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#contents
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#define SIGNALON_C 39
#define SIGNALON_T 2
-¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ
±¦¤Î¸÷¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ
sub black_R()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
{
while(FastTimer(0)<10)
{
if(SENSOR_3<37){Off(OUT_AC);¡¡¡¡//¹õÀþ¤ÇÄä»ß
Wait(100);}
else{OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤Á°¿Ê
ClearTimer(0);}
}
}
º¸¤Î¸÷¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ
sub black_L()
{
while(FastTimer(0)<10)
{
if(SENSOR_1<37){Off(OUT_AC);¡¡¡¡//¹õÀþ¤ÇÄä»ß
Wait(100);}
else{OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤Á°¿Ê
ClearTimer(0);}
}
}
±¦¤Î¸÷¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ£²
sub back()
{
while(FastTimer(0)<10)
{
if(SENSOR_3<37){Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡//¹õÀþ¤ÇÄä»ß
Wait(100);}
else{OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤¸åÂà
ClearTimer(0);}
}
}
-¼ÂºÝ¤Î¥×¥í¥°¥é¥à
¾åµ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òÍѤ¤¤Æ°Ê²¼¤Î¤è¤¦¤Ë¥×¥í¥°¥é¥à¤·¤¿
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
¿Þ¡¤ÎÆ°¤
ClearTimer(0);
black_R();¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤Þ¤ÇÁ°¿Ê
OnRev(OUT_AC);¡¡¡¡¡¡¡¡//¼ÖÂΤÎÈùÄ´À°
Wait(100);
Off(OUT_AC);
ClearTimer(0);
black_R();
¿Þ¢¤ÎÆ°¤
OnFwd(OUT_C);¡¡¡¡¡¡¡¡//90ÅÙ±¦²óž
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
¿Þ£¤ÎÆ°¤
SendMessage(SIGNALON_C);¡¡¡¡¡¡//¤â¤¦°ì¤Ä¤ÎRIS¤ËÄÌ¿®¤¹¤ë
Off(OUT_AC);
Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ß½ª¤ï¤ë¤Þ¤ÇÂÔ¤Ä
¿Þ¤¤ÎÆ°¤
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//90ÅÙº¸²óž¤¹¤ë
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
¿Þ¥¤ÎÆ°¤
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂà
OnFwd(OUT_AC); //CÃÏÅÀ¤Î¹õÀþ¤òÅϤë
Wait(100);
Off(OUT_AC);
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤«¤éBÃÏÅÀ¤Þ¤Ç¸åÂà
Wait(100);
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OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Ç±¦²óž
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
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ClearTimer(0);¡¡¡¡¡¡¡¡
black_L();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C'ÃÏÅÀ¤Î¹õÀþ¤Þ¤ÇÁ°¿Ê
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
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SendMessage(SIGNALON_T);¡¡¡¡¡¡¡¡¡¡//¤â¤¦°ì¤Ä¤ÎRIS¤ËÄÌ¿®
Off(OUT_AC);
Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÍî¤È¤·½ª¤ï¤ë¤Þ¤ÇÂÔ¤Ä
¿Þ©¤ÎÆ°¤
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C'ÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂà
OnFwd(OUT_AC);
Wait(100);
Off(OUT_AC);
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ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂह¤ë
OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Ç90ÅÙº¸²óž¤¹¤ë
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
¾åµ¤Î¡¡Áª¤Î¥×¥í¥°¥é¥à¤ò·«¤êÊÖ¤·¡¢2¸ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò°ÜÆ°¤µ¤»¤ë
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¡¤ÎÆ°¤
black_R();
OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¢¤ÎÆ°¤
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
SendMessage(SIGNALON_C);¡¡¡¡¡¡¡¡¡¡//¿Þ£¤ÎÆ°¤
Off(OUT_AC);
Wait(1000);
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¤¤ÎÆ°¤
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¥¤ÎÆ°¤
OnFwd(OUT_AC);
Wait(100);
Off(OUT_AC);
ClearTimer(0);
back();
Wait(100);
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¦¤ÎÆ°¤
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ§¤ÎÆ°¤
black_L();
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
ClearTimer(0);
back();
OnFwd(OUT_AC);
Wait(100);
Off(OUT_AC);
SendMessage(SIGNALON_T);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¨¤ÎÆ°¤
Off(OUT_AC);
Wait(1000);
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ©ª¤ÎÆ°¤
back();
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
}
-¥¯¥ì¡¼¥ó¤Î¾å²¼ÍѤÎRIS¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ
#define SIGNALON_C 39
#define SIGNALON_T 2
task main()
{
ClearMessage();
while(true)
{
if(Message()==SIGNALON_C){ //¿Þ£¤Ç¼õ¿®¤¹¤ë
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¤ª¤í¤¹
Wait(50);
Off(OUT_A);
OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à
Wait(10);
Off(OUT_B);
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¾å¤²¤ë
Wait(300);
Off(OUT_A);}
else if(Message()==SIGNALON_T){¡¡¡¡¡¡¡¡¡¡//¿Þ¨¤Ç¼õ¿®¤¹¤ë
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¤ª¤í¤¹
Wait(50);
Off(OUT_A);
OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÍî¤È¤¹
Wait(10);
Off(OUT_B);
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¾å¤²¤ë
Wait(300);
Off(OUT_A);}
}
}
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#define SIGNALON_C 39
#define SIGNALON_T 2
-¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ
±¦¤Î¸÷¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ
sub black_R()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
{
while(FastTimer(0)<10)
{
if(SENSOR_3<37){Off(OUT_AC);¡¡¡¡//¹õÀþ¤ÇÄä»ß
Wait(100);}
else{OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤Á°¿Ê
ClearTimer(0);}
}
}
º¸¤Î¸÷¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ
sub black_L()
{
while(FastTimer(0)<10)
{
if(SENSOR_1<37){Off(OUT_AC);¡¡¡¡//¹õÀþ¤ÇÄä»ß
Wait(100);}
else{OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤Á°¿Ê
ClearTimer(0);}
}
}
±¦¤Î¸÷¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ£²
sub back()
{
while(FastTimer(0)<10)
{
if(SENSOR_3<37){Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡//¹õÀþ¤ÇÄä»ß
Wait(100);}
else{OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤¤¤È¤¸åÂà
ClearTimer(0);}
}
}
-¼ÂºÝ¤Î¥×¥í¥°¥é¥à
¾åµ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òÍѤ¤¤Æ°Ê²¼¤Î¤è¤¦¤Ë¥×¥í¥°¥é¥à¤·¤¿
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
¿Þ¡¤ÎÆ°¤
ClearTimer(0);
black_R();¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤Þ¤ÇÁ°¿Ê
OnRev(OUT_AC);¡¡¡¡¡¡¡¡//¼ÖÂΤÎÈùÄ´À°
Wait(100);
Off(OUT_AC);
ClearTimer(0);
black_R();
¿Þ¢¤ÎÆ°¤
OnFwd(OUT_C);¡¡¡¡¡¡¡¡//90ÅÙ±¦²óž
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
¿Þ£¤ÎÆ°¤
SendMessage(SIGNALON_C);¡¡¡¡¡¡//¤â¤¦°ì¤Ä¤ÎRIS¤ËÄÌ¿®¤¹¤ë
Off(OUT_AC);
Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ß½ª¤ï¤ë¤Þ¤ÇÂÔ¤Ä
¿Þ¤¤ÎÆ°¤
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//90ÅÙº¸²óž¤¹¤ë
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
¿Þ¥¤ÎÆ°¤
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂà
OnFwd(OUT_AC); //CÃÏÅÀ¤Î¹õÀþ¤òÅϤë
Wait(100);
Off(OUT_AC);
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//CÃÏÅÀ¤«¤éBÃÏÅÀ¤Þ¤Ç¸åÂà
Wait(100);
¿Þ¦¤ÎÆ°¤
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Ç±¦²óž
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
¿Þ§¤ÎÆ°¤
ClearTimer(0);¡¡¡¡¡¡¡¡
black_L();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C'ÃÏÅÀ¤Î¹õÀþ¤Þ¤ÇÁ°¿Ê
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
¿Þ¨¤ÎÆ°¤
SendMessage(SIGNALON_T);¡¡¡¡¡¡¡¡¡¡//¤â¤¦°ì¤Ä¤ÎRIS¤ËÄÌ¿®
Off(OUT_AC);
Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÍî¤È¤·½ª¤ï¤ë¤Þ¤ÇÂÔ¤Ä
¿Þ©¤ÎÆ°¤
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C'ÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂà
OnFwd(OUT_AC);
Wait(100);
Off(OUT_AC);
¿Þª¤ÎÆ°¤
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Î¹õÀþ¤Þ¤Ç¸åÂह¤ë
OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//BÃÏÅÀ¤Ç90ÅÙº¸²óž¤¹¤ë
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
¾åµ¤Î¡¡Áª¤Î¥×¥í¥°¥é¥à¤ò·«¤êÊÖ¤·¡¢2¸ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò°ÜÆ°¤µ¤»¤ë
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¡¤ÎÆ°¤
black_R();
OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¢¤ÎÆ°¤
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
SendMessage(SIGNALON_C);¡¡¡¡¡¡¡¡¡¡//¿Þ£¤ÎÆ°¤
Off(OUT_AC);
Wait(1000);
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¤¤ÎÆ°¤
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
ClearTimer(0);
back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¥¤ÎÆ°¤
OnFwd(OUT_AC);
Wait(100);
Off(OUT_AC);
ClearTimer(0);
back();
Wait(100);
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¦¤ÎÆ°¤
OnRev(OUT_C);
Wait(60);
Off(OUT_AC);
Wait(100);
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ§¤ÎÆ°¤
black_L();
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
ClearTimer(0);
back();
OnFwd(OUT_AC);
Wait(100);
Off(OUT_AC);
SendMessage(SIGNALON_T);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ¨¤ÎÆ°¤
Off(OUT_AC);
Wait(1000);
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Þ©ª¤ÎÆ°¤
back();
OnFwd(OUT_C);
OnRev(OUT_A);
Wait(55);
Off(OUT_AC);
Wait(100);
}
-¥¯¥ì¡¼¥ó¤Î¾å²¼ÍѤÎRIS¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ
#define SIGNALON_C 39
#define SIGNALON_T 2
task main()
{
ClearMessage();
while(true)
{
if(Message()==SIGNALON_C){ //¿Þ£¤Ç¼õ¿®¤¹¤ë
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¤ª¤í¤¹
Wait(50);
Off(OUT_A);
OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à
Wait(10);
Off(OUT_B);
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¾å¤²¤ë
Wait(300);
Off(OUT_A);}
else if(Message()==SIGNALON_T){¡¡¡¡¡¡¡¡¡¡//¿Þ¨¤Ç¼õ¿®¤¹¤ë
OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¤ª¤í¤¹
Wait(50);
Off(OUT_A);
OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÍî¤È¤¹
Wait(10);
Off(OUT_B);
OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¯¥ì¡¼¥ó¤ò¾å¤²¤ë
Wait(300);
Off(OUT_A);}
}
}
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