSOR_3 < DARK){
short_break;
PlaySound(SOUND_DOUBLE_BEEP);
zk=1;
}else if (SENSOR_3>WHITE){
right_senkai;
ClearTimer(0);
}else if (SENSOR_3 < THRESHOLD){
right;
ClearTimer(0);
}else if(SENSOR_3> THRESHOLD) {
left;
ClearTimer(0);
}
Wait(STEP);
}
}
1¤Ä¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òµÕ¤Ë¤·¤¿¤À¤±¤Ç¤¹¡£~
¤³¤³¤Ç¤ÏÃæ´Ö¤ÎÃͤè¤êÂ礤¤¤Èº¸¤Ø¡¢¾®¤µ¤¤¤È±¦¤Ø¿Ê¤Þ¤»¤Æ¤¤¤Þ¤¹¡£~
±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈƱÍÍ¥¿¥¤¥Þ¡¼¤¬ºîÆ°¤·¤Æ¤¤¤Þ¤»¤ó¡£~
¡¦¸òº¹ÅÀ¤Çº¸ÀÞ¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
sub cross_left()
{
go;
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(280);
Off(OUT_AC);
}
¡¦¸òº¹ÅÀ¤Ç±¦ÀÞ¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó~
sub cross_right()
{
go;
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(250);
Off(OUT_AC);
}
¡¦¼Ð¤á¤ËÆ°¤¯¥µ¥Ö¥ë¡¼¥Á¥ó~
sub cross_nanameL()
{
OnFwd(OUT_A);
Off(OUT_C);
Wait(230);
Off(OUT_A);
}
¡¦º¸¤ØÀû²ó¤¹¤ë¤À¤±¤Î¥µ¥Ö¥ë¡¼¥Á¥ó~
sub cross_leftshort()
{
go;
OnFwd(OUT_A);
OnRev(OUT_C);
Wait(220);
Off(OUT_AC);
}
¡¦ºÇ½ªÅª¤Ê¥¿¥¹¥¯~
task main()
{
line_followR();¡¡¡¡//C¢ªS¸òº¹ÅÀ¤Ø¡ÊºÇ½é¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï±¦¡Ë
cross_left();¡¡¡¡¡¡//S¸òº¹ÅÀ¤òº¸ÀÞ¡¡
line_followR();¡¡¡¡//S¢ªP¸òº¹ÅÀ¤Ø
cross_left();¡¡¡¡¡¡//P¸òº¹ÅÀ¤òº¸ÀÞ
line_followR();¡¡¡¡//P¢ªQ¸òº¹ÅÀ¤Ø
go;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê
line_followR();¡¡¡¡//Q¸òº¹ÅÀ¤«¤é±ß¤òÉÁ¤¤¤ÆQ¸òº¹ÅÀ¤Ø
cross_nanameL();¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÀÚ¤êÂؤ¨¤Î¤¿¤á¼Ð¤á°ÜÆ°
line_followL();¡¡ //Q¢ªR¸òº¹ÅÀ¤Ø¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ïº¸¤ØÊѲ½¡Ë
cross_right();¡¡¡¡//R¸òº¹ÅÀ¤ò±¦ÀÞ
line_followL();¡¡ //R¢ªP¸òº¹ÅÀ¤Ø
cross_leftshort();¡¡//P¸òº¹ÅÀ¤òº¸ÀÞ
line_followR();¡¡¡¡//P¢ªAÃÏÅÀ¤Ø¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï±¦¤ØÊѲ½¡Ë
go_long ;¡¡¡¡¡¡¡¡¡¡ //¥´¡¼¥ë¤ÎÃæ¤ËÆþ¤ë°Ù¤Îľ¿Ê
PlaySound(SOUND_UP);¡¡¡¡//¾¡Íø¤Î¥µ¥¦¥ó¥É
}
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