2017b/Member/riko/Mission2
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#contents
* ²ÝÂê2 [#ca17a593]
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&ref(2017b/Member/riko/Mission2/¥³¡¼¥¹.png,500x300,¥³¡¼¥¹);
&ref(2017b/Member/riko/Mission2/Âè»°¥³¡¼¥¹.png,500x300,Âè»°¥³¡¼¥¹);
º£²ó¡¢»ä¤¬Áö¤é¤»¤ë¥³¡¼¥¹¤ÏÂè»°¥³¡¼¥¹¤Ç¤¢¤ê¡¢¾Ü¤·¤¤¥³¡¼¥¹¤ÎÆâÍƤϰʲ¼¤ÎÄ̤ê¤Ç¤¢¤ë¡£
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¤DÃÏÅÀ¤Î»æ¥³¥Ã¥×¤ò¼èÆÀ¤·¤ÆÍ褿¥³¡¼¥¹Ìá¤êC¤Ø¸þ¤«¤¦
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§R¤òº¸ÀÞ(°ì»þÄä»ß)
¨P¤òľ¿Ê
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¬F¤òº¸ÀÞ(°ì»þÄä»ß)
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®DÃÏÅÀ¤Ø(¥´¡¼¥ë)
(°ì»þÄä»ß¤Î»ØÄ꤬¤¢¤ë¾ì½ê¤Ï¡¢1ÉôÖÄä»ß¤¹¤ë¤³¤È)
* º£²ó¤Îµ¡ÂΤˤĤ¤¤Æ [#rd7db7ba]
** Á´ÂÎ [#t27325fb]
&ref(2017b/Member/riko/Mission2/ËÜÂÎ.png,400x300,ËÜÂÎ);
º£²ó¤Îµ¡ÂΤòÀ©ºî¤¹¤ë¤Ë¤¢¤¿¤Ã¤Æ¡¢¤Ç¤¤ë¤À¤±¾®²ó¤ê¤¬¤¤¯¤è¤¦¤Ê¤â¤Î¤Ë¤·¤¿¡£
Íýͳ¤È¤·¤Æ¤Ïµ¡ÂΤ¬Â礤¹¤®¤ë¤È°ÜÆ°Ãæ¤Ë»æ¥³¥Ã¥×¤ÈÀÜ¿¨¤·¤Æ¤·¤Þ¤¦²ÄǽÀ¤¬µó¤²¤é¤ì¤ë¡£
** Æ°ÎÏ¡Ê¥¿¥¤¥ä¡ËÉôʬ [#jf455781]
&ref(2017b/Member/riko/Mission2/¥¿¥¤¥ä.png,400x300,¥¿¥¤¥ä);
¥¿¥¤¥ä¤È¸÷¥»¥ó¥µ¡¼¤Îµ÷Î¥¤ò¶á¤Å¤±¤ë¤³¤È¤Ë¤è¤êµÞ¤Ê¥«¡¼¥Ö¤äU¥¿¡¼¥ó¤Ê¤É¤¬¤·¤ä¤¹¤¯¤Ê¤Ã¤Æ¤¤¤ë¡£
A¤Ë½ÐÎϤòÍ¿¤¨¤ë¤È±¦¤Î¥¿¥¤¥ä¤¬Æ°¤¡¢B¤Ë½ÐÎϤòÍ¿¤¨¤ë¤Èº¸¤Î¥¿¥¤¥ä¤¬Æ°¤¯¡£
** ¸÷¥»¥ó¥µ¡¼Éôʬ [#uc7ca4d4]
&ref(2017b/Member/riko/Mission2/¸÷¥»¥ó¥µ¡¼.png,400x300,¸÷¥»¥ó¥µ¡¼);
¸÷¥»¥ó¥µ¡¼¤È»æ¤Îµ÷Î¥¤Ï¶á¤¹¤®¤Æ¤â±ó¤¹¤®¤Æ¤âÀµ³Î¤Ë¬¤ë¤³¤È¤¬¤Ç¤¤Ê¤¤¡£¤½¤Î¤¿¤á¡¢Àµ¤·¤¯¿ôÃͤ¬¼è¤ì¤ëŬÀڤʰÌÃÖ¤ËÁȤßΩ¤Æ¤ë¤³¤È¤ÏÂçÊѶìÏ«¤·¤¿¡£
¤Ç¤¤ë¸Â¤ê¸÷¥»¥ó¥µ¡¼¤È»æ¤òÊ¿¹Ô¤Ë¤¹¤ë¤³¤È¤âÀµ¤·¤¯¿ôÃͤò¼è¤ë¤³¤È¤Ë¹×¸¥¤·¤Æ¤¤¤ë¤È¹Í¤¨¤é¤ì¤¿¤¿¤á¡¢º£²ó¤Î¸÷¥»¥ó¥µ¡¼¤Î°ÌÃ֤Ȥʤä¿¡£
** »æ¥³¥Ã¥×²ó¼ýÉôʬ [#o36c614c]
&ref(2017b/Member/riko/Mission2/»æ¥³¥Ã¥×¼è¤ë.PNG,600x300,»æ¥³¥Ã¥×¼è¤ë);
»æ¥³¥Ã¥×¤ò¼è¤ë¤Ë¤¢¤¿¤Ã¤Æ¾å¤«¤é»æ¥³¥Ã¥×¤è¤ê¤âÂ礤¤Îؤò¤«¤Ö¤»¤ë¤³¤È¤Ç¡¢»æ¥³¥Ã¥×¤òËÜÂΤȤÎÆ°¤¤ËƱ´ü¤µ¤»¤ëµ¡¹½¤Ë¤·¤¿¡£
¾å¤Î¼Ì¿¿¤Ï»æ¥³¥Ã¥×¤ò¼è¤ëºÝ¤ÎÆ°¤¤Ç¤¢¤ë¡£
C¤Ë½ÐÎϤòÍ¿¤¨¤ë¤Èµ¡¹½¤¬Æ°¤¯¡£
* ¥×¥í¥°¥é¥à [#t3e7a27b]
** ¥é¥¤¥ó¥È¥ì¡¼¥¹ [#w8e0718c]
º£²ó¤Î¡Ö¹õ¤ÎÀþ¤òÄɽ¾¤¹¤ë¡×¤¿¤á¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¤¤¤¦¥×¥í¥°¥é¥à¤ÎÀ©ºî¤¬É¬ÍפȤʤ롣
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤Ï¡¢NXT¤Î»ñÎÁ¤ËµºÜ¤µ¤ì¤Æ¤¤¤ëÎý½¬ÌäÂê49¤ÈƱÍͤιͤ¨Êý¤ÇºîÀ®¤¹¤ë¡£
¡Ö´°Á´¤ËÇò¡×¡ÖÇò¤È¶³¦ÉÕ¶á¤Î´Ö¡×¡Ö¶³¦ÉÕ¶á¡×¡Ö¹õ¤È¶³¦ÉÕ¶á¤Î´Ö¡×¡Ö´°Á´ ¤Ë¹õ¡× ¤Î£µÃʳ¬¤ÇÆ°¤¤òºî¤ë¤Ë¤¢¤¿¤ê¡¢5Ãʳ¬¤ÎÌÀ¤ë¤µ¤ò¼ÂºÝ¤Ë¥³¡¼¥¹¤Î¾å¤Ç¬Äꤹ¤ë¡££µ¤Ä¤Î¬Äê¤Ç¤¤¿Ãͤϰʲ¼¤Î¤â¤Î¤È¤Ê¤Ã¤¿¡£
&ref(2017b/Member/riko/Mission2/ÌÀ¤ë¤µ¤Î¿ôÃÍ.PNG,600x300,ÌÀ¤ë¤µ¤Î¿ôÃÍ);
ÌÀ¤ë¤µ¤Î¿ôÃͤ¬¸ÞÃʳ¬¤Ëʬ¤±¤é¤ì¤¿»þ¡¢¤½¤ì¤é¤ËÂбþ¤¹¤ë¸Þ¼ïÎà¤ÎÆ°¤¤¬Â¸ºß¤¹¤ë¤³¤È¤Ë¤Ê¤ë¡£
²¼¤Î¿Þ¤Ï¤½¤Î¸Þ¼ïÎà¤ÎÆ°¤¯Êý¸þ¤Ç¤¢¤ê¡¢¤½¤ì¤é¤Î¥×¥í¥°¥é¥à¤Ï°Ê²¼¤ÎÄ̤ê¤È¤¹¤ë¡£
&ref(2017b/Member/riko/Mission2/Æ°¤Êý.PNG,600x300,Æ°¤Êý);
#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
*** º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#xeaa8f9c]
¾å¤Î·ë²Ì¤«¤é¥×¥í¥°¥é¥à¤òºî¤Ã¤Æ¤¤¤¯¡£¤½¤ÎºÝ¡¢¹õÀþ¤Îº¸Ã¼¤«±¦Ã¼¤ò¤È¤ë¤«¤Ç¥×¥í¥°¥é¥ß¥ó¥°¤¬ÊѤï¤ë°Ù¡¢Ê¬¤±¤Æ¹Í¤¨¤ë¡£
¤½¤ì¤Ë¤¢¤¿¤Ã¤ÆÇò¤È¹õ¤Î¶³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃÍ45¤ò
#define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶³¦Àþ¾å¤ÎÃÍ
¤ÈÄêµÁ¤·¤Æ¤ª¤¯¡£
sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long ta=CurrentTick();
while (CurrentTick()-ta<=Assist_time){
if (SENSOR_1<average-11) {
move1; //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move1¤ÎÆ°¤¤ò¤¹¤ë
}else if (SENSOR_1<average-7){
move2; //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+7){
move3; //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+11){
move4; //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤¤ò¤¹¤ë
} else {
move5; //¤½¤ì°Ê³°¤Î»þ¡¢move5¤ÎÆ°¤¤ò¤¹¤ë
}
}
}
&ref(2017b/Member/riko/Mission2/º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.PNG,500x400,º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);
³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£
*** ±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#u9dc89ce]
º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈƱÍͤιͤ¨Êý¤Ç¥×¥í¥°¥é¥à¤ò½ñ¤¤¤Æ¤¤¤¯¡£Ãí°Õ¤¹¤ëÅÀ¤Ïº¸Â¦¤Î¥×¥í¥°¥é¥à¤È±¦Â¦¤Î¥×¥í¥°¥é¥à¤ÏµÕž¤·¤Æ¤¤¤ë¤À¤±¤È¤¤¤¦¤³¤È¤Ç¤¢¤ë¡£
sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long tb=CurrentTick();
while (CurrentTick()-tb<=Assist_time){
if (SENSOR_1<average-11) {
move5; //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move5¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average-7){
move4; //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+7){
move3; //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+11){
move2; //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤¤ò¤¹¤ë
} else {
move1; //¤½¤ì°Ê³°¤Î»þ¡¢move1¤ÎÆ°¤¤ò¤¹¤ë
}
}
}
&ref(2017b/Member/riko/Mission2/±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.PNG,600x400,±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);
³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£
** ¸òº¹ÅÀǧ¼± [#ld26a553]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤ëºÝ¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤³¤È¤¬¤¢¤ë¡£²¿¤âÂкö¤·¤Æ¤¤¤Ê¤¤¾ì¹ç¡¢¤½¤Î¤Þ¤Þ³Ñ¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤È¤Ê¤Ã¤Æ¤·¤Þ¤¦¡£
¤½¤ÎÂкö¤È¤·¤Æ¡¢¸òº¹ÅÀǧ¼±¤¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¡£
¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£
º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¡¢move1¤¬Ï¢Â³¤ÇÆ°ºî¤·¤¿¤È¤¤Ë¸òº¹ÅÀ¤¬¤¢¤ë¤È¹Í¤¨¤é¤ì¤ë¤Î¤Çmove1¤Ë¤Ä¤¤¤Æ¹Í¤¨¤ë¡£¤Þ¤¿¡¢±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Ïmove5¤ÎÆ°ºî¤È¹Í¤¨¤é¤ì¤ë¡£
¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±
sub L_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
long t1=CurrentTick();
while (CurrentTick()-t1<=Stop_time){
if (SENSOR_1<average-11) {
move1;
} else if (SENSOR_1<average-7){
move2;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+7){
move3;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+11){
move4;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else {
move5;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
}
}
Off(OUT_AB); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
}
¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±
sub R_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
long t2=CurrentTick();
while (CurrentTick()-t2<=Stop_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-8){
move4;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+6){
move3;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+11){
move2;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else {
move1;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
}
}
Off(OUT_AB); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
}
** ¸òº¹ÅÀ²£ÃÇ [#a9201be2]
¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢Ä¾¿Ê¡¢º¸ÀÞ¡¢±¦ÀÞ¡¢£Õ¥¿¡¼¥ó¤Ê¤É¤ÎÆ°ºî¤¬Í׵ᤵ¤ì¤ë¡£¤½¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤È¤·¤Æ¡Ö²¿Éô֤¢¤ëÆ°ºî¤ò¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸òº¹ÅÀ²£ÃǤò¤¹¤ë¡×¤È¤¤¤¦¤â¤Î¤¬¹Í¤¨¤é¤ì¤¿¡£
¤·¤«¤·¡¢¾åµ¤Î¤ä¤êÊý¤Ç¤¢¤ë¤ÈÅÅÃӤθº¤ê¶ñ¹ç¤Ë¤è¤Ã¤Æ¡¢¤½¤ÎÅÙ¤Ë¥×¥í¥°¥é¥à¤òÊѤ¨¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£
ºÇ½ªÅª¤ÊÊýË¡¤È¤·¤Æ¡¢¤¢¤ëÌÀ¤ë¤µ¤ÎÃͤË㤹¤ë¤Þ¤Ç°ìÄê¤ÎÆ°ºî¤ò¤¹¤ë¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë¤³¤È¤Ç¡¢ÅÅÃӤθº¤ê¶ñ¹ç¤È´Ø·¸¤Ê¤¯¸òº¹ÅÀ²£ÃǤǤ¤ë¥×¥í¥°¥é¥à¤òºî¤ë¤È¤¤¤¦ÊýË¡¤Ë»ê¤Ã¤¿¡£
¡»Çò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤ«¤é¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à
sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1>blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
¡»¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤ«¤éÇò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à
sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1<blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
¾å¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤ÎÁȤ߹ç¤ï¤»¤Ë¤è¤Ã¤Æ¤Ç¤¤¿¥×¥í¥°¥é¥à¤Ï°Ê²¼¤Ëɽµ¤¹¤ë¡£
*** ľ¿Ê¤Î¥×¥í¥°¥é¥à [#yac768d2]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤éľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¸òº¹ÅÀǧ¼±¤·¤¿¤¢¤È¤«¤é²¼¤Î¥×¥í¥°¥é¥à¤¬»Ï¤Þ¤ë¤³¤È¤ËÃí°Õ¤¹¤ë¡£¤Ä¤Þ¤ê¡¢¸òº¹ÅÀǧ¼±¤ò¤·¤¿Ä¾¸å¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤÏ30°Ì¤È¤Ê¤Ã¤Æ¤¤¤ë¡£¤³¤Î¤³¤È¤Ï°Ê²¼¤¹¤Ù¤Æ¤Î¥×¥í¥°¥é¥à¤Ë¤¤¤¨¤ë¤³¤È¤Ç¤¢¤ë¡£
sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
{
Black_to_White(48,40,35);
}
&ref(2017b/Member/riko/Mission2/ľ¿Ê.PNG,600x300,ľ¿Ê);
¸ÀÍÕ¤À¤±¤Ç¤Ïʬ¤«¤ê¤º¤é¤¤¤Î¿Þ¤Çɽ¤¹¡£¾å¤Î¿Þ¤Ç¤Ï±¦¤«¤éº¸¤Ë¹õÀþ¤òľ¿Ê¤¹¤ëºÝ¤ÎÆ°¤¤òɽ¤·¤Æ¤¤¤ë¡£³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£
*** ±¦ÀÞ¤Î¥×¥í¥°¥é¥à [#m7984a97]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤é¤Î±¦ÀÞ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,-10,30);
}
&ref(2017b/Member/riko/Mission2/±¦ÀÞ.PNG,600x300,±¦ÀÞ);
¾å¿Þ¤Ç¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¹õÀþ¤ò²£ÃǤ·¤Ä¤Ä±¦ÀÞ¤·¤Æ¤¤¤ëÍͻҤòɽ¤·¤Æ¤¤¤ë¡£
*** º¸ÀÞ¤Î¥×¥í¥°¥é¥à [#d103e450]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤é¤Îº¸ÀÞ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,40,10);
}
&ref(2017b/Member/riko/Mission2/º¸ÀÞ.PNG,600x300,º¸ÀÞ);
¾å¿Þ¤Ç¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¹õÀþ¤ò²£ÃǤ·¤Ä¤Äº¸ÀÞ¤·¤Æ¤¤¤ëÍͻҤòɽ¤·¤Æ¤¤¤ë¡£
*** »æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à [#g655c2f1]
»æ¥³¥Ã¥×¤ò¼è¤ëºÝ¡¢¤Ç¤¤ë¸Â¤êƱ¤¸°ÌÃ֤ǻ楳¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤·¤¿Êý¤¬¤è¤¤¤È¹Í¤¨¤é¤ì¤ë¡£¤½¤³¤Ç»æ¥³¥Ã¥×¤ò¼è¤ëÁ°¤Ë¸òº¹ÅÀǧ¼±¤¹¤ë¾ì½ê¤¬¤¢¤ë¤Î¤Ç¤½¤ì¤òÍøÍѤ¹¤ë¡£
ÅԹ礬¤¤¤¤¤¿¤á¡¢¤³¤³¤Ç»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤âÆþ¤ì¤Æ¤ª¤¯¡£
sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à(»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¡Ë
Wait(800);
Off(OUT_C);
}
&ref(2017b/Member/riko/Mission2/»æ¥³¥Ã¥×¤ò¼è¤ë.PNG,600x300,»æ¥³¥Ã¥×¤ò¼è¤ë);
¾å¤Î¿Þ¤Ç¤Ï¼ÂºÝ¤Ë»æ¥³¥Ã¥×¤ò¼è¤ë¾ì½ê¤òºÆ¸½¤·¤Æ¤¤¤ë¡£Æ°¤¤È¤·¤Æ¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢»æ¥³¥Ã¥×¼è¤ë¤Î¤ËÃúÅÙÎɤ¤¾ì½ê¤Ë¤â¤Ã¤Æ¤¤¤¯¡£¤½¤·¤Æ»æ¥³¥Ã¥×¼è¤ëµ¡¹½¤òÆ°¤«¤·¤Æ¤¤¤ë¡£
*** »æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¡Ê£Õ¥¿¡¼¥ó¡Ë¤Î¥×¥í¥°¥é¥à [#k1f1d895]
¾å¤Î¥×¥í¥°¥é¥à¤Ç»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£Æ°¤¤È¤·¤Æ¤Ï£Õ¥¿¡¼¥ó¤ÈÊѤï¤é¤Ê¤¤¡£ÌÀ¤ë¤µ¤ÎÃͤϻ楳¥Ã¥×¤ò¼è¤Ã¤¿»þ¤«¤éÊѤï¤Ã¤Æ¤¤¤Ê¤¤¤È¹Í¤¨¤é¤ì¤ë¤³¤È¤ò¹Íθ¤¹¤ë¡£
sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(33,-28,35);
Black_to_White(48,-20,35);
}
&ref(2017b/Member/riko/Mission2/£Õ¥¿¡¼¥ó.PNG,600x300,£Õ¥¿¡¼¥ó);
»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¤«¤é¤Î¿Þ¤Ç¤¢¤ë¡£Æ°¤¤È¤·¤Æ¤ÏÊ£»¨¤Ç¤¢¤ë¤¬ºÇ½ªÅª¤Ë£Õ¥¿¡¼¥ó¤ò¤¹¤ëÆ°¤¤È¤Ê¤ë¡£
*** »æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à [#wf348a21]
±ß·Á¤Î¥³¡¼¥¹¤òÁö¹ÔÃæ¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯¤¿¤á¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ëɬÍפ¬¤¢¤ë¡£¤½¤ÎºÝ¡¢¤¿¤À¥³¡¼¥¹¤«¤é³°¤ì¤ë¤Î¤Ç¤Ï¤Ê¤¯»æ¥³¥Ã¥×¤¬Å¬ÀڤʰÌÃ֤ˤâ¤Ã¤Æ¤¤¤¯¤è¤¦¤ËÆ°¤«¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£
sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(30,-50,0);
Black_to_White(53,-30,0);
}
&ref(2017b/Member/riko/Mission2/¥³¡¼¥¹¤«¤é³°¤ì¤ë.PNG,600x300,¥³¡¼¥¹¤«¤é³°¤ì¤ë);
¾å¿Þ¤ÎÄ̤ꡢ±ß¤ÎÆ⦤òÁö¹ÔÃæ¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë¤è¤¦¤Ë¤¹¤ë¡£»æ¥³¥Ã¥×¤Î°ÌÃ֤˵¤¤òÉÕ¤±¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤Î¤Ç¥Ð¥Ã¥¯¤¹¤ë¤è¤¦¤ËÆ°¤¯¤³¤È¤Ë¤Ê¤ë¡£
*** »æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à [#c094d48c]
¤¿¤À¤Î»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òµÕ¤ËÆ°¤«¤·¤¿¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤³¤Î¤È¤¤Ï¸òº¹ÅÀ²£ÃÇ¤Î¥×¥í¥°¥é¥à¤Ï»È¤ï¤ì¤Æ¤¤¤Ê¤¤¡£
sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
{
OnFwd(OUT_C,-30);
Wait(900);
Off(OUT_C);
}
*** »æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à [#ae50d159]
»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¤½¤Î¥×¥í¥°¥é¥à¡£
sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(35,30,-10);
}
&ref(2017b/Member/riko/Mission2/¥³¡¼¥¹¤ËÉüµ¢.PNG,600x300,¥³¡¼¥¹¤ËÉüµ¢);
»æ¥³¥Ã¥×¤òÃÖ¤¯Æ°ºî¤«¤é¤Î³¤¤Ç¤¢¤ë¤³¤È¤ËÃí°Õ¤¹¤ì¤Ð¡¢ÆäËÆñ¤·¤¤Æ°¤¤Ï¤·¤Æ¤¤¤Ê¤¤¡£¥³¡¼¥¹¤ËÉüµ¢¤·¤¿¸å¤Ï±ß¤Î³°Â¦¡Êº¸Â¦¡Ë¤òÁö¤ë¡£
*** ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à [#h22ed960]
°ìÈֺǸå¤Ë°ì»þÄä»ß¤·¤¿¸å¡¢¥´¡¼¥ë¤¹¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ï¾¯¤·¤À¤±Æüì¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£
sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,10,40);
L_line(200,100);
Black_to_White(48,20,30);
OnFwd(OUT_A,20);
OnFwd(OUT_B,40);
Wait(500);
Off(OUT_AB);
}
&ref(2017b/Member/riko/Mission2/ºÇ¸å.PNG,600x300,ºÇ¸å);
¾å¿Þ¤Ïº¸¤ÎÀþ¤«¤é±¦Â¦¿Ê¤ó¤ÇÍè¤Æ¤ª¤ê¡¢¸òº¹ÅÀǧ¼±¤·¤¿¤È¤³¤í¤«¤é¤Ï¤¸¤Þ¤Ã¤Æ¤¤¤ë¤³¤È¤òÁÛÄꤷ¤Æ¤¤¤ë¡£ºÇ½é¤ÎÀþ¤ò²£ÃǤ·¤¿¸å¤ÎÀÄÌð°õ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤òɽ¤·¤Æ¤¤¤ë¡£¤Þ¤¿¡¢ºÇ¸å¤Î²£ÃǤò¤·¤¿¸å¤ÎÁ°¿Ê¤Ç¥´¡¼¥ë¤È¤Ê¤ë¡£
*** ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë¡Ê½Ðȯ¤¹¤ë¡Ë°Ù¤Î¥×¥í¥°¥é¥à [#t09cd7d9]
¤³¤Î¥³¡¼¥¹¤Î½Ðȯ»þ¤Ï¹õÀþ¤Ç°Ï¤Þ¤ì¤Æ¤¤¤ë¤¿¤á¡¢¤Þ¤º¤½¤³¤òÈ´¤±½Ð¤µ¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£¤½¤Î¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤â¤·¤Ê¤¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¤¿¤á¾¯¤·Æüì¤Ê¥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£
sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
Wait(100);
White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ë
}
&ref(2017b/Member/riko/Mission2/½é¤á.PNG,600x300,½é¤á);
¾å¿Þ¤Ï¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é»Ï¤Þ¤Ã¤Æ¤¤¤ë¡£²«¿§¤ÎÌð°õ¤Ï¤¿¤À¤Îľ¿Ê¤òɽ¤·¤Æ¤¤¤ë¡£
** °Â¿´°ÂÁ´¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°Ù¤Ë [#zeadfdb1]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢¸òº¹ÅÀǧ¼±¤·¡¢¸òº¹ÅÀ²£ÃǤäÆüì¤ÊÆ°¤¤ò¤¹¤ë¡£¤½¤Î¸å¡¢¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ëºÝ¡¢¸í¤Ã¤¿²Õ½ê¤Ç¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬´Ö¡¹¤¢¤ë¡£¤½¤Î¤¿¤á¡¢¸òº¹ÅÀǧ¼±¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÁ°¤Ë²¿Éô֡ÊAssist_time¡Ë¤«ÀäÂФ˥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤òÆþ¤ì¤Æ¤ª¤¯¡£
¤½¤¦¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸í¤Ã¤¿²Õ½ê¤Ç¤Î¸òº¹ÅÀǧ¼±¤¬¤Ê¤¯¤Ê¤Ã¤¿¡£
¤Þ¤¿¡¢¤³¤Î¥×¥í¥°¥é¥à¤òÍѤ¤¤ë¤³¤È¤Ë¤è¤ê¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¤è¤¦¤ÊµÞ¤Ê¥«¡¼¥Ö¤Çǧ¼±¤·¤Æ¤·¤Þ¤Ã¤Æ¤âÂн褬²Äǽ¤È¤Ê¤ë¡£
¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë
sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long ta=CurrentTick();
while (CurrentTick()-ta<=Assist_time){
if (SENSOR_1<average-11) {
move1
}else if (SENSOR_1<average-7){
move2;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move4;
} else {
move5;
}
}
}
sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t1=CurrentTick();
while (CurrentTick()-t1<=Stop_time){
if (SENSOR_1<average-11) {
move1;
} else if (SENSOR_1<average-7){
move2;
t1=CurrentTick();
} else if (SENSOR_1<average+7){
move3;
t1=CurrentTick();
} else if (SENSOR_1<average+11){
move4;
t1=CurrentTick();
} else {
move5;
t1=CurrentTick();
}
}
Off(OUT_AB);
}
¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë
sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long tb=CurrentTick();
while (CurrentTick()-tb<=Assist_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-7){
move4;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move2;
} else {
move1;
}
}
}
sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t2=CurrentTick();
while (CurrentTick()-t2<=Stop_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-8){
move4;
t2=CurrentTick();
} else if (SENSOR_1<average+6){
move3;
t2=CurrentTick();
} else if (SENSOR_1<average+11){
move2;
t2=CurrentTick();
} else {
move1;
t2=CurrentTick();
}
}
Off(OUT_AB);
}
* SE(¸ú²Ì²»¡Ë [#qd70a075]
º£²ó¤Î²ÝÂê¤ÎÃæ¤Ë²¿¤é¤«¤Î¥¢¥¯¥·¥ç¥ó¤òµ¯¤³¤·¤¿¤È¤¡¢²»¤òÌĤ餹¤È¤¤¤¦¤³¤È¤â´Þ¤Þ¤ì¤Æ¤¤¤ë¡£¤½¤Î¤¿¤á¡Ö°ì»þÄä»ß¤¹¤ë¤È¤¡×¡Ö»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë¤È¤¡×¡Ö¥´¡¼¥ë¤·¤¿¤È¤¡×¡Ö¸òº¹ÅÀǧ¼±¤ò¤·¤¿¤È¤¡×¡ÖAssist_time¤¬½ª¤ï¤Ã¤¿¤È¤¡×¡Ö¥¹¥¿¡¼¥È¤¹¤ë¤È¤¡×¤ÎÏ»¤Ä¤Î¾ìÌ̤ǻͤĤ⻤òÌĤ餹¡£
¡Ê¡Ö»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë¤È¤¡×¡Ö¥´¡¼¥ë¤·¤¿¤È¤¡×¤Î£Ó£Å¤òƱ¤¸¤â¤Î¤Ë¤¹¤ë¡£¡Ö¸òº¹ÅÀǧ¼±¤ò¤·¤¿¤È¤¡×¡ÖAssist_time¤¬½ª¤ï¤Ã¤¿¤È¤¡×¤ÎSE¤òƱ¤¸¤â¤Î¤È¤¹¤ë¡Ë
°Ê²¼¤ÎÄêµÁ¤¬²»¤Î¿ôÃͤȤ¹¤ë
#define SO 392 //¥½¤Î²»
#define DO 523 //¥É¤Î²»
#define MI 659 //¥ß¤Î²»
#define SO_H 784 //¹â¤¤¥½¤Î²»
#define SI 988 //¥·¤Î²»
#define DO_H 1047 //¹â¤¤¥É¤Î²»
#define MI_H 1318 //¹â¤¤¥ß¤Î²»
#define RE 1175 //¥ì¤Î²»
#define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»
** °ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²» [#lefd89a6]
¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
{
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
}
** »æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²» [#r57c506d]
¥Þ¡»¥ª¤Î1UP¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î1UP¤Î²»¡Ë
{
PlayTone(MI,110);Wait(120);
PlayTone(SO_H,110);Wait(120);
PlayTone(MI_H,110);Wait(120);
PlayTone(DO_H,110);Wait(120);
PlayTone(RE,110);Wait(120);
PlayTone(SO_SH,110);Wait(120);
}
** ¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²» [#k6796e5a]
¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
{
PlayTone(SI,90);Wait(100);
PlayTone(MI_H,140);Wait(150);
}
** ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²» [#b83a62ec]
¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
{
PlayTone(MI,100);Wait(110);
PlayTone(MI,100);Wait(250);
PlayTone(MI,100);Wait(160);
PlayTone(DO,90);Wait(100);
PlayTone(MI,90);Wait(230);
PlayTone(SO_H,90);Wait(420);
PlayTone(SO,170);Wait(180);
}
* Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#k59ec0d9]
°Ê¾å¤Î¥×¥í¥°¥é¥à¹ç¤ï¤»¡¢Å¬ÀڤʰÌÃÖ¤ËSE¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¡£
°Ê²¼¤Ï´°À®¤·¤¿Á´ÂÎ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤È¤Ê¤ë¡£
#define SO 392 //¥½¤Î²»
#define DO 523 //¥É¤Î²»
#define MI 659 //¥ß¤Î²»
#define SO_H 784 //¹â¤¤¥½¤Î²»
#define SI 988 //¥·¤Î²»
#define DO_H 1047 //¹â¤¤¥É¤Î²»
#define MI_H 1318 //¹â¤¤¥ß¤Î²»
#define RE 1175 //¥ì¤Î²»
#define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»
sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¥ê¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
{
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
}
sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î1UP¤Î²»¡Ë
{
PlayTone(MI,110);Wait(120);
PlayTone(SO_H,110);Wait(120);
PlayTone(MI_H,110);Wait(120);
PlayTone(DO_H,110);Wait(120);
PlayTone(RE,110);Wait(120);
PlayTone(SO_SH,110);Wait(120);
}
sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢¥¢¥·¥¹¥È¥¿¥¤¥à¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
{
PlayTone(SI,90);Wait(100);
PlayTone(MI_H,140);Wait(150);
}
sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
{
PlayTone(MI,100);Wait(110);
PlayTone(MI,100);Wait(250);
PlayTone(MI,100);Wait(160);
PlayTone(DO,90);Wait(100);
PlayTone(MI,90);Wait(230);
PlayTone(SO_H,90);Wait(420);
PlayTone(SO,170);Wait(180);
}
#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶³¦Àþ¾å¤ÎÃÍ
sub Stop_Motion() //°ì»þÄä»ß¤ò¤¹¤ë»þ¤Î¥×¥í¥°¥é¥à
{
Wait(300); //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¤È²¼¤Î²»¤òº®Æ±¤µ¤»¤Ê¤¤°Ù¤ÎÂÔ¤Á»þ´Ö
pose_SE(); //¥Ý¡¼¥º²»
Wait(1000); //°ì»þÄä»ß¤Î»þ´Ö
}
sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long ta=CurrentTick();
while (CurrentTick()-ta<=Assist_time){
if (SENSOR_1<average-11) {
move1
}else if (SENSOR_1<average-7){
move2;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move4;
} else {
move5;
}
}
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long tb=CurrentTick();
while (CurrentTick()-tb<=Assist_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-7){
move4;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move2;
} else {
move1;
}
}
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t1=CurrentTick();
while (CurrentTick()-t1<=Stop_time){
if (SENSOR_1<average-11) {
move1;
} else if (SENSOR_1<average-7){
move2;
t1=CurrentTick();
} else if (SENSOR_1<average+7){
move3;
t1=CurrentTick();
} else if (SENSOR_1<average+11){
move4;
t1=CurrentTick();
} else {
move5;
t1=CurrentTick();
}
}
Off(OUT_AB);
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t2=CurrentTick();
while (CurrentTick()-t2<=Stop_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-8){
move4;
t2=CurrentTick();
} else if (SENSOR_1<average+6){
move3;
t2=CurrentTick();
} else if (SENSOR_1<average+11){
move2;
t2=CurrentTick();
} else {
move1;
t2=CurrentTick();
}
}
Off(OUT_AB);
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1>blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1<blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à
Wait(800);
Off(OUT_C);
one_UP_SE(); //1UP¤Î²»
}
sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
{
OnFwd(OUT_C,-30);
Wait(900);
Off(OUT_C);
one_UP_SE(); //1UP¤Î²»
}
sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
{
Black_to_White(48,40,35);
}
sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,-10,30);
}
sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,40,10);
}
sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(33,-28,35);
Black_to_White(48,-20,35);
}
sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(30,-50,0);
Black_to_White(53,-30,0);
}
sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(35,30,-10);
}
sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à¡£¾¯¤·¤À¤±Æüì¤Ê¥×¥í¥°¥é¥à¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿
{
Black_to_White(48,10,40);
L_line(200,100);
Black_to_White(48,20,30);
OnFwd(OUT_A,20);
OnFwd(OUT_B,40);
Wait(500);
Off(OUT_AB);
one_UP_SE(); //1UP¤Î²»
}
sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
Start_SE(); //¥¹¥¿¡¼¥È¤Î²»
Wait(100);
White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ë
}
task main()
{
SetSensorLight(S1); //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ°
Start_Set(); //¥¹¥¿¡¼¥È
L_line(6000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢6ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
Get_cup(); //»æ¥³¥Ã¥×¤ò¼è¤ë
Return_cource_1(); //¥³¡¼¥¹¤ËÌá¤ë
L_line(200,200); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.2ÉäǸòº¹ÅÀǧ¼±
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_line(700,110); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.7ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.11ÉäǸòº¹ÅÀǧ¼±
Straight(); //¸òº¹ÅÀǧ¼±¤òľ¿Ê
R_line(3000,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
R_line(3500,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3.5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
R_line(1000,100); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.1ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_Assist_line(5000); //5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡Ê»æ¥³¥Ã¥×¤ÎÃÖ¤¯¤È¤³¤í¤Þ¤Ç¤Î°ÜÆ°¡Ë
Derailment_cource(); //¥³¡¼¥¹¤òæÀþ¡Ê»æ¥³¥Ã¥×¤òÃÖ¤¯¾ì½ê¤òÄ´À°¡Ë
Put_cup(); //»æ¥³¥Ã¥×¤òÃÖ¤¯
Return_cource_2(); //¥³¡¼¥¹¤ËÌá¤ë
L_line(2000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_line(1000,180); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.18ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Right(); //¸òº¹ÅÀ¤ò±¦ÀÞ
L_line(1000,250); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.25ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_line(1000,130); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.13ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Go_goal(); //¥´¡¼¥ë¤Ø¸þ¤«¤¦
}
* ¤Þ¤È¤á [#w1fa85b1]
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* »²¹Íʸ¸¥ [#o8b09dc4]
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** ¸÷¥»¥ó¥µ¡¼Éôʬ [#uc7ca4d4]
&ref(2017b/Member/riko/Mission2/¸÷¥»¥ó¥µ¡¼.png,400x300,¸÷¥»¥ó¥µ¡¼);
¸÷¥»¥ó¥µ¡¼¤È»æ¤Îµ÷Î¥¤Ï¶á¤¹¤®¤Æ¤â±ó¤¹¤®¤Æ¤âÀµ³Î¤Ë¬¤ë¤³¤È¤¬¤Ç¤¤Ê¤¤¡£¤½¤Î¤¿¤á¡¢Àµ¤·¤¯¿ôÃͤ¬¼è¤ì¤ëŬÀڤʰÌÃÖ¤ËÁȤßΩ¤Æ¤ë¤³¤È¤ÏÂçÊѶìÏ«¤·¤¿¡£
¤Ç¤¤ë¸Â¤ê¸÷¥»¥ó¥µ¡¼¤È»æ¤òÊ¿¹Ô¤Ë¤¹¤ë¤³¤È¤âÀµ¤·¤¯¿ôÃͤò¼è¤ë¤³¤È¤Ë¹×¸¥¤·¤Æ¤¤¤ë¤È¹Í¤¨¤é¤ì¤¿¤¿¤á¡¢º£²ó¤Î¸÷¥»¥ó¥µ¡¼¤Î°ÌÃ֤Ȥʤä¿¡£
** »æ¥³¥Ã¥×²ó¼ýÉôʬ [#o36c614c]
&ref(2017b/Member/riko/Mission2/»æ¥³¥Ã¥×¼è¤ë.PNG,600x300,»æ¥³¥Ã¥×¼è¤ë);
»æ¥³¥Ã¥×¤ò¼è¤ë¤Ë¤¢¤¿¤Ã¤Æ¾å¤«¤é»æ¥³¥Ã¥×¤è¤ê¤âÂ礤¤Îؤò¤«¤Ö¤»¤ë¤³¤È¤Ç¡¢»æ¥³¥Ã¥×¤òËÜÂΤȤÎÆ°¤¤ËƱ´ü¤µ¤»¤ëµ¡¹½¤Ë¤·¤¿¡£
¾å¤Î¼Ì¿¿¤Ï»æ¥³¥Ã¥×¤ò¼è¤ëºÝ¤ÎÆ°¤¤Ç¤¢¤ë¡£
C¤Ë½ÐÎϤòÍ¿¤¨¤ë¤Èµ¡¹½¤¬Æ°¤¯¡£
* ¥×¥í¥°¥é¥à [#t3e7a27b]
** ¥é¥¤¥ó¥È¥ì¡¼¥¹ [#w8e0718c]
º£²ó¤Î¡Ö¹õ¤ÎÀþ¤òÄɽ¾¤¹¤ë¡×¤¿¤á¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¤¤¤¦¥×¥í¥°¥é¥à¤ÎÀ©ºî¤¬É¬ÍפȤʤ롣
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤Ï¡¢NXT¤Î»ñÎÁ¤ËµºÜ¤µ¤ì¤Æ¤¤¤ëÎý½¬ÌäÂê49¤ÈƱÍͤιͤ¨Êý¤ÇºîÀ®¤¹¤ë¡£
¡Ö´°Á´¤ËÇò¡×¡ÖÇò¤È¶³¦ÉÕ¶á¤Î´Ö¡×¡Ö¶³¦ÉÕ¶á¡×¡Ö¹õ¤È¶³¦ÉÕ¶á¤Î´Ö¡×¡Ö´°Á´ ¤Ë¹õ¡× ¤Î£µÃʳ¬¤ÇÆ°¤¤òºî¤ë¤Ë¤¢¤¿¤ê¡¢5Ãʳ¬¤ÎÌÀ¤ë¤µ¤ò¼ÂºÝ¤Ë¥³¡¼¥¹¤Î¾å¤Ç¬Äꤹ¤ë¡££µ¤Ä¤Î¬Äê¤Ç¤¤¿Ãͤϰʲ¼¤Î¤â¤Î¤È¤Ê¤Ã¤¿¡£
&ref(2017b/Member/riko/Mission2/ÌÀ¤ë¤µ¤Î¿ôÃÍ.PNG,600x300,ÌÀ¤ë¤µ¤Î¿ôÃÍ);
ÌÀ¤ë¤µ¤Î¿ôÃͤ¬¸ÞÃʳ¬¤Ëʬ¤±¤é¤ì¤¿»þ¡¢¤½¤ì¤é¤ËÂбþ¤¹¤ë¸Þ¼ïÎà¤ÎÆ°¤¤¬Â¸ºß¤¹¤ë¤³¤È¤Ë¤Ê¤ë¡£
²¼¤Î¿Þ¤Ï¤½¤Î¸Þ¼ïÎà¤ÎÆ°¤¯Êý¸þ¤Ç¤¢¤ê¡¢¤½¤ì¤é¤Î¥×¥í¥°¥é¥à¤Ï°Ê²¼¤ÎÄ̤ê¤È¤¹¤ë¡£
&ref(2017b/Member/riko/Mission2/Æ°¤Êý.PNG,600x300,Æ°¤Êý);
#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
*** º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#xeaa8f9c]
¾å¤Î·ë²Ì¤«¤é¥×¥í¥°¥é¥à¤òºî¤Ã¤Æ¤¤¤¯¡£¤½¤ÎºÝ¡¢¹õÀþ¤Îº¸Ã¼¤«±¦Ã¼¤ò¤È¤ë¤«¤Ç¥×¥í¥°¥é¥ß¥ó¥°¤¬ÊѤï¤ë°Ù¡¢Ê¬¤±¤Æ¹Í¤¨¤ë¡£
¤½¤ì¤Ë¤¢¤¿¤Ã¤ÆÇò¤È¹õ¤Î¶³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃÍ45¤ò
#define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶³¦Àþ¾å¤ÎÃÍ
¤ÈÄêµÁ¤·¤Æ¤ª¤¯¡£
sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long ta=CurrentTick();
while (CurrentTick()-ta<=Assist_time){
if (SENSOR_1<average-11) {
move1; //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move1¤ÎÆ°¤¤ò¤¹¤ë
}else if (SENSOR_1<average-7){
move2; //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+7){
move3; //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+11){
move4; //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤¤ò¤¹¤ë
} else {
move5; //¤½¤ì°Ê³°¤Î»þ¡¢move5¤ÎÆ°¤¤ò¤¹¤ë
}
}
}
&ref(2017b/Member/riko/Mission2/º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.PNG,500x400,º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);
³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£
*** ±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#u9dc89ce]
º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈƱÍͤιͤ¨Êý¤Ç¥×¥í¥°¥é¥à¤ò½ñ¤¤¤Æ¤¤¤¯¡£Ãí°Õ¤¹¤ëÅÀ¤Ïº¸Â¦¤Î¥×¥í¥°¥é¥à¤È±¦Â¦¤Î¥×¥í¥°¥é¥à¤ÏµÕž¤·¤Æ¤¤¤ë¤À¤±¤È¤¤¤¦¤³¤È¤Ç¤¢¤ë¡£
sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long tb=CurrentTick();
while (CurrentTick()-tb<=Assist_time){
if (SENSOR_1<average-11) {
move5; //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move5¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average-7){
move4; //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+7){
move3; //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤¤ò¤¹¤ë
} else if (SENSOR_1<average+11){
move2; //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤¤ò¤¹¤ë
} else {
move1; //¤½¤ì°Ê³°¤Î»þ¡¢move1¤ÎÆ°¤¤ò¤¹¤ë
}
}
}
&ref(2017b/Member/riko/Mission2/±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.PNG,600x400,±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);
³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£
** ¸òº¹ÅÀǧ¼± [#ld26a553]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤ëºÝ¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤³¤È¤¬¤¢¤ë¡£²¿¤âÂкö¤·¤Æ¤¤¤Ê¤¤¾ì¹ç¡¢¤½¤Î¤Þ¤Þ³Ñ¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤È¤Ê¤Ã¤Æ¤·¤Þ¤¦¡£
¤½¤ÎÂкö¤È¤·¤Æ¡¢¸òº¹ÅÀǧ¼±¤¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¡£
¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£
º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¡¢move1¤¬Ï¢Â³¤ÇÆ°ºî¤·¤¿¤È¤¤Ë¸òº¹ÅÀ¤¬¤¢¤ë¤È¹Í¤¨¤é¤ì¤ë¤Î¤Çmove1¤Ë¤Ä¤¤¤Æ¹Í¤¨¤ë¡£¤Þ¤¿¡¢±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Ïmove5¤ÎÆ°ºî¤È¹Í¤¨¤é¤ì¤ë¡£
¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±
sub L_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
long t1=CurrentTick();
while (CurrentTick()-t1<=Stop_time){
if (SENSOR_1<average-11) {
move1;
} else if (SENSOR_1<average-7){
move2;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+7){
move3;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+11){
move4;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else {
move5;
t1=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
}
}
Off(OUT_AB); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
}
¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±
sub R_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
long t2=CurrentTick();
while (CurrentTick()-t2<=Stop_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-8){
move4;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+6){
move3;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else if (SENSOR_1<average+11){
move2;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
} else {
move1;
t2=CurrentTick(); //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
}
}
Off(OUT_AB); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
}
** ¸òº¹ÅÀ²£ÃÇ [#a9201be2]
¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢Ä¾¿Ê¡¢º¸ÀÞ¡¢±¦ÀÞ¡¢£Õ¥¿¡¼¥ó¤Ê¤É¤ÎÆ°ºî¤¬Í׵ᤵ¤ì¤ë¡£¤½¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤È¤·¤Æ¡Ö²¿Éô֤¢¤ëÆ°ºî¤ò¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸òº¹ÅÀ²£ÃǤò¤¹¤ë¡×¤È¤¤¤¦¤â¤Î¤¬¹Í¤¨¤é¤ì¤¿¡£
¤·¤«¤·¡¢¾åµ¤Î¤ä¤êÊý¤Ç¤¢¤ë¤ÈÅÅÃӤθº¤ê¶ñ¹ç¤Ë¤è¤Ã¤Æ¡¢¤½¤ÎÅÙ¤Ë¥×¥í¥°¥é¥à¤òÊѤ¨¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£
ºÇ½ªÅª¤ÊÊýË¡¤È¤·¤Æ¡¢¤¢¤ëÌÀ¤ë¤µ¤ÎÃͤË㤹¤ë¤Þ¤Ç°ìÄê¤ÎÆ°ºî¤ò¤¹¤ë¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë¤³¤È¤Ç¡¢ÅÅÃӤθº¤ê¶ñ¹ç¤È´Ø·¸¤Ê¤¯¸òº¹ÅÀ²£ÃǤǤ¤ë¥×¥í¥°¥é¥à¤òºî¤ë¤È¤¤¤¦ÊýË¡¤Ë»ê¤Ã¤¿¡£
¡»Çò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤ«¤é¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à
sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1>blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
¡»¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤ«¤éÇò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à
sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1<blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
¾å¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤ÎÁȤ߹ç¤ï¤»¤Ë¤è¤Ã¤Æ¤Ç¤¤¿¥×¥í¥°¥é¥à¤Ï°Ê²¼¤Ëɽµ¤¹¤ë¡£
*** ľ¿Ê¤Î¥×¥í¥°¥é¥à [#yac768d2]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤éľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¸òº¹ÅÀǧ¼±¤·¤¿¤¢¤È¤«¤é²¼¤Î¥×¥í¥°¥é¥à¤¬»Ï¤Þ¤ë¤³¤È¤ËÃí°Õ¤¹¤ë¡£¤Ä¤Þ¤ê¡¢¸òº¹ÅÀǧ¼±¤ò¤·¤¿Ä¾¸å¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤÏ30°Ì¤È¤Ê¤Ã¤Æ¤¤¤ë¡£¤³¤Î¤³¤È¤Ï°Ê²¼¤¹¤Ù¤Æ¤Î¥×¥í¥°¥é¥à¤Ë¤¤¤¨¤ë¤³¤È¤Ç¤¢¤ë¡£
sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
{
Black_to_White(48,40,35);
}
&ref(2017b/Member/riko/Mission2/ľ¿Ê.PNG,600x300,ľ¿Ê);
¸ÀÍÕ¤À¤±¤Ç¤Ïʬ¤«¤ê¤º¤é¤¤¤Î¿Þ¤Çɽ¤¹¡£¾å¤Î¿Þ¤Ç¤Ï±¦¤«¤éº¸¤Ë¹õÀþ¤òľ¿Ê¤¹¤ëºÝ¤ÎÆ°¤¤òɽ¤·¤Æ¤¤¤ë¡£³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£
*** ±¦ÀÞ¤Î¥×¥í¥°¥é¥à [#m7984a97]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤é¤Î±¦ÀÞ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,-10,30);
}
&ref(2017b/Member/riko/Mission2/±¦ÀÞ.PNG,600x300,±¦ÀÞ);
¾å¿Þ¤Ç¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¹õÀþ¤ò²£ÃǤ·¤Ä¤Ä±¦ÀÞ¤·¤Æ¤¤¤ëÍͻҤòɽ¤·¤Æ¤¤¤ë¡£
*** º¸ÀÞ¤Î¥×¥í¥°¥é¥à [#d103e450]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤é¤Îº¸ÀÞ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,40,10);
}
&ref(2017b/Member/riko/Mission2/º¸ÀÞ.PNG,600x300,º¸ÀÞ);
¾å¿Þ¤Ç¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¹õÀþ¤ò²£ÃǤ·¤Ä¤Äº¸ÀÞ¤·¤Æ¤¤¤ëÍͻҤòɽ¤·¤Æ¤¤¤ë¡£
*** »æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à [#g655c2f1]
»æ¥³¥Ã¥×¤ò¼è¤ëºÝ¡¢¤Ç¤¤ë¸Â¤êƱ¤¸°ÌÃ֤ǻ楳¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤·¤¿Êý¤¬¤è¤¤¤È¹Í¤¨¤é¤ì¤ë¡£¤½¤³¤Ç»æ¥³¥Ã¥×¤ò¼è¤ëÁ°¤Ë¸òº¹ÅÀǧ¼±¤¹¤ë¾ì½ê¤¬¤¢¤ë¤Î¤Ç¤½¤ì¤òÍøÍѤ¹¤ë¡£
ÅԹ礬¤¤¤¤¤¿¤á¡¢¤³¤³¤Ç»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤âÆþ¤ì¤Æ¤ª¤¯¡£
sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à(»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¡Ë
Wait(800);
Off(OUT_C);
}
&ref(2017b/Member/riko/Mission2/»æ¥³¥Ã¥×¤ò¼è¤ë.PNG,600x300,»æ¥³¥Ã¥×¤ò¼è¤ë);
¾å¤Î¿Þ¤Ç¤Ï¼ÂºÝ¤Ë»æ¥³¥Ã¥×¤ò¼è¤ë¾ì½ê¤òºÆ¸½¤·¤Æ¤¤¤ë¡£Æ°¤¤È¤·¤Æ¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢»æ¥³¥Ã¥×¼è¤ë¤Î¤ËÃúÅÙÎɤ¤¾ì½ê¤Ë¤â¤Ã¤Æ¤¤¤¯¡£¤½¤·¤Æ»æ¥³¥Ã¥×¼è¤ëµ¡¹½¤òÆ°¤«¤·¤Æ¤¤¤ë¡£
*** »æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¡Ê£Õ¥¿¡¼¥ó¡Ë¤Î¥×¥í¥°¥é¥à [#k1f1d895]
¾å¤Î¥×¥í¥°¥é¥à¤Ç»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£Æ°¤¤È¤·¤Æ¤Ï£Õ¥¿¡¼¥ó¤ÈÊѤï¤é¤Ê¤¤¡£ÌÀ¤ë¤µ¤ÎÃͤϻ楳¥Ã¥×¤ò¼è¤Ã¤¿»þ¤«¤éÊѤï¤Ã¤Æ¤¤¤Ê¤¤¤È¹Í¤¨¤é¤ì¤ë¤³¤È¤ò¹Íθ¤¹¤ë¡£
sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(33,-28,35);
Black_to_White(48,-20,35);
}
&ref(2017b/Member/riko/Mission2/£Õ¥¿¡¼¥ó.PNG,600x300,£Õ¥¿¡¼¥ó);
»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¤«¤é¤Î¿Þ¤Ç¤¢¤ë¡£Æ°¤¤È¤·¤Æ¤ÏÊ£»¨¤Ç¤¢¤ë¤¬ºÇ½ªÅª¤Ë£Õ¥¿¡¼¥ó¤ò¤¹¤ëÆ°¤¤È¤Ê¤ë¡£
*** »æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à [#wf348a21]
±ß·Á¤Î¥³¡¼¥¹¤òÁö¹ÔÃæ¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯¤¿¤á¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ëɬÍפ¬¤¢¤ë¡£¤½¤ÎºÝ¡¢¤¿¤À¥³¡¼¥¹¤«¤é³°¤ì¤ë¤Î¤Ç¤Ï¤Ê¤¯»æ¥³¥Ã¥×¤¬Å¬ÀڤʰÌÃ֤ˤâ¤Ã¤Æ¤¤¤¯¤è¤¦¤ËÆ°¤«¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£
sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(30,-50,0);
Black_to_White(53,-30,0);
}
&ref(2017b/Member/riko/Mission2/¥³¡¼¥¹¤«¤é³°¤ì¤ë.PNG,600x300,¥³¡¼¥¹¤«¤é³°¤ì¤ë);
¾å¿Þ¤ÎÄ̤ꡢ±ß¤ÎÆ⦤òÁö¹ÔÃæ¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë¤è¤¦¤Ë¤¹¤ë¡£»æ¥³¥Ã¥×¤Î°ÌÃ֤˵¤¤òÉÕ¤±¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤Î¤Ç¥Ð¥Ã¥¯¤¹¤ë¤è¤¦¤ËÆ°¤¯¤³¤È¤Ë¤Ê¤ë¡£
*** »æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à [#c094d48c]
¤¿¤À¤Î»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òµÕ¤ËÆ°¤«¤·¤¿¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤³¤Î¤È¤¤Ï¸òº¹ÅÀ²£ÃÇ¤Î¥×¥í¥°¥é¥à¤Ï»È¤ï¤ì¤Æ¤¤¤Ê¤¤¡£
sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
{
OnFwd(OUT_C,-30);
Wait(900);
Off(OUT_C);
}
*** »æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à [#ae50d159]
»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¤½¤Î¥×¥í¥°¥é¥à¡£
sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(35,30,-10);
}
&ref(2017b/Member/riko/Mission2/¥³¡¼¥¹¤ËÉüµ¢.PNG,600x300,¥³¡¼¥¹¤ËÉüµ¢);
»æ¥³¥Ã¥×¤òÃÖ¤¯Æ°ºî¤«¤é¤Î³¤¤Ç¤¢¤ë¤³¤È¤ËÃí°Õ¤¹¤ì¤Ð¡¢ÆäËÆñ¤·¤¤Æ°¤¤Ï¤·¤Æ¤¤¤Ê¤¤¡£¥³¡¼¥¹¤ËÉüµ¢¤·¤¿¸å¤Ï±ß¤Î³°Â¦¡Êº¸Â¦¡Ë¤òÁö¤ë¡£
*** ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à [#h22ed960]
°ìÈֺǸå¤Ë°ì»þÄä»ß¤·¤¿¸å¡¢¥´¡¼¥ë¤¹¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ï¾¯¤·¤À¤±Æüì¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£
sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,10,40);
L_line(200,100);
Black_to_White(48,20,30);
OnFwd(OUT_A,20);
OnFwd(OUT_B,40);
Wait(500);
Off(OUT_AB);
}
&ref(2017b/Member/riko/Mission2/ºÇ¸å.PNG,600x300,ºÇ¸å);
¾å¿Þ¤Ïº¸¤ÎÀþ¤«¤é±¦Â¦¿Ê¤ó¤ÇÍè¤Æ¤ª¤ê¡¢¸òº¹ÅÀǧ¼±¤·¤¿¤È¤³¤í¤«¤é¤Ï¤¸¤Þ¤Ã¤Æ¤¤¤ë¤³¤È¤òÁÛÄꤷ¤Æ¤¤¤ë¡£ºÇ½é¤ÎÀþ¤ò²£ÃǤ·¤¿¸å¤ÎÀÄÌð°õ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤òɽ¤·¤Æ¤¤¤ë¡£¤Þ¤¿¡¢ºÇ¸å¤Î²£ÃǤò¤·¤¿¸å¤ÎÁ°¿Ê¤Ç¥´¡¼¥ë¤È¤Ê¤ë¡£
*** ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë¡Ê½Ðȯ¤¹¤ë¡Ë°Ù¤Î¥×¥í¥°¥é¥à [#t09cd7d9]
¤³¤Î¥³¡¼¥¹¤Î½Ðȯ»þ¤Ï¹õÀþ¤Ç°Ï¤Þ¤ì¤Æ¤¤¤ë¤¿¤á¡¢¤Þ¤º¤½¤³¤òÈ´¤±½Ð¤µ¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£¤½¤Î¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤â¤·¤Ê¤¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¤¿¤á¾¯¤·Æüì¤Ê¥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£
sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
Wait(100);
White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ë
}
&ref(2017b/Member/riko/Mission2/½é¤á.PNG,600x300,½é¤á);
¾å¿Þ¤Ï¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é»Ï¤Þ¤Ã¤Æ¤¤¤ë¡£²«¿§¤ÎÌð°õ¤Ï¤¿¤À¤Îľ¿Ê¤òɽ¤·¤Æ¤¤¤ë¡£
** °Â¿´°ÂÁ´¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°Ù¤Ë [#zeadfdb1]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢¸òº¹ÅÀǧ¼±¤·¡¢¸òº¹ÅÀ²£ÃǤäÆüì¤ÊÆ°¤¤ò¤¹¤ë¡£¤½¤Î¸å¡¢¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ëºÝ¡¢¸í¤Ã¤¿²Õ½ê¤Ç¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬´Ö¡¹¤¢¤ë¡£¤½¤Î¤¿¤á¡¢¸òº¹ÅÀǧ¼±¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÁ°¤Ë²¿Éô֡ÊAssist_time¡Ë¤«ÀäÂФ˥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤òÆþ¤ì¤Æ¤ª¤¯¡£
¤½¤¦¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸í¤Ã¤¿²Õ½ê¤Ç¤Î¸òº¹ÅÀǧ¼±¤¬¤Ê¤¯¤Ê¤Ã¤¿¡£
¤Þ¤¿¡¢¤³¤Î¥×¥í¥°¥é¥à¤òÍѤ¤¤ë¤³¤È¤Ë¤è¤ê¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¤è¤¦¤ÊµÞ¤Ê¥«¡¼¥Ö¤Çǧ¼±¤·¤Æ¤·¤Þ¤Ã¤Æ¤âÂн褬²Äǽ¤È¤Ê¤ë¡£
¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë
sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long ta=CurrentTick();
while (CurrentTick()-ta<=Assist_time){
if (SENSOR_1<average-11) {
move1
}else if (SENSOR_1<average-7){
move2;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move4;
} else {
move5;
}
}
}
sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t1=CurrentTick();
while (CurrentTick()-t1<=Stop_time){
if (SENSOR_1<average-11) {
move1;
} else if (SENSOR_1<average-7){
move2;
t1=CurrentTick();
} else if (SENSOR_1<average+7){
move3;
t1=CurrentTick();
} else if (SENSOR_1<average+11){
move4;
t1=CurrentTick();
} else {
move5;
t1=CurrentTick();
}
}
Off(OUT_AB);
}
¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë
sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long tb=CurrentTick();
while (CurrentTick()-tb<=Assist_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-7){
move4;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move2;
} else {
move1;
}
}
}
sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t2=CurrentTick();
while (CurrentTick()-t2<=Stop_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-8){
move4;
t2=CurrentTick();
} else if (SENSOR_1<average+6){
move3;
t2=CurrentTick();
} else if (SENSOR_1<average+11){
move2;
t2=CurrentTick();
} else {
move1;
t2=CurrentTick();
}
}
Off(OUT_AB);
}
* SE(¸ú²Ì²»¡Ë [#qd70a075]
º£²ó¤Î²ÝÂê¤ÎÃæ¤Ë²¿¤é¤«¤Î¥¢¥¯¥·¥ç¥ó¤òµ¯¤³¤·¤¿¤È¤¡¢²»¤òÌĤ餹¤È¤¤¤¦¤³¤È¤â´Þ¤Þ¤ì¤Æ¤¤¤ë¡£¤½¤Î¤¿¤á¡Ö°ì»þÄä»ß¤¹¤ë¤È¤¡×¡Ö»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë¤È¤¡×¡Ö¥´¡¼¥ë¤·¤¿¤È¤¡×¡Ö¸òº¹ÅÀǧ¼±¤ò¤·¤¿¤È¤¡×¡ÖAssist_time¤¬½ª¤ï¤Ã¤¿¤È¤¡×¡Ö¥¹¥¿¡¼¥È¤¹¤ë¤È¤¡×¤ÎÏ»¤Ä¤Î¾ìÌ̤ǻͤĤ⻤òÌĤ餹¡£
¡Ê¡Ö»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë¤È¤¡×¡Ö¥´¡¼¥ë¤·¤¿¤È¤¡×¤Î£Ó£Å¤òƱ¤¸¤â¤Î¤Ë¤¹¤ë¡£¡Ö¸òº¹ÅÀǧ¼±¤ò¤·¤¿¤È¤¡×¡ÖAssist_time¤¬½ª¤ï¤Ã¤¿¤È¤¡×¤ÎSE¤òƱ¤¸¤â¤Î¤È¤¹¤ë¡Ë
°Ê²¼¤ÎÄêµÁ¤¬²»¤Î¿ôÃͤȤ¹¤ë
#define SO 392 //¥½¤Î²»
#define DO 523 //¥É¤Î²»
#define MI 659 //¥ß¤Î²»
#define SO_H 784 //¹â¤¤¥½¤Î²»
#define SI 988 //¥·¤Î²»
#define DO_H 1047 //¹â¤¤¥É¤Î²»
#define MI_H 1318 //¹â¤¤¥ß¤Î²»
#define RE 1175 //¥ì¤Î²»
#define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»
** °ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²» [#lefd89a6]
¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
{
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
}
** »æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²» [#r57c506d]
¥Þ¡»¥ª¤Î1UP¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î1UP¤Î²»¡Ë
{
PlayTone(MI,110);Wait(120);
PlayTone(SO_H,110);Wait(120);
PlayTone(MI_H,110);Wait(120);
PlayTone(DO_H,110);Wait(120);
PlayTone(RE,110);Wait(120);
PlayTone(SO_SH,110);Wait(120);
}
** ¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²» [#k6796e5a]
¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
{
PlayTone(SI,90);Wait(100);
PlayTone(MI_H,140);Wait(150);
}
** ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²» [#b83a62ec]
¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
{
PlayTone(MI,100);Wait(110);
PlayTone(MI,100);Wait(250);
PlayTone(MI,100);Wait(160);
PlayTone(DO,90);Wait(100);
PlayTone(MI,90);Wait(230);
PlayTone(SO_H,90);Wait(420);
PlayTone(SO,170);Wait(180);
}
* Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#k59ec0d9]
°Ê¾å¤Î¥×¥í¥°¥é¥à¹ç¤ï¤»¡¢Å¬ÀڤʰÌÃÖ¤ËSE¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¡£
°Ê²¼¤Ï´°À®¤·¤¿Á´ÂÎ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤È¤Ê¤ë¡£
#define SO 392 //¥½¤Î²»
#define DO 523 //¥É¤Î²»
#define MI 659 //¥ß¤Î²»
#define SO_H 784 //¹â¤¤¥½¤Î²»
#define SI 988 //¥·¤Î²»
#define DO_H 1047 //¹â¤¤¥É¤Î²»
#define MI_H 1318 //¹â¤¤¥ß¤Î²»
#define RE 1175 //¥ì¤Î²»
#define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»
sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¥ê¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
{
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
}
sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î1UP¤Î²»¡Ë
{
PlayTone(MI,110);Wait(120);
PlayTone(SO_H,110);Wait(120);
PlayTone(MI_H,110);Wait(120);
PlayTone(DO_H,110);Wait(120);
PlayTone(RE,110);Wait(120);
PlayTone(SO_SH,110);Wait(120);
}
sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢¥¢¥·¥¹¥È¥¿¥¤¥à¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
{
PlayTone(SI,90);Wait(100);
PlayTone(MI_H,140);Wait(150);
}
sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
{
PlayTone(MI,100);Wait(110);
PlayTone(MI,100);Wait(250);
PlayTone(MI,100);Wait(160);
PlayTone(DO,90);Wait(100);
PlayTone(MI,90);Wait(230);
PlayTone(SO_H,90);Wait(420);
PlayTone(SO,170);Wait(180);
}
#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶³¦Àþ¾å¤ÎÃÍ
sub Stop_Motion() //°ì»þÄä»ß¤ò¤¹¤ë»þ¤Î¥×¥í¥°¥é¥à
{
Wait(300); //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¤È²¼¤Î²»¤òº®Æ±¤µ¤»¤Ê¤¤°Ù¤ÎÂÔ¤Á»þ´Ö
pose_SE(); //¥Ý¡¼¥º²»
Wait(1000); //°ì»þÄä»ß¤Î»þ´Ö
}
sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long ta=CurrentTick();
while (CurrentTick()-ta<=Assist_time){
if (SENSOR_1<average-11) {
move1
}else if (SENSOR_1<average-7){
move2;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move4;
} else {
move5;
}
}
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
long tb=CurrentTick();
while (CurrentTick()-tb<=Assist_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-7){
move4;
} else if (SENSOR_1<average+7){
move3;
} else if (SENSOR_1<average+11){
move2;
} else {
move1;
}
}
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t1=CurrentTick();
while (CurrentTick()-t1<=Stop_time){
if (SENSOR_1<average-11) {
move1;
} else if (SENSOR_1<average-7){
move2;
t1=CurrentTick();
} else if (SENSOR_1<average+7){
move3;
t1=CurrentTick();
} else if (SENSOR_1<average+11){
move4;
t1=CurrentTick();
} else {
move5;
t1=CurrentTick();
}
}
Off(OUT_AB);
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
long t2=CurrentTick();
while (CurrentTick()-t2<=Stop_time){
if (SENSOR_1<average-11) {
move5;
} else if (SENSOR_1<average-8){
move4;
t2=CurrentTick();
} else if (SENSOR_1<average+6){
move3;
t2=CurrentTick();
} else if (SENSOR_1<average+11){
move2;
t2=CurrentTick();
} else {
move1;
t2=CurrentTick();
}
}
Off(OUT_AB);
coin_SE(); //¥³¥¤¥ó¤Î²»
}
sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1>blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
while (SENSOR_1<blight){
OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
}
Off(OUT_AB);
}
sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à
Wait(800);
Off(OUT_C);
one_UP_SE(); //1UP¤Î²»
}
sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
{
OnFwd(OUT_C,-30);
Wait(900);
Off(OUT_C);
one_UP_SE(); //1UP¤Î²»
}
sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
{
Black_to_White(48,40,35);
}
sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,-10,30);
}
sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Black_to_White(48,40,10);
}
sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(33,-28,35);
Black_to_White(48,-20,35);
}
sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(30,-50,0);
Black_to_White(53,-30,0);
}
sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
White_to_Black(35,30,-10);
}
sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à¡£¾¯¤·¤À¤±Æüì¤Ê¥×¥í¥°¥é¥à¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿
{
Black_to_White(48,10,40);
L_line(200,100);
Black_to_White(48,20,30);
OnFwd(OUT_A,20);
OnFwd(OUT_B,40);
Wait(500);
Off(OUT_AB);
one_UP_SE(); //1UP¤Î²»
}
sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
Start_SE(); //¥¹¥¿¡¼¥È¤Î²»
Wait(100);
White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ë
}
task main()
{
SetSensorLight(S1); //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ°
Start_Set(); //¥¹¥¿¡¼¥È
L_line(6000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢6ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
Get_cup(); //»æ¥³¥Ã¥×¤ò¼è¤ë
Return_cource_1(); //¥³¡¼¥¹¤ËÌá¤ë
L_line(200,200); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.2ÉäǸòº¹ÅÀǧ¼±
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_line(700,110); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.7ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.11ÉäǸòº¹ÅÀǧ¼±
Straight(); //¸òº¹ÅÀǧ¼±¤òľ¿Ê
R_line(3000,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
R_line(3500,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3.5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
R_line(1000,100); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.1ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_Assist_line(5000); //5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡Ê»æ¥³¥Ã¥×¤ÎÃÖ¤¯¤È¤³¤í¤Þ¤Ç¤Î°ÜÆ°¡Ë
Derailment_cource(); //¥³¡¼¥¹¤òæÀþ¡Ê»æ¥³¥Ã¥×¤òÃÖ¤¯¾ì½ê¤òÄ´À°¡Ë
Put_cup(); //»æ¥³¥Ã¥×¤òÃÖ¤¯
Return_cource_2(); //¥³¡¼¥¹¤ËÌá¤ë
L_line(2000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_line(1000,180); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.18ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Right(); //¸òº¹ÅÀ¤ò±¦ÀÞ
L_line(1000,250); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.25ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
R_line(1000,130); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.13ÉäǸòº¹ÅÀǧ¼±
Stop_Motion(); //°ì»þÄä»ß
Go_goal(); //¥´¡¼¥ë¤Ø¸þ¤«¤¦
}
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