2017a/Member/tosi/Mission2
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#contents
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*²ÝÂê2 [#e5271ba3]
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**¥³¡¼¥¹ [#e89dea7e]
#ref(./2017a-mission2.png,75%,¥³¡¼¥¹)
-¡¦EÃÏÅÀ±¦ÀÞ¥³¡¼¥¹
--¡¡¡¡E±¦ÀÞ(SOUND_UP)
--¡¡¡¡P°ì»þÄä»ß(SOUND_DOWN)¡õº¸ÀÞ
--¡¡¡¡Q(SOUND_UP)¡õľ¿Ê
--¡¡¡¡R(SOUND_UP)¡õº¸ÀÞ
--¡¡¡¡T°ì»þÄä»ß(SOUND_DOWN)¡õľ¿Ê
--¡¡¡¡T°ì»þÄä»ß(SOUND_DOWN)¡õľ¿Ê
--¡¡¡¡H(SOUND_UP)
--¡¡¡¡G(SOUND_UP)¡¡
--¡¡¡¡S°ì»þÄä»ß(SOUND_DOWN)¡õº¸ÀÞ
--¡¡¡¡Pľ¿Ê(SOUND_UP)
--¡¡¡¡Qº¸ÀÞ(SOUND_UP)
--¡¡¡¡F(SOUND_UP)
--¡¡¡¡Eľ¿Ê
--¡¡¡¡AÄä»ß(SOUND_DOWN)
*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#t824368f]
**¥í¥Ü¥Ã¥ÈÁ´ÂÎ [#mab73167]
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#ref(./unna1.jpg,75%,Á´ÂÎ)unna1.jpg
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#ref(./usiro1.jpg,75%,¸å¤í)
*¥×¥í¥°¥é¥à [#pa7f0a65]
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**¥×¥í¥°¥é¥àËÜÂÎ [#n47d8fad]
# define TMAX 29
# define forward OnFwd(OUT_AC);
# define back OnRev(OUT_AC);
# define t_left OnRev(OUT_A);OnFwd(OUT_C); //º¸Àû²ó
# define turn_left Off(OUT_A);OnFwd(OUT_C); //º¸²óž
# define t_right OnFwd(OUT_A);OnRev(OUT_C); //±¦Àû²ó
# define turn_right OnFwd(OUT_A);Off(OUT_C); //±¦²óž
# define stop(t) Off(OUT_AC);Wait(t);
# define power(s) SetPower(OUT_AC,s);
# define KOUON PlaySound(SOUND_UP);
# define TEION PlaySound(SOUND_DOWN);
¤³¤³¤Þ¤Ç¤¬ÄêµÁ
¾ì½ê¤Ë¤è¤Ã¤Æ¿ôÃͤ¬°ã¤Ã¤¿¤ê¤·¤Æ¼ºÇÔ¤¬Â¿È¯¤·¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¤¬¤Ê¤ó¤È¤«Ä´À°¤·¤Þ¤·¤¿¡£
int n=0;
sub right(){
while(FastTimer(0)<TMAX){
if(SENSOR_2<42){
OnFwd(OUT_A);OnRev(OUT_C);
}else if(SENSOR_2<47){
OnFwd(OUT_A);Off(OUT_C);
}else if(SENSOR_2<52){
OnFwd(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<55){
Off(OUT_A);OnFwd(OUT_C);
} else {
OnRev(OUT_A);OnFwd(OUT_C);
}
if(SENSOR_2>42){
ClearTimer(0);
}
}
n++;
}
sub left(){
while(FastTimer(0)<TMAX){
if(SENSOR_2<42){
OnRev(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<47){
Off(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<52){
OnFwd(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<55){
OnFwd(OUT_A);Off(OUT_C);
} else {
OnFwd(OUT_A);OnRev(OUT_C);
}
if(SENSOR_2>40){
ClearTimer(0);
}
}
n++;
}
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¤³¤³¤«¤é¤¬¥á¥¤¥ó
task main(){
power(0);
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while(n<=13){
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if(n==0){ //T»úÏ©
right();
KOUON;
t_left;Wait(10);
forward;Wait(40); //0.1ÉÃÄä»ß¤·¤Æ0.4ÉÃÁ°¿Ê¡¡º¸¤Ø
ClearTimer(0); //¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
}
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T»úÏ©¤òǧ¼±¤µ¤»¤Æº¸¼þ¤ê¤Ë¿Ê¤Þ¤»¤ë¤Î¤Ç¤¹¤¬¥»¥ó¥µ¡¼¤¬Àþ¤ò±Û¤¨¤Æ¤¢¤é¤ÌÊý¸þ¤Ë¿Ê¤à¤³¤È¤¬Â¿È¯¤·¤¿¡£
else if(n==1){
left();
back;Wait(20);
stop(80);
TEION;
t_left;Wait(30);
forward;Wait(50);
ClearTimer(0);
}
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T»úÏ©¤òǧ¼±¤·¤¿¤¢¤È¤Ç¡¢º¸ÀÞ¤»¤ºÄ¾¿Ê¤µ¤»¤ë¡£
else if(n==2){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
¤º¸ÀÞ
T»úÏ©¤òǧ¼±¤·¡¢±¦Â¦¥é¥¤¥ó¤Ø°ÜÆ°ºÇ½ª¤Î±ß¾õ¸òº¹ÅÀ¤Î¤¿¤á¤Ë¡¢¤³¤Î»þ¤Ë°ÜÆ°¡£¤³¤Î»þÅÀ¤Ç°ÜÆ°¤¹¤ë¤³¤È¤Ç¼¡¤Î±ß¤â³Ú¤Ë¤Ê¤Ã¤¿¡£
else if(n==3){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
¥°ì»þÄä»ß¤Î¤Áľ¿Ê
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else if(n==4){
right();
TEION;
t_left;Wait(25);
stop(80);
forward;Wait(50);
ClearTimer(0);
}
¦°ì»þÄä»ß¤Î¤Áľ¿Ê
else if(n==5){
right();
t_left;Wait(25);
stop(80);
TEION;
forward;Wait(50);
ClearTimer(0);
}
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else if(n==6){
right();
KOUON;
t_right;Wait(50);
forward;Wait(50);
turn_right;Wait(15);
ClearTimer(0);
}
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else if(n==7){
right();
forward;Wait(15);
t_right;Wait(70);
forward;Wait(50);
turn_right;Wait(10);
t_right;Wait(40);
ClearTimer(0);
}
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else if(n==8){
right();
KOUON;
t_left;Wait(10);
forward;Wait(40);
ClearTimer(0);
}
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else if(n==9){
left();
back;Wait(20);
stop(80);
TEION;
t_left;Wait(30);
forward;Wait(50);
ClearTimer(0);
}
«Ä¾¿Ê
else if(n==10){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
¬º¸ÀÞ
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else if(n==11){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
±¦ÀÞ
else if(n==12){
right();
KOUON;
t_right;Wait(50);
forward;Wait(40);
turn_right;Wait(10);
ClearTimer(0);
}
®Ä¾¿Ê
else if(n==13){
right();
KOUON;
t_left;Wait(25);
forward;Wait(250);
}
Off(OUT_AC);
}
¥µ¥Ö¤Ê¤É¤ÇÄêµÁ¤·¤¿ÆâÍƤò¥á¥¤¥ó¤Ç¸Æ¤Óµ¯¤³¤¹·Á¤Ê¤Î¤Ç¥á¥¤¥ó¥¿¥¹¥¯¤Ï¾¯¤·Ã»¤¯¤Ç¤¤¿¤«¤Ê¤È»×¤¤¤Þ¤¹¡£¤Þ¤¿¶Ê¤¬¤ê³Ñ¤äT»úÏ©¤ò¥«¥¦¥ó¥È¤·¸½ºßÃϤò¿äÄꤵ¤»¤Æ¤¤¤¿¤Î¤Ç¡¢¥«¥¦¥ó¥È¤·¤Ê¤«¤Ã¤¿¤È¤¤Ë¤¹¤°¤Ë˽Áö¤·¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£
**¤Þ¤È¤á [#kc5b400b]
¶Ê¤¬¤ê³Ñ¤äT»úÏ©¤òǧ¼±¤·¥«¥¦¥ó¥È¤¹¤ë¤³¤È¤Ç°ÌÃÖ¤ò³Îǧ¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¤¬¡¢Ç§¼±¤·¤Æ¤¯¤ì¤Ê¤¤¤³¤È¤â¤¢¤ê¾å¼ê¤¯¤¤¤«¤Ê¤¤»þ¤¬¤¢¤ê¤Þ¤·¤¿¡£
*´¶ÁÛ [#b7496b56]
º£²óÀþ¤ÎÇ»¤µ¤ä¹õ¤¤Éôʬ¤ËÈ¿±þ¤¹¤ë»þ´Ö¤Ê¤ÉºÙ¤«¤¤·×¬¤ò¤·¤¿¤¦¤¨¤Ç¡¢¥×¥í¥°¥é¥à¤òÁȤàɬÍפ¬¤¢¤ê¤Þ¤·¤¿¤¬¤½¤Î»þ¤ËÀµ³Î¤Ê»þ´Ö¤Ê¤É¤ò·×¬¤Ç¤¤Ê¤Ã¤«¤¿¤ê¾ì½ê¤Ë¤è¤Ã¤Æ°Û¤Ê¤Ã¤¿¤ê¤·¤Æ¤¤¤Æ¤Ê¤«¤Ê¤«¾å¼ê¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£¤â¤¦¾¯¤·¤¸¤Ã¤¯¤ê¤È¿§¤ó¤Ê¾ì½ê¤Ç·×¬¤·¤¿¤¦¤¨¤ÇºÙ¤«¤¯¥×¥í¥°¥é¥à¤¹¤ì¤Ð¤è¤«¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£
½ªÎ»¹Ô:
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#contents
¡¡¡¡
*²ÝÂê2 [#e5271ba3]
¥³¡¼¥¹¤Ë±è¤Ã¤Æ¥í¥Ü¥Ã¥È¤òÁö¤é¤»¤ë¡£
**¥³¡¼¥¹ [#e89dea7e]
#ref(./2017a-mission2.png,75%,¥³¡¼¥¹)
-¡¦EÃÏÅÀ±¦ÀÞ¥³¡¼¥¹
--¡¡¡¡E±¦ÀÞ(SOUND_UP)
--¡¡¡¡P°ì»þÄä»ß(SOUND_DOWN)¡õº¸ÀÞ
--¡¡¡¡Q(SOUND_UP)¡õľ¿Ê
--¡¡¡¡R(SOUND_UP)¡õº¸ÀÞ
--¡¡¡¡T°ì»þÄä»ß(SOUND_DOWN)¡õľ¿Ê
--¡¡¡¡T°ì»þÄä»ß(SOUND_DOWN)¡õľ¿Ê
--¡¡¡¡H(SOUND_UP)
--¡¡¡¡G(SOUND_UP)¡¡
--¡¡¡¡S°ì»þÄä»ß(SOUND_DOWN)¡õº¸ÀÞ
--¡¡¡¡Pľ¿Ê(SOUND_UP)
--¡¡¡¡Qº¸ÀÞ(SOUND_UP)
--¡¡¡¡F(SOUND_UP)
--¡¡¡¡Eľ¿Ê
--¡¡¡¡AÄä»ß(SOUND_DOWN)
*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#t824368f]
**¥í¥Ü¥Ã¥ÈÁ´ÂÎ [#mab73167]
¥¿¥¤¥ä¤È¥»¥ó¥µ¡¼¤Îµ÷Î¥¤ò¤Ç¤¤ë¤À¤±¶á¤Å¤±¤é¤ì¤ë¤è¤¦¤Ë¥³¥ó¥Ñ¥¯¥È¤Ë¤·¤è¤¦¤È¤·¤Þ¤·¤¿¤¬½Ä¤ËÂ礤¯¤Ê¤êÉԳʹ¥¤Ë¤Ï¤Ê¤ê¤Þ¤·¤¿¤¬¡¢ÆäËÌäÂê¤Ï¤Ê¤«¤Ã¤¿¤Î¤Ç¤½¤Î¤Þ¤Þ¤Ë¤·¤Þ¤·¤¿¡£
#ref(./unna1.jpg,75%,Á´ÂÎ)unna1.jpg
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#ref(./usiro1.jpg,75%,¸å¤í)
*¥×¥í¥°¥é¥à [#pa7f0a65]
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¹õÀþ¾å¤Ë¥»¥ó¥µ¡¼¤¬È¿±þ¤¹¤ë»þ´Ö¤ÎŤµ¤«¤é¸òº¹ÅÀ¤ä£Ô»úÏ©¤òȽÃǤ·¤¿¾å¤Ç¸òº¹ÅÀ¤È£Ô»úÏ©¤ò¥«¥¦¥ó¥È¤·º£²¿ÈÖÌܤθòº¹ÅÀ¤«£Ô»úÏ©¤Ê¤Î¤«¤òȽÃǤ·¤Þ¤·¤¿¡£
**¥×¥í¥°¥é¥àËÜÂÎ [#n47d8fad]
# define TMAX 29
# define forward OnFwd(OUT_AC);
# define back OnRev(OUT_AC);
# define t_left OnRev(OUT_A);OnFwd(OUT_C); //º¸Àû²ó
# define turn_left Off(OUT_A);OnFwd(OUT_C); //º¸²óž
# define t_right OnFwd(OUT_A);OnRev(OUT_C); //±¦Àû²ó
# define turn_right OnFwd(OUT_A);Off(OUT_C); //±¦²óž
# define stop(t) Off(OUT_AC);Wait(t);
# define power(s) SetPower(OUT_AC,s);
# define KOUON PlaySound(SOUND_UP);
# define TEION PlaySound(SOUND_DOWN);
¤³¤³¤Þ¤Ç¤¬ÄêµÁ
¾ì½ê¤Ë¤è¤Ã¤Æ¿ôÃͤ¬°ã¤Ã¤¿¤ê¤·¤Æ¼ºÇÔ¤¬Â¿È¯¤·¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¤¬¤Ê¤ó¤È¤«Ä´À°¤·¤Þ¤·¤¿¡£
int n=0;
sub right(){
while(FastTimer(0)<TMAX){
if(SENSOR_2<42){
OnFwd(OUT_A);OnRev(OUT_C);
}else if(SENSOR_2<47){
OnFwd(OUT_A);Off(OUT_C);
}else if(SENSOR_2<52){
OnFwd(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<55){
Off(OUT_A);OnFwd(OUT_C);
} else {
OnRev(OUT_A);OnFwd(OUT_C);
}
if(SENSOR_2>42){
ClearTimer(0);
}
}
n++;
}
sub left(){
while(FastTimer(0)<TMAX){
if(SENSOR_2<42){
OnRev(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<47){
Off(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<52){
OnFwd(OUT_A);OnFwd(OUT_C);
}else if(SENSOR_2<55){
OnFwd(OUT_A);Off(OUT_C);
} else {
OnFwd(OUT_A);OnRev(OUT_C);
}
if(SENSOR_2>40){
ClearTimer(0);
}
}
n++;
}
¥µ¥Ö¤ÇÀþ¤ÎÇ»¤µ¤Ë¤è¤Ã¤Æ¶Ê¤¬¤êÊý¤òÊѤ¨¤ëº¸±¦¤ÎÄêµÁÉÕ¤ò¤·¤Þ¤·¤¿¡£
¤³¤³¤«¤é¤¬¥á¥¤¥ó
task main(){
power(0);
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while(n<=13){
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if(n==0){ //T»úÏ©
right();
KOUON;
t_left;Wait(10);
forward;Wait(40); //0.1ÉÃÄä»ß¤·¤Æ0.4ÉÃÁ°¿Ê¡¡º¸¤Ø
ClearTimer(0); //¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
}
¢°ì»þÄä»ß¤Î¤Áº¸ÀÞ
T»úÏ©¤òǧ¼±¤µ¤»¤Æº¸¼þ¤ê¤Ë¿Ê¤Þ¤»¤ë¤Î¤Ç¤¹¤¬¥»¥ó¥µ¡¼¤¬Àþ¤ò±Û¤¨¤Æ¤¢¤é¤ÌÊý¸þ¤Ë¿Ê¤à¤³¤È¤¬Â¿È¯¤·¤¿¡£
else if(n==1){
left();
back;Wait(20);
stop(80);
TEION;
t_left;Wait(30);
forward;Wait(50);
ClearTimer(0);
}
£Ä¾¿Ê
T»úÏ©¤òǧ¼±¤·¤¿¤¢¤È¤Ç¡¢º¸ÀÞ¤»¤ºÄ¾¿Ê¤µ¤»¤ë¡£
else if(n==2){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
¤º¸ÀÞ
T»úÏ©¤òǧ¼±¤·¡¢±¦Â¦¥é¥¤¥ó¤Ø°ÜÆ°ºÇ½ª¤Î±ß¾õ¸òº¹ÅÀ¤Î¤¿¤á¤Ë¡¢¤³¤Î»þ¤Ë°ÜÆ°¡£¤³¤Î»þÅÀ¤Ç°ÜÆ°¤¹¤ë¤³¤È¤Ç¼¡¤Î±ß¤â³Ú¤Ë¤Ê¤Ã¤¿¡£
else if(n==3){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
¥°ì»þÄä»ß¤Î¤Áľ¿Ê
¥¡¢¦¤ÏƱ¤¸
±¦Â¦¤Ë°ÜÆ°¤¹¤ë¤³¤È¤Ç¾¯¤·³Ú¤Ë¤Ê¤ê¤Þ¤·¤¿¡£
else if(n==4){
right();
TEION;
t_left;Wait(25);
stop(80);
forward;Wait(50);
ClearTimer(0);
}
¦°ì»þÄä»ß¤Î¤Áľ¿Ê
else if(n==5){
right();
t_left;Wait(25);
stop(80);
TEION;
forward;Wait(50);
ClearTimer(0);
}
§±¦ÀÞ
§¡¢¨¤ÏÀþ¤Ë±è¤Ã¤Æ°ÜÆ°¤¹¤ë¤À¤±¤Ç¤·¤¿¤Î¤ÇÆäËÆñ¤·¤¯¤¢¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£
else if(n==6){
right();
KOUON;
t_right;Wait(50);
forward;Wait(50);
turn_right;Wait(15);
ClearTimer(0);
}
¨µÞ¥«¡¼¥Ö
else if(n==7){
right();
forward;Wait(15);
t_right;Wait(70);
forward;Wait(50);
turn_right;Wait(10);
t_right;Wait(40);
ClearTimer(0);
}
©±¦ÀÞ
©¡¢ª¡¢«¤Ï°ì²óÌܤα߾õ¤ÈƱ¤¸Æ°¤¤Ç¤·¤¿¤Î¤Ç¡¢»÷¤¿¤è¤¦¤Ê¥ß¥¹¤âϢȯ¤·¤¿¡£
else if(n==8){
right();
KOUON;
t_left;Wait(10);
forward;Wait(40);
ClearTimer(0);
}
ª°ì»þÄä»ß¤Î¤Áº¸ÀÞ
else if(n==9){
left();
back;Wait(20);
stop(80);
TEION;
t_left;Wait(30);
forward;Wait(50);
ClearTimer(0);
}
«Ä¾¿Ê
else if(n==10){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
¬º¸ÀÞ
¤³¤³¤«¤é¤Ï¤Û¤Üľ¿Ê¤À¤Ã¤¿¤Î¤ÇÌäÂê¤Ï¤Ê¤·
else if(n==11){
left();
KOUON;
t_right;Wait(15);
forward;Wait(50);
ClearTimer(0);
}
±¦ÀÞ
else if(n==12){
right();
KOUON;
t_right;Wait(50);
forward;Wait(40);
turn_right;Wait(10);
ClearTimer(0);
}
®Ä¾¿Ê
else if(n==13){
right();
KOUON;
t_left;Wait(25);
forward;Wait(250);
}
Off(OUT_AC);
}
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