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#define white 50//¸÷¥»¥ó¥µ¡¼¤ÎÇò¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define white_grey 47//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤è¤ê¤â¾¯¤·Çò¤¤¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define grey 44//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define black_grey 41//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤è¤ê¤â¾¯¤·¹õ¤¤¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define black 38//¸÷¥»¥ó¥µ¡¼¤Î¹õ¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define turn_right OnFwd(OUT_A);Off(OUT_C);//±¦¤Ë¶Ê¤¬¤ë
#define turn_left Off(OUT_A);OnFwd(OUT_C);//º¸¤Ë¶Ê¤¬¤ë
#define go OnFwd(OUT_AC);//¿¿¤Ãľ¤°¿Ê¤à
#define senkai_right OnFwd(OUT_A);OnRev(OUT_C);//±¦Àû²ó
#define senkai_left OnFwd(OUT_C);OnRev(OUT_A); //º¸Àû²ó
#define back OnRev(OUT_AC);//¸å¤í¤Ë¿Ê¤à
#define Stop Off(OUT_AC);Wait(100);//1ÉôÖÄä»ß
int n=0;//£î¤Ï¸òº¹ÅÀ¤Î²ó¿ô
sub usually()//¥í¥Ü¥Ã¥È¤Î´ðËÜŪ¤ÊÆ°ºî
{
if(SENSOR_3>white)
{
senkai_right;ClearTimer(0);//Çò¿§¤Ê¤é¤Ð±¦¤ËÀû²ó
}
else if(SENSOR_3>white_grey)
{
turn_right;ClearTimer(0);//Çò¿§¤è¤ê¾¯¤·¹õ¤¤¤Ê¤é¤Ð±¦¤Ë¶Ê¤¬¤ë
}
else if(SENSOR_3>grey)
{
go;ClearTimer(0);//³¥¿§¤Ê¤é¤Ð¤Þ¤Ã¤¹¤°¿Ê¤à
}
else if(SENSOR_3>black_grey)
{
turn_left;ClearTimer(0);//¹õ¿§¤è¤ê¾¯¤·Çò¤¤¤Ê¤é¤Ðº¸¤Ë¶Ê¤¬¤ë
}
else if(SENSOR_3>black)
{
senkai_left;//¹õ¿§¤Ê¤é¤Ðº¸¤ËÀû²ó
}
}
sub turn_right_t()//T»úÏ©¤ÎÆ°ºî
{
if(n==4)//4²óÌܤθòº¹ÅÀ(T»úÏ©)
{
if(SENSOR_3>white_grey)
{
Off(OUT_AC);Wait(100);
back;Wait(050);
go;Wait(030);
senkai_right;Wait(057);
go;Wait(030);
Stop;
}
}
if(n==6)//6²óÌܤθòº¹ÅÀ(T»úÏ©)
{
if(SENSOR_3>white_grey)
{
Off(OUT_AC);Wait(100);
back;Wait(060);
go;Wait(030);
senkai_right;Wait(057);
go;Wait(030);
Stop;
}
}
}
sub tashikame()//¸òº¹ÅÀ¤òȽÃǤ·¤¿¸å¤ÎÆ°ºî
{
senkai_right;Wait(021);
Stop;
go;Wait(050);
n++;//¸òº¹ÅÀ¤Î¥«¥¦¥ó¥È
}
sub kousaten_ichi()//¸òº¹ÅÀ£±¤Ä¤á¤ÎÆ°ºî
{
if(n==1)
{
PlaySound(SOUND_CLICK);
back;Wait(050);
go;Wait(030);
senkai_right;Wait(057);
go;Wait(030);
}
}
sub kousaten_nana()//¸òº¹ÅÀ£·¤Ä¤á(¥´¡¼¥ë)¤ÎÆ°ºî
{
if(n==7)
{
Off(OUT_AC);Wait(100);
OnRev(OUT_AC);Wait(060);//¥´¡¼¥ë¤«¤é¾¯¤·Î¥¤ì¤ë
Off(OUT_AC);
OnFwd(OUT_B);Wait(012);//¥¢¡¼¥à¤ò³«¤¯
Off(OUT_B);
go;Wait(060);//¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë
while(n==7)//Á´ÂΤÎÆ°ºî½ªÎ»
{
Off(OUT_AC);
}
}
}
task main()//¥á¥¤¥ó¥×¥í¥°¥é¥à
{
ClearTimer(0);
SetSensor(SENSOR_3, SENSOR_LIGHT);
while(true)
{
while(FastTimer(0)<025)//¸òº¹ÅÀ¤ÎȽÃǤÏ0.25Éäˤ·¤¿
{
usually();
}
tashikame();
kousaten_ichi();
ClearTimer(0);
ClearTimer(1);
if(n==2)//¸òº¹ÅÀ£²¤Ä¤á¤ÎÆ°ºî
{
while(FastTimer(1)<050)//Àþ¾å¤ò0.5Éôֿʤà
{
usually();
}
Off(OUT_AC);//¼ÖÎØÄä»ß
OnFwd(OUT_B);Wait(012);Off(OUT_B);Wait(050);//¥¢¡¼¥à¤ò¹¤²¤ë
ClearTimer(1);
while(FastTimer(1)<100)//Àþ¾å¤ò1Éôֿʤà
{
usually();
}
Off(OUT_AC);//¼ÖÎØÄä»ß
OnRev(OUT_B);Wait(015);Off(OUT_B);Wait(050);//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à
ClearTimer(1);
while(FastTimer(1)<400)//4ÉôÖÀþ¾å¤ò¿Ê¤à
{
usually();
}
}
kousaten_nana();
turn_right_t();
ClearTimer(1);
while(FastTimer(1)<200)//¶Ê¤¬¤Ã¤¿Ä¾¸å¤Ë2Éôֿʤà
{
usually();
}
}
}
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#define white 50//¸÷¥»¥ó¥µ¡¼¤ÎÇò¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define white_grey 47//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤è¤ê¤â¾¯¤·Çò¤¤¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define grey 44//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define black_grey 41//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤è¤ê¤â¾¯¤·¹õ¤¤¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define black 38//¸÷¥»¥ó¥µ¡¼¤Î¹õ¤ËÂФ¹¤ë²¼¸ÂÃÍ
#define turn_right OnFwd(OUT_A);Off(OUT_C);//±¦¤Ë¶Ê¤¬¤ë
#define turn_left Off(OUT_A);OnFwd(OUT_C);//º¸¤Ë¶Ê¤¬¤ë
#define go OnFwd(OUT_AC);//¿¿¤Ãľ¤°¿Ê¤à
#define senkai_right OnFwd(OUT_A);OnRev(OUT_C);//±¦Àû²ó
#define senkai_left OnFwd(OUT_C);OnRev(OUT_A); //º¸Àû²ó
#define back OnRev(OUT_AC);//¸å¤í¤Ë¿Ê¤à
#define Stop Off(OUT_AC);Wait(100);//1ÉôÖÄä»ß
int n=0;//£î¤Ï¸òº¹ÅÀ¤Î²ó¿ô
sub usually()//¥í¥Ü¥Ã¥È¤Î´ðËÜŪ¤ÊÆ°ºî
{
if(SENSOR_3>white)
{
senkai_right;ClearTimer(0);//Çò¿§¤Ê¤é¤Ð±¦¤ËÀû²ó
}
else if(SENSOR_3>white_grey)
{
turn_right;ClearTimer(0);//Çò¿§¤è¤ê¾¯¤·¹õ¤¤¤Ê¤é¤Ð±¦¤Ë¶Ê¤¬¤ë
}
else if(SENSOR_3>grey)
{
go;ClearTimer(0);//³¥¿§¤Ê¤é¤Ð¤Þ¤Ã¤¹¤°¿Ê¤à
}
else if(SENSOR_3>black_grey)
{
turn_left;ClearTimer(0);//¹õ¿§¤è¤ê¾¯¤·Çò¤¤¤Ê¤é¤Ðº¸¤Ë¶Ê¤¬¤ë
}
else if(SENSOR_3>black)
{
senkai_left;//¹õ¿§¤Ê¤é¤Ðº¸¤ËÀû²ó
}
}
sub turn_right_t()//T»úÏ©¤ÎÆ°ºî
{
if(n==4)//4²óÌܤθòº¹ÅÀ(T»úÏ©)
{
if(SENSOR_3>white_grey)
{
Off(OUT_AC);Wait(100);
back;Wait(050);
go;Wait(030);
senkai_right;Wait(057);
go;Wait(030);
Stop;
}
}
if(n==6)//6²óÌܤθòº¹ÅÀ(T»úÏ©)
{
if(SENSOR_3>white_grey)
{
Off(OUT_AC);Wait(100);
back;Wait(060);
go;Wait(030);
senkai_right;Wait(057);
go;Wait(030);
Stop;
}
}
}
sub tashikame()//¸òº¹ÅÀ¤òȽÃǤ·¤¿¸å¤ÎÆ°ºî
{
senkai_right;Wait(021);
Stop;
go;Wait(050);
n++;//¸òº¹ÅÀ¤Î¥«¥¦¥ó¥È
}
sub kousaten_ichi()//¸òº¹ÅÀ£±¤Ä¤á¤ÎÆ°ºî
{
if(n==1)
{
PlaySound(SOUND_CLICK);
back;Wait(050);
go;Wait(030);
senkai_right;Wait(057);
go;Wait(030);
}
}
sub kousaten_nana()//¸òº¹ÅÀ£·¤Ä¤á(¥´¡¼¥ë)¤ÎÆ°ºî
{
if(n==7)
{
Off(OUT_AC);Wait(100);
OnRev(OUT_AC);Wait(060);//¥´¡¼¥ë¤«¤é¾¯¤·Î¥¤ì¤ë
Off(OUT_AC);
OnFwd(OUT_B);Wait(012);//¥¢¡¼¥à¤ò³«¤¯
Off(OUT_B);
go;Wait(060);//¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë
while(n==7)//Á´ÂΤÎÆ°ºî½ªÎ»
{
Off(OUT_AC);
}
}
}
task main()//¥á¥¤¥ó¥×¥í¥°¥é¥à
{
ClearTimer(0);
SetSensor(SENSOR_3, SENSOR_LIGHT);
while(true)
{
while(FastTimer(0)<025)//¸òº¹ÅÀ¤ÎȽÃǤÏ0.25Éäˤ·¤¿
{
usually();
}
tashikame();
kousaten_ichi();
ClearTimer(0);
ClearTimer(1);
if(n==2)//¸òº¹ÅÀ£²¤Ä¤á¤ÎÆ°ºî
{
while(FastTimer(1)<050)//Àþ¾å¤ò0.5Éôֿʤà
{
usually();
}
Off(OUT_AC);//¼ÖÎØÄä»ß
OnFwd(OUT_B);Wait(012);Off(OUT_B);Wait(050);//¥¢¡¼¥à¤ò¹¤²¤ë
ClearTimer(1);
while(FastTimer(1)<100)//Àþ¾å¤ò1Éôֿʤà
{
usually();
}
Off(OUT_AC);//¼ÖÎØÄä»ß
OnRev(OUT_B);Wait(015);Off(OUT_B);Wait(050);//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à
ClearTimer(1);
while(FastTimer(1)<400)//4ÉôÖÀþ¾å¤ò¿Ê¤à
{
usually();
}
}
kousaten_nana();
turn_right_t();
ClearTimer(1);
while(FastTimer(1)<200)//¶Ê¤¬¤Ã¤¿Ä¾¸å¤Ë2Éôֿʤà
{
usually();
}
}
}
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