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[[2018a/Member]]
#contents
*²ÝÂꣳ [#ob6e9718]
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***¦¤ª¤â¤ê [#k0a9b601]
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*¥×¥í¥°¥é¥à [#kf9848e4]
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**²¼¤ÎRCX [#m084f8cd]
/*ÃÍÄêµÁ*/
#define LOWPOWER 1
#define HIGHPOWER 6
#define BLACK 39 /*¹õ¤ÎïçÃÍ*/
#define WHITE 40 /*Çò¤ÎïçÃÍ*/
/*Æ°ºîÄêµÁ*/
#define turn_r OnFwd(OUT_A);OnRev(OUT_C);SetPower(OUT_AC,HIGHPOWER); /*±¦Àû²ó*/
#define turn_l OnFwd(OUT_C);OnRev(OUT_A);SetPower(OUT_AC,HIGHPOWER); /*º¸Àû²ó*/
#define go OnFwd(OUT_AC);SetPower(OUT_AC,LOWPOWER); /*ľ¿Ê*/
#define grip_sita Off(OUT_B);SetPower(OUT_B,LOWPOWER);OnFwd(OUT_B); /*²¼¤Î´Ì¤òÄϤà*/
#define release Off(OUT_B);SetPower(OUT_B,LOWPOWER);OnRev(OUT_B); /*²¼¤Î´Ì¤òÊü¤¹*/
#define stay Off(OUT_AC); /*ˁȧ*/
/*ÄÌ¿®ÍÑÄêµÁ*/
#define GRIP_UE 11 /*¾å¤Î´Ì¤òÄϤޤ»¤ë*/
#define STAY 12 /*ÀŻߤµ¤»¤ë*/
#define RELEASE 13 /*¾å¤Î´Ì¤òÊü¤µ¤»¤ë*/
#define GO_TRACE 14 /*¥È¥ì¡¼¥¹Æ°ºî¤ËÌá¤ë*/
#define PUSH 15 /*¿¿¤óÃæ¤Î´Ì¤òÍî¤È¤µ¤»¤ë*/
#define LIFT_DOWN 16 /*¾å¤Î´Ì¤ò²¼¤í¤µ¤»¤ë*/
task main(){
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
ClearMessage();
int blackN = 0; /*T»úÏ©¤ÎȽÃǤ˻ÈÍÑ*/
while(blackN <= 1){
if(SENSOR_1 >= WHITE && SENSOR_3>= WHITE){ /*¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï*/
go;
}else if(SENSOR_3 <= BLACK && blackN == 0){ /*¶Ê¤¬¤ê³Ñ¤ÎȽÃÇ*/
go;Wait(50); /*¾¯¤·¿Ê¤ó¤Ç¤«¤é±¦ÀÞ¤µ¤»¤ë*/
stay;Wait(50);
turn_r;
Wait(125);
blackN++; /*¹õ¤ËÆþ¤Ã¤¿²ó¿ô¤ò¥«¥¦¥ó¥È*/
}else if(SENSOR_3 <= BLACK && blackN == 1){ /*T»úÏ©¤ÎȽÃÇ*/
stay;
blackN++;
}
stay;Wait(30); /*°ì»þÄä»ß*/
}
grip_sita;Wait(60);Off(OUT_B); /*²¼¤Î´Ì¤òÄϤà*/
SendMessage(GRIP_UE);Wait(800); /*¾å¤Î´Ì¤òÄϤàÌ¿Îá¤ò½Ð¤¹*/
while(Message() == GO_TRACE){ /*¾¯¤·¿Ê¤ó¤Ç¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤¹¤ëͽÄê¤À¤Ã¤¿*/
SendMessage(STAY);
stay;Wait(50);
OnFwd(OUT_AC);Wait(300);stay; /*ľ¿Ê¤µ¤»¤Æ£²¤ÄÌܤδ̥¿¥ï¡¼¤Ë¤Ö¤Ä¤±¤ë*/
ClearMessage(); /*whileʸ¤òÈ´¤±¤ë*/
}
}
**¾å¤ÎRCX [#ofcf341a]
/*ÃÍÄêµÁ*/
#define LOWPOWER 2
/*Æ°ºîÄêµÁ*/
#define grip_ue OnFwd(OUT_C);SetPower(OUT_C,LOWPOWER);Wait(100); /*¾å¤Î´Ì¤òÄϤà*/
#define release OnRev(OUT_C);SetPower(OUT_C,LOWPOWER);Wait(100);Off(OUT_C); / *¾å¤Î´Ì¤òÊü¤¹*/
#define lift_up OnFwd(OUT_A);SetPower(OUT_A,LOWPOWER);Wait(100);Off(OUT_A); /*¾å¤Î´Ì¤ò¾å¤²¤ë*/
#define lift_down OnRev(OUT_A);SetPower(OUT_A,LOWPOWER);Wait(200);Off(OUT_A); /*¾å¤Î´Ì¤ò²¼¤í¤¹*/
#define push OnFwd(OUT_B);SetPower(OUT_B,LOWPOWER);Wait(100);Off(OUT_B); /*¿¿¤óÃæ¤Î´Ì¤òÍî¤È¤¹*/
#define reload OnRev(OUT_B);SetPower(OUT_B,LOWPOWER);Wait(100);Off(OUT_B); /*´Ì¤òÍî¤È¤¹µ¡¹½¤òÌ᤹*/
#define stay Off(OUT_AC); /*ˁȧ*/
/*ÄÌ¿®ÍÑÄêµÁ*/
#define GRIP_UE 11 /*¾å¤Î´Ì¤ò»ý¤Á¾å¤²¤ë*/
#define STAY 12 /*ÀŻߤ¹¤ë*/
#define RELEASE 13 /*¾å¤Î´Ì¤òÊü¤¹*/
#define GO_TRACE 14 /*¥È¥ì¡¼¥¹Æ°ºî¤ËÌᤵ¤»¤ë*/
#define PUSH 15 /*¿¿¤óÃæ¤Î´Ì¤òÍî¤È¤¹*/
#define LIFT_DOWN 16 /*¾å¤Î´Ì¤ò²¼¤í¤¹*/
task main(){
ClearMessage();
int CT1=0; /*´Ì¥¿¥ï¡¼£±¤ËÂФ¹¤ëÆ°ºî¤Î¶èÊ̤˻ÈÍÑ*/
while(CT1¡¡==¡¡0){
if(Message()==GRIP_UE){
grip_ue; /*¾å¤Î´Ì¤òÄϤà*/
stay;Wait(50);
CT1++; /*´Ì¥¿¥ï¡¼£±¤ËÂФ¹¤ëÁàºî¤Î½ªÎ»*/
}else{
stay;
}
}
lift_up; /*¾å¤Î´Ì¤ò»ý¤Á¾å¤²¤ë*/
stay;Wait(50);
push; /*´Ì¤ò²¡¤·Åݤ¹*/
Wait(50);
reload; /*Íî¤È¤¹¤Î¤Ë»È¤Ã¤¿Éôʬ¤òÌ᤹*/
stay;Wait(50);
lift_down; /*¾å¤Î´Ì¤ò²¼¤í¤¹*/
SendMessage(GO_TRACE); /*¥È¥ì¡¼¥¹¤òºÆ³«¤·¤Æ¤â¤é¤¦*/
}
*È¿¾ÊÅÀ¤Ê¤É [#f0d36bd8]
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[[2018a/Member]]
#contents
*²ÝÂꣳ [#ob6e9718]
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**²¼¤ÎRCX [#m084f8cd]
/*ÃÍÄêµÁ*/
#define LOWPOWER 1
#define HIGHPOWER 6
#define BLACK 39 /*¹õ¤ÎïçÃÍ*/
#define WHITE 40 /*Çò¤ÎïçÃÍ*/
/*Æ°ºîÄêµÁ*/
#define turn_r OnFwd(OUT_A);OnRev(OUT_C);SetPower(OUT_AC,HIGHPOWER); /*±¦Àû²ó*/
#define turn_l OnFwd(OUT_C);OnRev(OUT_A);SetPower(OUT_AC,HIGHPOWER); /*º¸Àû²ó*/
#define go OnFwd(OUT_AC);SetPower(OUT_AC,LOWPOWER); /*ľ¿Ê*/
#define grip_sita Off(OUT_B);SetPower(OUT_B,LOWPOWER);OnFwd(OUT_B); /*²¼¤Î´Ì¤òÄϤà*/
#define release Off(OUT_B);SetPower(OUT_B,LOWPOWER);OnRev(OUT_B); /*²¼¤Î´Ì¤òÊü¤¹*/
#define stay Off(OUT_AC); /*ˁȧ*/
/*ÄÌ¿®ÍÑÄêµÁ*/
#define GRIP_UE 11 /*¾å¤Î´Ì¤òÄϤޤ»¤ë*/
#define STAY 12 /*ÀŻߤµ¤»¤ë*/
#define RELEASE 13 /*¾å¤Î´Ì¤òÊü¤µ¤»¤ë*/
#define GO_TRACE 14 /*¥È¥ì¡¼¥¹Æ°ºî¤ËÌá¤ë*/
#define PUSH 15 /*¿¿¤óÃæ¤Î´Ì¤òÍî¤È¤µ¤»¤ë*/
#define LIFT_DOWN 16 /*¾å¤Î´Ì¤ò²¼¤í¤µ¤»¤ë*/
task main(){
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
ClearMessage();
int blackN = 0; /*T»úÏ©¤ÎȽÃǤ˻ÈÍÑ*/
while(blackN <= 1){
if(SENSOR_1 >= WHITE && SENSOR_3>= WHITE){ /*¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï*/
go;
}else if(SENSOR_3 <= BLACK && blackN == 0){ /*¶Ê¤¬¤ê³Ñ¤ÎȽÃÇ*/
go;Wait(50); /*¾¯¤·¿Ê¤ó¤Ç¤«¤é±¦ÀÞ¤µ¤»¤ë*/
stay;Wait(50);
turn_r;
Wait(125);
blackN++; /*¹õ¤ËÆþ¤Ã¤¿²ó¿ô¤ò¥«¥¦¥ó¥È*/
}else if(SENSOR_3 <= BLACK && blackN == 1){ /*T»úÏ©¤ÎȽÃÇ*/
stay;
blackN++;
}
stay;Wait(30); /*°ì»þÄä»ß*/
}
grip_sita;Wait(60);Off(OUT_B); /*²¼¤Î´Ì¤òÄϤà*/
SendMessage(GRIP_UE);Wait(800); /*¾å¤Î´Ì¤òÄϤàÌ¿Îá¤ò½Ð¤¹*/
while(Message() == GO_TRACE){ /*¾¯¤·¿Ê¤ó¤Ç¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤¹¤ëͽÄê¤À¤Ã¤¿*/
SendMessage(STAY);
stay;Wait(50);
OnFwd(OUT_AC);Wait(300);stay; /*ľ¿Ê¤µ¤»¤Æ£²¤ÄÌܤδ̥¿¥ï¡¼¤Ë¤Ö¤Ä¤±¤ë*/
ClearMessage(); /*whileʸ¤òÈ´¤±¤ë*/
}
}
**¾å¤ÎRCX [#ofcf341a]
/*ÃÍÄêµÁ*/
#define LOWPOWER 2
/*Æ°ºîÄêµÁ*/
#define grip_ue OnFwd(OUT_C);SetPower(OUT_C,LOWPOWER);Wait(100); /*¾å¤Î´Ì¤òÄϤà*/
#define release OnRev(OUT_C);SetPower(OUT_C,LOWPOWER);Wait(100);Off(OUT_C); / *¾å¤Î´Ì¤òÊü¤¹*/
#define lift_up OnFwd(OUT_A);SetPower(OUT_A,LOWPOWER);Wait(100);Off(OUT_A); /*¾å¤Î´Ì¤ò¾å¤²¤ë*/
#define lift_down OnRev(OUT_A);SetPower(OUT_A,LOWPOWER);Wait(200);Off(OUT_A); /*¾å¤Î´Ì¤ò²¼¤í¤¹*/
#define push OnFwd(OUT_B);SetPower(OUT_B,LOWPOWER);Wait(100);Off(OUT_B); /*¿¿¤óÃæ¤Î´Ì¤òÍî¤È¤¹*/
#define reload OnRev(OUT_B);SetPower(OUT_B,LOWPOWER);Wait(100);Off(OUT_B); /*´Ì¤òÍî¤È¤¹µ¡¹½¤òÌ᤹*/
#define stay Off(OUT_AC); /*ˁȧ*/
/*ÄÌ¿®ÍÑÄêµÁ*/
#define GRIP_UE 11 /*¾å¤Î´Ì¤ò»ý¤Á¾å¤²¤ë*/
#define STAY 12 /*ÀŻߤ¹¤ë*/
#define RELEASE 13 /*¾å¤Î´Ì¤òÊü¤¹*/
#define GO_TRACE 14 /*¥È¥ì¡¼¥¹Æ°ºî¤ËÌᤵ¤»¤ë*/
#define PUSH 15 /*¿¿¤óÃæ¤Î´Ì¤òÍî¤È¤¹*/
#define LIFT_DOWN 16 /*¾å¤Î´Ì¤ò²¼¤í¤¹*/
task main(){
ClearMessage();
int CT1=0; /*´Ì¥¿¥ï¡¼£±¤ËÂФ¹¤ëÆ°ºî¤Î¶èÊ̤˻ÈÍÑ*/
while(CT1¡¡==¡¡0){
if(Message()==GRIP_UE){
grip_ue; /*¾å¤Î´Ì¤òÄϤà*/
stay;Wait(50);
CT1++; /*´Ì¥¿¥ï¡¼£±¤ËÂФ¹¤ëÁàºî¤Î½ªÎ»*/
}else{
stay;
}
}
lift_up; /*¾å¤Î´Ì¤ò»ý¤Á¾å¤²¤ë*/
stay;Wait(50);
push; /*´Ì¤ò²¡¤·Åݤ¹*/
Wait(50);
reload; /*Íî¤È¤¹¤Î¤Ë»È¤Ã¤¿Éôʬ¤òÌ᤹*/
stay;Wait(50);
lift_down; /*¾å¤Î´Ì¤ò²¼¤í¤¹*/
SendMessage(GO_TRACE); /*¥È¥ì¡¼¥¹¤òºÆ³«¤·¤Æ¤â¤é¤¦*/
}
*È¿¾ÊÅÀ¤Ê¤É [#f0d36bd8]
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