2017a/Member/kyo/Mission2
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#contents
*Mission2 [#w8255cd2]
**²ÝÂê¤Ë¤Ä¤¤¤Æ [#v855df8d]
º£²ó¤Î²ÝÂê¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¥Ã¥È¤ÎºîÀ®¤Ç¤¢¤ë¡£¸÷¥»¥ó¥µ¡¼¤Ë¤è¤ëïçÃͤμ±Ê̤òÍøÍѤ·¤Æ¼¡¤Î¥³¡¼¥¹¤ò¥È¥ì¡¼¥¹¤·¤Ê¤¬¤é¿Ê¤à¤è¤¦¤Ë¤¹¤ë¡£&br;&ref(2017a/Member/kyo/Mission2/2017a-mission2.png,60%);&br;·ÐÏ©¤äÆ»Ãæ¤Î¥¢¥¯¥·¥ç¥ó¤Ê¤ÉÍÍ¡¹¤Ê¥ë¡¼¥ë¤¬¤¢¤ë¤¿¤á¾Ü¤·¤¯¤Ï[[2017a/Mission2]]¤ò»²¾È¤·¤Æ¤¤¤¿¤À¤¤¿¤¤¡£&br;º£²ó¤ÏA¢ªF¢ªQ¢ªR¢ªS¢ªG¢ªH¢ªT¢ªR¢ªS¢ªP¢ªE¢ªA¤Î½ç¤ÇÄ̲ᤷ¤Æ¤¤¤¯¡£
**ÌÜɸ [#a96430c4]
²ÝÂê¤ËÎפà¤Ë¤¢¤¿¤Ã¤Æº£²ó¤Ï¥×¥í¥°¥é¥à¤ò¤è¤ê´Êñ¤Ë¤¹¤ë¤È¤¤¤¦¤³¤È¤òÌÜɸ¤Ë¤·¤¿¡£Á°²ó¤Î²ÝÂ꣱¤Ç¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤ä°ú¿ô¤ò¤¢¤Þ¤ê»È¤¦¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤Çº£²ó¤Ï¤½¤ì¤é¤ò»È¤Ã¤Æ¤¤¤±¤ì¤Ð¤È»×¤¤Îפó¤À¡£
*¥í¥Ü¥Ã¥È [#z8d5ac24]
º£²ó¤Ïµ¡ÂΤÎÂ礤µ¤ËÀ©¸Â¤¬¤¢¤ê¡¢¤è¤ê¾®¤µ¤¯¤è¤êµ¡ÉÒ¤ËÆ°¤±¤ë¤³¤È¤¬Ë¾¤Þ¤ì¤¿¡£·ë²Ì¤È¤·¤Æ¼¡¤Î¤è¤¦¤Ê¥í¥Ü¥Ã¥È¤È¤Ê¤Ã¤¿¡£&br;&ref(2017a/Member/kyo/Mission2/IMG_0687_640.JPG,55%);&ref(2017a/Member/kyo/Mission2/IMG_0688_640.JPG,60%);&br;¥¿¥¤¥ä¤ò¥»¥ó¥µ¡¼¤Ë¶á¤Å¤±¤ë¤³¤È¤Ë¤è¤ê¼ÖÂΤÎÆ°¤¤¬¥³¥ó¥Ñ¥¯¥È¤Ë¤Ê¤ë¤è¤¦¤Ë¤·¤¿¡£&br;&ref(2017a/Member/kyo/Mission2/IMG_0689_640.JPG,55%);
&br;¥¿¥¤¥ä¤ÏÆóÎؤÀ¤±¤Ë¤·¤Æ¡¢¸åÎؤΤ«¤ï¤ê¤Ë±ßÈ×¾õ¤ÎÉôÉʤòÍѤ¤¤ë¤³¤È¤Ç³ê¤ê¤Ê¤¬¤é°ÜÆ°¤Ç¤¤ë¤è¤¦¤Ë¤Ê¤êµ¡Æ°À¤ò»¤Ê¤ï¤º¥µ¥¤¥º¤ò½Ì¾®¤¹¤ë¤³¤È¤¬¤Ç¤¤¿¡£»°ÅÀ¤Ç»Ù¤¨¤ë¤³¤È¤Ë¤è¤ê°ÂÄꤷ¤¿Æ°ºî¤¬²Äǽ¤È¤Ê¤êÀû²ó¤äº¸Àޤʤɳê¤é¤«¤ËÆ°¤«¤¹¤³¤È¤¬¤Ç¤Ëþ¤Τ¤¤¯¤â¤Î¤È¤Ê¤Ã¤¿¡£¤Þ¤¿¡¢¼Ì¿¿¤Ç¤Ïʬ¤«¤ê¤Å¤é¤¤¤È»×¤¦¤¬¸÷¥»¥ó¥µ¡¼¤ò¤Ê¤ë¤Ù¤¯Ä㤯¤·¤Æ»æÌ̤˶á¤Å¤±¤¿·ë²Ì¡¢ºî¶È¾ì½ê¤Ë¤è¤ë´¶Å٤ΰ㤤¤¬¾¯¤Ê¤¯¤Ê¤Ã¤¿¤è¤¦¤Ë´¶¤¸¤¿¡£
*¥×¥í¥°¥é¥à [#r931b424]
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**¥°¥í¡¼¥Ð¥ëÊÑ¿ô [#c94c8e38]
int n=0;//¥«¥¦¥ó¥È
&br;¥µ¥Ö¥ë¡¼¥Á¥ó¡¢¥á¥¤¥ó¥×¥í¥°¥é¥à¡¢¥Þ¥¯¥í¤ÎÁ´¤Æ¤Ë¥«¥¦¥ó¥È¤òÍѤ¤¤ë¤¿¤á¡¢n¤ò¥«¥¦¥ó¥È¿ô¤È¤·¤Æ¥°¥í¡¼¥Ð¥ëÊÑ¿ô¤ËÄêµÁ¤·¤¿¡£&br;¤³¤Î¥«¥¦¥ó¥È¤Ï¼¡¤Î¤è¤¦¤ÊÌò³ä¤¬¤¢¤ë¡£
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&br;¡¡¡¡¡¡¡¡¡¡¢
&br;¡¡£¥«¥¦¥ó¥È¤ò+1(FÃÏÅÀ¤Î¾ì¹çn=0¢ªn=1¡¢QÃÏÅÀ¤Ê¤é¤Ðn=1¢ªn=2)
&br;¡¡¡¡¡¡¡¡¡¡¢
&br;¡¡¤n=1,2....¤Ë¤Ê¤Ã¤¿¤È¤¤Î¥¢¥¯¥·¥ç¥ó¡ÊÂбþ¤Î¥¢¥¯¥·¥ç¥ó¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤Î¹àÌܤò»²¾È¡Ë
&br;°Ê¾å¤Î¤è¤¦¤Ë¥«¥¦¥ó¥È¤òÍѤ¤¤ë¤³¤È¤Çº£²ó¤Î¤è¤¦¤Ê²¿ÈÖÌܤγѤǤϤɤΤ褦¤ÊÆ°ºî¤ò¹Ô¤¦¤«¡¢¤È¤¤¤¦¤³¤È¤¬ÀßÄꤵ¤ì¤¿¥³¡¼¥¹¤Ê¤é¤¦¤Þ¤¯Æ°ºî¤·¤Æ¤¯¤ì¤ë¡£
**Äê¿ô [#ee93861d]
#define tmax 24//¶Ê¤¬¤ê³Ñ¤òȽÊ̤¹¤ë¤¿¤á¤Î°ìÈÌŪ¤ÊÄê¿ô
#define tmid 26//¶Ê¤¬¤ê³Ñ¤ÎȽÊ̤ò¸·¤·¤¯¤¹¤ëÄê¿ô
#define senter 42 //Çò¤È¹õ¤Î¶³¦¤Î¿ôÃÍ
#define right_turn OnFwd(OUT_A);OnRev(OUT_C);//±¦Àû²ó
#define right OnFwd(OUT_A);Off(OUT_C);//±¦²óž
#define left OnFwd(OUT_C);Off(OUT_A);//º¸²óž
#define left_turn OnFwd(OUT_C);OnRev(OUT_A);//º¸Àû²ó
#define teishi(t) Off(OUT_AC);Wait(t);//£ôÉôÖÄä»ß
#define sound_up PlaySound(SOUND_UP);//¥µ¥¦¥ó¥É¥¢¥Ã¥×
#define sound_down PlaySound(SOUND_DOWN);//¥µ¥¦¥ó¥É¥À¥¦¥ó
&br;¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤Ä¤¤¤Æ¤Ï¸å¤ÇÀâÌÀ¤¹¤ë¤¬¡¢¤½¤ì¤ËɬÍפÊÄê¿ô¤ò¤³¤³¤ÇÄêµÁ¤·¤Æ¤¤¤ë¡£
&br;²Ã¤¨¤Æ²»´Ø·¸¤ÎÆ°ºî¤ä¥í¥Ü¥Ã¥È¤ÎÆ°ºî¤Ë¤Ä¤¤¤Æ¤Î¥×¥í¥°¥é¥à¤â¿Íͤ¹¤ë¤¿¤áÄêµÁ¤¹¤ë¤³¤È¤Ë¤·¤¿¡£
**¥Þ¥¯¥í [#e6e7a248]
#define line_trase while(FastTimer(0)<tmax){if(SENSOR_2 >senter +13){right_turn;ClearTimer(0);}else if(SENSOR_2 >senter +7){right;ClearTimer(0);}\
else if(SENSOR_2 >senter +0){OnFwd(OUT_AC);ClearTimer(0);}else if(SENSOR_2 >senter -2){left; ClearTimer(0);}\
else{SetPower(OUT_C,0);left_turn;}if(FastTimer(0)>tmax){ClearTimer(0);}}n++;SetPower(OUT_C,7);//¹õÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à
#define line_trase_curve while(FastTimer(0)<tmid){if(SENSOR_2 >senter +13){right_turn;ClearTimer(0);}else if(SENSOR_2 >senter +7){right;ClearTimer(0);}\
else if(SENSOR_2 >senter +0){OnFwd(OUT_AC);ClearTimer(0);}else if(SENSOR_2 >senter -1){left; ClearTimer(0);}\
else{left_turn;}if(FastTimer(0)>tmid){ClearTimer(0);}}n++;//¶ÊÀþ¤Ç¥«¥¦¥ó¥È¤¬¿Ê¤Þ¤Ê¤¤¤è¤¦¤Ëľ³ÑȽÃǤò¸·¤·¤¯¤·¤¿¤â¤Î
&br;º£²ó¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¿ÍѤ¹¤ë¤¿¤á¥Þ¥¯¥í²½¤·¤¿¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¸¶Íý¤Ï¼¡¤Î¤è¤¦¤Ë¤Ê¤ë¡£
&br;¡¥é¥¤¥ó¤Îº¸Ã¼¡ÊÇò¤È¹õ¤Î¶³¦¡Ë¤ÎïçÃͤò¬Äê¡ÊÄê¿ôtmax)
&br;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢
&br;¢¤â¤·¸÷¥»¥ó¥µ¡¼¤¬¶³¦¤ÎïçÃͤè¤ê¤âÂ礤ÊÃͤò·×¬¤·¤¿¤é¶³¦¤è¤êº¸¤Ë¤¢¤ë¤ÈȽÃǤ·¶³¦¤Ë¸þ¤«¤¦¤è¤¦¤Ë±¦ÀÞ¡£È¿ÂФ˶³¦¤ÎïçÃͤè¤ê¤â¾®¤µ¤ÊÃͤò·×¬¤¹¤ë¤È¶³¦¤è¤ê±¦¤Ë¤¢¤ë¤ÈȽÃǤ·º¸ÀÞ¡£&br;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢
&br;£¢¤ò·«¤êÊÖ¤¹¤³¤È¤Ç¹õÀþ¤Îº¸Ã¼¤Î¶³¦¤Ë±è¤Ã¤Æ¿Ê¤à¡£
&br;¤Þ¤¿¡¢º¸Àû²ó¤ò°ìÄê»þ´Ö¡Êº£²ó¤Ï0.25Éá˰ʾå¹Ô¤¦¤È¥í¥Ü¥Ã¥È¤¬¶Ê¤¬¤ê³Ñ¤Ëº¹¤·³Ý¤«¤Ã¤¿¤ÈȽÃǤ·¥«¥¦¥ó¥Èn¤¬¡Ü1¤µ¤ì¤ë¡£
&br;¤Á¤Ê¤ß¤Ë¥Þ¥¯¥í¤ò¤³¤ì¤Û¤ÉÂ礤¯¤·¤Æ¤·¤Þ¤¦¤Î¤Ï¤¢¤Þ¤êÎɤ¤¤³¤È¤Ç¤Ï¤Ê¤¤¤é¤·¤¤¡£¤Ê¤Î¤Çº£¸å¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤ò¾å¼ê¤¯ÍѤ¤¤Æ¸«¤ä¤¹¤¤¥×¥í¥°¥é¥à¤Ë¤·¤Æ¤¤¤¯¤è¤¦¤Ë¿´¤¬¤±¤¿¤¤¡£
**³Æ¥é¥¤¥ó¤Ë¤ª¤±¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#f53c10c8]
¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï¤¹¤Ù¤Æ¼¡¤Î¤è¤¦¤Ê¹½À®¤È¤Ê¤Ã¤Æ¤¤¤ë¡£
sub line_¡û¡û¡û()
{
ClearTimer(0);//¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
line_trase(_curve);//¥é¥¤¥ó¥È¥ì¡¼¥¹
if(n==¥«¥¦¥ó¥È¿ô){ //¥«¥¦¥ó¥È¤ËÂбþ¤·¤¿¥¢¥¯¥·¥ç¥ó
}
Off(OUT_AC);//°ìÏ¢¤ÎÆ°ºî¤ò½ªÎ»
}
°Ê¾å¤Î¤è¤¦¤Ë¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¢ª¶Ê¤¬¤ê³Ñ¤Ç¤Î¥«¥¦¥ó¥ÈÁý²Ã¢ª¥«¥¦¥ó¥È¤ËÂбþ¤·¤¿¥¢¥¯¥·¥ç¥ó¢ªÄä»ß¡¡¤È¤¤¤¦¹½À®¤Ë¤Ê¤Ã¤Æ¤ª¤ê¡¢¤½¤ì¤é¤òϢ³¤Ç¹Ô¤¦¤³¤È¤Ç¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¢ª¥¢¥¯¥·¥ç¥ó¢ª¥é¥¤¥ó¥È¥ì¡¼¥¹¢ª.....¡¡¤È¥¹¥à¡¼¥º¤ËÆ°¤¯¤³¤È¤¬²Äǽ¤È¤Ê¤Ã¤¿¡£
sub line_one()//A¡ÁF,R¡ÁS¡¢S¡ÁG¡¢S¡ÁP¤Î·ÐÏ©
{
ClearTimer(0);
line_trase;
if((n==1)||(n==4)||(n==5)||(n==11)){//¥«¥¦¥ó¥È¤¬1¤Þ¤¿¤Ï4¤Þ¤¿¤Ï5¤Þ¤¿¤Ï11¤Ë¤Ê¤Ã¤¿¤È¤¥µ¥¦¥ó¥É¥¢¥Ã¥×
sound_up;
}
Off(OUT_AC);
}
sub line_two()//F¡ÁQ¡¢T¡ÁR¡¢S¡ÁP¤Î·ÐÏ©
{
ClearTimer(0);
line_trase_curve;
if((n==2)||(n==9)||(n==12)){//¥«¥¦¥ó¥È¤¬2¤«9¤«12¤È¤Ê¤Ã¤¿¤È¤¥µ¥¦¥ó¥É¥À¥¦¥ó¢ª1ÉôÖÄä»ß
sound_down
teishi(100);
}
Off(OUT_AC);
}
sub line_three()//Q¡ÁR¡¢R¡ÁS¤Î·ÐÏ©
{
ClearTimer(0);
line_trase;
if((n==3)||(n==10));{//¥«¥¦¥ó¥È¤¬3¤Þ¤¿¤Ï10¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥¢¥Ã¥×¢ª¸òº¹ÅÀ¤Ç²£Æ»¤ò̵»ë¤·¤Æľ¿Ê
sound_up;
right;Wait(45);
OnFwd(OUT_AC);Wait(20);
}
Off(OUT_AC);
}
sub line_four()//H¡ÁT¡¢T¡ÁT¤Î·ÐÏ©
{
ClearTimer(0);
line_trase;
if((n==7)||(n==8)){//¥«¥¦¥ó¥È¤¬7¤Þ¤¿¤Ï8¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥À¥¦¥ó¢ª£±ÉôÖÄä»ß¢ª¸òº¹ÅÀ¤Ç²£Æ»¤ò̵»ë¤·¤Æľ¿Ê
sound_down;
teishi(100);
right;Wait(45);
OnFwd(OUT_AC);Wait(20);
}
Off(OUT_AC);
}
sub line_five()//G¡ÁH¤Î·ÐÏ©
{
ClearTimer(0);
line_trase_curve;
if(n==6){//¥«¥¦¥ó¥È¤¬6¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥¢¥Ã¥×
sound_up;
}
Off(OUT_AC);
}
´ðËÜŪ¤ÊÆ°¤¤Ïline_one¤ÈƱ¤¸¤À¤¬Æ»Ãæ¤ÇµÞ¤Ê¶ÊÀþ¤¬¤¢¤ë¤¿¤á¥«¥¦¥ó¥È¤ÎȽÄê¤ò¸·¤·¤¯¤·¤ÆÆ»Ãæ¤Ç¥«¥¦¥ó¥È¤¬µ¯¤³¤é¤Ê¤¤¤è¤¦¤Ë¤·¤¿¡£
sub line_six()//E¡ÁA
{
ClearTimer(0);
line_trase;
if(n==13){//¥«¥¦¥ó¥È¤¬13¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥À¥¦¥ó
sound_down;
}
Off(OUT_AC);
}
**¥á¥¤¥ó¥×¥í¥°¥é¥à [#hb91490c]
task main()
{
SetSensor(SENSOR_2, SENSOR_LIGHT);
SetPower(OUT_AC,0);
line_one();//A¡ÁF
line_two();//F¡ÁQ
line_three();//Q¡ÁR
repeat(2){//R¡ÁG
line_one();
}
line_five();//G¡ÁH
repeat(2){//H¡ÁT¡ÁT
line_four();
}
line_two();//T¡ÁR
line_three();//R¡ÁS
line_one();//S¡ÁP
line_two();//P¡ÁE
line_six();//E¡ÁA
}
*´¶ÁÛ [#g28ea617]
**º£²ó¤Î²ÝÂê¤ò¿¶¤êÊÖ¤Ã¤Æ [#b040aa4f]
º£²ó¤Î²ÝÂê¤Ç¤Ï¼ç¤Ë¥×¥í¥°¥é¥à¤¬Â礤ÊÊɤȤʤ俤Ȼפ¦¡£¥í¥Ü¥Ã¥È¤¬È¿±þ¤·¤Æ¤¯¤ì¤ë¤è¤¦¤Ê¾ò·ï¤òÀßÄꤹ¤ë¤È¤¤¤¦¤³¤È¤Ï»×¤Ã¤¿°Ê¾å¤ËÆñ¤·¤¯¡¢Â¾¤Î¥ë¡¼¥Á¥ó¤Ê¤É¤È¤ª¤«¤·¤ÊÈ¿±þ¤ò¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤Ã¤¿¤Î¤Ç²¿ÅÙ¤â»î¹Ôºø¸í¤ò¤¹¤ë¤³¤È¤È¤Ê¤Ã¤¿¡£ºÇÄã¸Â¤ÎÆ°¤¤Ï¤·¤Æ¤¯¤ì¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¤¬Äê¿ô¤ò¾¯¤·¤¤¤¸¤ë¤ÈÆ°¤¤¬¤ª¤«¤·¤¯¤Ê¤ê¡¢Ëè²óƱ¤¸Æ°¤¤ò¤¹¤ë¤È¤¤¤¦¤³¤È¤¬Æñ¤·¤«¤Ã¤¿¡£²þÁ±¤¹¤Ù¤²Õ½ê¤Ï¤ä¤Ï¤ê¶Ê¤¬¤ê³Ñ¤È¸òº¹ÅÀ¤ÎȽÃǤò¤¹¤ë²Õ½ê¤À¤È»×¤¦¡£º£²ó¤ÎºîÉʤÏȽÃǤȤϸÀ¤¤¤Å¤é¤¤¤â¤Î¤Ê¤Î¤ÇÈó¾ï¤Ë»ÄÇ°¤Ç¤¢¤ë¡£
¤·¤«¤·ÌÜɸ¤È¤·¤¿¥µ¥Ö¥ë¡¼¥Á¥ó¤ä°ú¿ô¤ò»ÈÍѤ¹¤ë¤È¤¤¤¦¤³¤È¤ÏÁ°²ó¤è¤ê¤â¤Ç¤¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¤Î¤Ç¤Ï¤Ê¤¤¤À¤í¤¦¤«¡£¥×¥í¥°¥é¥à¤ËÅ»¤Þ¤ê¤¬¤¢¤ê¡¢Î̤⾯¤Ê¤¯ºÑ¤ó¤À¤ÈËþ¤·¤Æ¤¤¤ë¡£
**¼¡²ó¤Î²ÝÂê¤Ë¸þ¤±¤Æ [#ic4b7335]
¼¡²ó¤Î²ÝÂê¤Ï¤¤¤è¤¤¤è¥í¥Ü¥³¥ó¤Ç¤¢¤ë¡£Á°´ü¤Ç³Ø¤ó¤À¤³¤È¤Î¤¹¤Ù¤Æ¤òÁȤ߹ç¤ï¤»¤Ê¤±¤ì¤Ð¤¤¤±¤Ê¤¤¤¿¤áÈó¾ï¤ËÂçÊѤʲÝÂê¤È¤Ê¤ë¤À¤í¤¦¡£¤â¤Ã¤È¥¹¥à¡¼¥º¤ËÆ°¤±¤Ð¤¤¤¤¤È»×¤Ã¤¿¤Î¤Ç¡¢º£²ó¤Î²ÝÂê¤Ë¤Ä¤¤¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ä¾ò·ï¤ËÃí»ë¤·¤Æº£°ìÅÙ¥×¥í¥°¥é¥ß¥ó¥°¤ò¸«Ä¾¤·¤Æ²þÁ±ÅÀ¤òõ¤Ã¤Æ¤¤¤¤¿¤¤¤È»×¤¦¡£
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#contents
*Mission2 [#w8255cd2]
**²ÝÂê¤Ë¤Ä¤¤¤Æ [#v855df8d]
º£²ó¤Î²ÝÂê¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¥Ã¥È¤ÎºîÀ®¤Ç¤¢¤ë¡£¸÷¥»¥ó¥µ¡¼¤Ë¤è¤ëïçÃͤμ±Ê̤òÍøÍѤ·¤Æ¼¡¤Î¥³¡¼¥¹¤ò¥È¥ì¡¼¥¹¤·¤Ê¤¬¤é¿Ê¤à¤è¤¦¤Ë¤¹¤ë¡£&br;&ref(2017a/Member/kyo/Mission2/2017a-mission2.png,60%);&br;·ÐÏ©¤äÆ»Ãæ¤Î¥¢¥¯¥·¥ç¥ó¤Ê¤ÉÍÍ¡¹¤Ê¥ë¡¼¥ë¤¬¤¢¤ë¤¿¤á¾Ü¤·¤¯¤Ï[[2017a/Mission2]]¤ò»²¾È¤·¤Æ¤¤¤¿¤À¤¤¿¤¤¡£&br;º£²ó¤ÏA¢ªF¢ªQ¢ªR¢ªS¢ªG¢ªH¢ªT¢ªR¢ªS¢ªP¢ªE¢ªA¤Î½ç¤ÇÄ̲ᤷ¤Æ¤¤¤¯¡£
**ÌÜɸ [#a96430c4]
²ÝÂê¤ËÎפà¤Ë¤¢¤¿¤Ã¤Æº£²ó¤Ï¥×¥í¥°¥é¥à¤ò¤è¤ê´Êñ¤Ë¤¹¤ë¤È¤¤¤¦¤³¤È¤òÌÜɸ¤Ë¤·¤¿¡£Á°²ó¤Î²ÝÂ꣱¤Ç¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤ä°ú¿ô¤ò¤¢¤Þ¤ê»È¤¦¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤Çº£²ó¤Ï¤½¤ì¤é¤ò»È¤Ã¤Æ¤¤¤±¤ì¤Ð¤È»×¤¤Îפó¤À¡£
*¥í¥Ü¥Ã¥È [#z8d5ac24]
º£²ó¤Ïµ¡ÂΤÎÂ礤µ¤ËÀ©¸Â¤¬¤¢¤ê¡¢¤è¤ê¾®¤µ¤¯¤è¤êµ¡ÉÒ¤ËÆ°¤±¤ë¤³¤È¤¬Ë¾¤Þ¤ì¤¿¡£·ë²Ì¤È¤·¤Æ¼¡¤Î¤è¤¦¤Ê¥í¥Ü¥Ã¥È¤È¤Ê¤Ã¤¿¡£&br;&ref(2017a/Member/kyo/Mission2/IMG_0687_640.JPG,55%);&ref(2017a/Member/kyo/Mission2/IMG_0688_640.JPG,60%);&br;¥¿¥¤¥ä¤ò¥»¥ó¥µ¡¼¤Ë¶á¤Å¤±¤ë¤³¤È¤Ë¤è¤ê¼ÖÂΤÎÆ°¤¤¬¥³¥ó¥Ñ¥¯¥È¤Ë¤Ê¤ë¤è¤¦¤Ë¤·¤¿¡£&br;&ref(2017a/Member/kyo/Mission2/IMG_0689_640.JPG,55%);
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*¥×¥í¥°¥é¥à [#r931b424]
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**¥°¥í¡¼¥Ð¥ëÊÑ¿ô [#c94c8e38]
int n=0;//¥«¥¦¥ó¥È
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**Äê¿ô [#ee93861d]
#define tmax 24//¶Ê¤¬¤ê³Ñ¤òȽÊ̤¹¤ë¤¿¤á¤Î°ìÈÌŪ¤ÊÄê¿ô
#define tmid 26//¶Ê¤¬¤ê³Ñ¤ÎȽÊ̤ò¸·¤·¤¯¤¹¤ëÄê¿ô
#define senter 42 //Çò¤È¹õ¤Î¶³¦¤Î¿ôÃÍ
#define right_turn OnFwd(OUT_A);OnRev(OUT_C);//±¦Àû²ó
#define right OnFwd(OUT_A);Off(OUT_C);//±¦²óž
#define left OnFwd(OUT_C);Off(OUT_A);//º¸²óž
#define left_turn OnFwd(OUT_C);OnRev(OUT_A);//º¸Àû²ó
#define teishi(t) Off(OUT_AC);Wait(t);//£ôÉôÖÄä»ß
#define sound_up PlaySound(SOUND_UP);//¥µ¥¦¥ó¥É¥¢¥Ã¥×
#define sound_down PlaySound(SOUND_DOWN);//¥µ¥¦¥ó¥É¥À¥¦¥ó
&br;¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤Ä¤¤¤Æ¤Ï¸å¤ÇÀâÌÀ¤¹¤ë¤¬¡¢¤½¤ì¤ËɬÍפÊÄê¿ô¤ò¤³¤³¤ÇÄêµÁ¤·¤Æ¤¤¤ë¡£
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**¥Þ¥¯¥í [#e6e7a248]
#define line_trase while(FastTimer(0)<tmax){if(SENSOR_2 >senter +13){right_turn;ClearTimer(0);}else if(SENSOR_2 >senter +7){right;ClearTimer(0);}\
else if(SENSOR_2 >senter +0){OnFwd(OUT_AC);ClearTimer(0);}else if(SENSOR_2 >senter -2){left; ClearTimer(0);}\
else{SetPower(OUT_C,0);left_turn;}if(FastTimer(0)>tmax){ClearTimer(0);}}n++;SetPower(OUT_C,7);//¹õÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à
#define line_trase_curve while(FastTimer(0)<tmid){if(SENSOR_2 >senter +13){right_turn;ClearTimer(0);}else if(SENSOR_2 >senter +7){right;ClearTimer(0);}\
else if(SENSOR_2 >senter +0){OnFwd(OUT_AC);ClearTimer(0);}else if(SENSOR_2 >senter -1){left; ClearTimer(0);}\
else{left_turn;}if(FastTimer(0)>tmid){ClearTimer(0);}}n++;//¶ÊÀþ¤Ç¥«¥¦¥ó¥È¤¬¿Ê¤Þ¤Ê¤¤¤è¤¦¤Ëľ³ÑȽÃǤò¸·¤·¤¯¤·¤¿¤â¤Î
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**³Æ¥é¥¤¥ó¤Ë¤ª¤±¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#f53c10c8]
¥µ¥Ö¥ë¡¼¥Á¥ó¤Ï¤¹¤Ù¤Æ¼¡¤Î¤è¤¦¤Ê¹½À®¤È¤Ê¤Ã¤Æ¤¤¤ë¡£
sub line_¡û¡û¡û()
{
ClearTimer(0);//¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
line_trase(_curve);//¥é¥¤¥ó¥È¥ì¡¼¥¹
if(n==¥«¥¦¥ó¥È¿ô){ //¥«¥¦¥ó¥È¤ËÂбþ¤·¤¿¥¢¥¯¥·¥ç¥ó
}
Off(OUT_AC);//°ìÏ¢¤ÎÆ°ºî¤ò½ªÎ»
}
°Ê¾å¤Î¤è¤¦¤Ë¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¢ª¶Ê¤¬¤ê³Ñ¤Ç¤Î¥«¥¦¥ó¥ÈÁý²Ã¢ª¥«¥¦¥ó¥È¤ËÂбþ¤·¤¿¥¢¥¯¥·¥ç¥ó¢ªÄä»ß¡¡¤È¤¤¤¦¹½À®¤Ë¤Ê¤Ã¤Æ¤ª¤ê¡¢¤½¤ì¤é¤òϢ³¤Ç¹Ô¤¦¤³¤È¤Ç¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¢ª¥¢¥¯¥·¥ç¥ó¢ª¥é¥¤¥ó¥È¥ì¡¼¥¹¢ª.....¡¡¤È¥¹¥à¡¼¥º¤ËÆ°¤¯¤³¤È¤¬²Äǽ¤È¤Ê¤Ã¤¿¡£
sub line_one()//A¡ÁF,R¡ÁS¡¢S¡ÁG¡¢S¡ÁP¤Î·ÐÏ©
{
ClearTimer(0);
line_trase;
if((n==1)||(n==4)||(n==5)||(n==11)){//¥«¥¦¥ó¥È¤¬1¤Þ¤¿¤Ï4¤Þ¤¿¤Ï5¤Þ¤¿¤Ï11¤Ë¤Ê¤Ã¤¿¤È¤¥µ¥¦¥ó¥É¥¢¥Ã¥×
sound_up;
}
Off(OUT_AC);
}
sub line_two()//F¡ÁQ¡¢T¡ÁR¡¢S¡ÁP¤Î·ÐÏ©
{
ClearTimer(0);
line_trase_curve;
if((n==2)||(n==9)||(n==12)){//¥«¥¦¥ó¥È¤¬2¤«9¤«12¤È¤Ê¤Ã¤¿¤È¤¥µ¥¦¥ó¥É¥À¥¦¥ó¢ª1ÉôÖÄä»ß
sound_down
teishi(100);
}
Off(OUT_AC);
}
sub line_three()//Q¡ÁR¡¢R¡ÁS¤Î·ÐÏ©
{
ClearTimer(0);
line_trase;
if((n==3)||(n==10));{//¥«¥¦¥ó¥È¤¬3¤Þ¤¿¤Ï10¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥¢¥Ã¥×¢ª¸òº¹ÅÀ¤Ç²£Æ»¤ò̵»ë¤·¤Æľ¿Ê
sound_up;
right;Wait(45);
OnFwd(OUT_AC);Wait(20);
}
Off(OUT_AC);
}
sub line_four()//H¡ÁT¡¢T¡ÁT¤Î·ÐÏ©
{
ClearTimer(0);
line_trase;
if((n==7)||(n==8)){//¥«¥¦¥ó¥È¤¬7¤Þ¤¿¤Ï8¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥À¥¦¥ó¢ª£±ÉôÖÄä»ß¢ª¸òº¹ÅÀ¤Ç²£Æ»¤ò̵»ë¤·¤Æľ¿Ê
sound_down;
teishi(100);
right;Wait(45);
OnFwd(OUT_AC);Wait(20);
}
Off(OUT_AC);
}
sub line_five()//G¡ÁH¤Î·ÐÏ©
{
ClearTimer(0);
line_trase_curve;
if(n==6){//¥«¥¦¥ó¥È¤¬6¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥¢¥Ã¥×
sound_up;
}
Off(OUT_AC);
}
´ðËÜŪ¤ÊÆ°¤¤Ïline_one¤ÈƱ¤¸¤À¤¬Æ»Ãæ¤ÇµÞ¤Ê¶ÊÀþ¤¬¤¢¤ë¤¿¤á¥«¥¦¥ó¥È¤ÎȽÄê¤ò¸·¤·¤¯¤·¤ÆÆ»Ãæ¤Ç¥«¥¦¥ó¥È¤¬µ¯¤³¤é¤Ê¤¤¤è¤¦¤Ë¤·¤¿¡£
sub line_six()//E¡ÁA
{
ClearTimer(0);
line_trase;
if(n==13){//¥«¥¦¥ó¥È¤¬13¤Ë¤Ê¤Ã¤¿¤È¤¡¡¥µ¥¦¥ó¥É¥À¥¦¥ó
sound_down;
}
Off(OUT_AC);
}
**¥á¥¤¥ó¥×¥í¥°¥é¥à [#hb91490c]
task main()
{
SetSensor(SENSOR_2, SENSOR_LIGHT);
SetPower(OUT_AC,0);
line_one();//A¡ÁF
line_two();//F¡ÁQ
line_three();//Q¡ÁR
repeat(2){//R¡ÁG
line_one();
}
line_five();//G¡ÁH
repeat(2){//H¡ÁT¡ÁT
line_four();
}
line_two();//T¡ÁR
line_three();//R¡ÁS
line_one();//S¡ÁP
line_two();//P¡ÁE
line_six();//E¡ÁA
}
*´¶ÁÛ [#g28ea617]
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