工程设计实践程序.doc

$STAMP BS2 $PBASIC 2.5pulseCount VAR Bytego VAR Word - MainRoutine -FOR go = 1 TO 50 张开爪子 PULSOUT 0,950 PAUSE 20NEXTFOR go = 1 TO 40 走过绿色区域的黑线 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20NEXTDO 直走走到中点IF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOPFOR go =1 TO 13 向前走一点 PULSOUT 13, 690 PULSOUT 12, 819 PAUSE 20NEXTFOR go =1 TO 40 右转90度 PULSOUT 13, 770 PULSOUT 12, 775 PAUSE 20NEXTDO 走到E黄色IF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN2=0) 抓住黄色木块 FOR go =1 TO 100 PULSOUT 0,600 PAUSE 20 NEXTFOR go =1 TO 75 转150度 PULSOUT 13, 770 PULSOUT 12, 770 PAUSE 20NEXTFOR go =1 TO 90 夹住直走一段 PULSOUT 13,650 PULSOUT 12,850 PAUSE 20NEXTDO PULSOUT 13,690 PULSOUT 12,819 PAUSE 20LOOP UNTIL(IN6= 1) FOR go =1 TO 12 前进一段 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20 NEXTFOR go =1 TO 38 右转 PULSOUT 13,750 PULSOUT 12,819 PAUSE 20NEXTDOIF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN6 = 1) FOR go =1 TO 10 停一下 PULSOUT 13,750 PULSOUT 12,750 PAUSE 20 NEXTFOR go =1 TO 16 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 40NEXTFOR go =1 TO 10 停一下 PULSOUT 13,750 PULSOUT 12,750 PAUSE 40NEXTFOR go =1 TO 50 放黄色 PULSOUT 0,950 PAUSE 20NEXTFOR go =1 TO 42 后退 PULSOUT 13,820 PULSOUT 12,689 PAUSE 20NEXTFOR go =1 TO 16 右转 PULSOUT 13,770 PULSOUT 12,770 PAUSE 20NEXTDO 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20LOOP UNTIL(IN6=1) FOR go =1 TO 10 前进一段 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20 NEXTFOR go =1 TO 35 右转 PULSOUT 13,750 PULSOUT 12,819 PAUSE 20NEXTDO 走到红色IF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN2=0) FOR go =1 TO 100 抓住红色木块 PULSOUT 0,650 PAUSE 20 NEXTFOR go =1 TO 55 左转一点 PULSOUT 13,690 PULSOUT 12,750 PAUSE 20NEXTFOR go =1 TO 70 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20NEXTDO PULSOUT 13,690 PULSOUT 12,819 PAUSE 20LOOP UNTIL(IN6=1) FOR go =1 TO 12 前进一段 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20 NEXTFOR go =1 TO 38 右转 PULSOUT 13,750 PULSOUT 12,819 PAUSE 20NEXTDOIF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN6=1)FOR go =1 TO 10 停一下 PULSOUT 13,750 PULSOUT 12,750 PAUSE 20NEXTFOR go =1 TO 10 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 40NEXTFOR go =1 TO 10 停一下 PULSOUT 13,750 PULSOUT 12,750 PAUSE 40NEXTFOR go =1 TO 50 放红色木块 PULSOUT 0,950 PAUSE 20NEXTFOR go =1 TO 40 后退 PULSOUT 13,820 PULSOUT 12,689 PAUSE 20NEXTFOR go =1 TO 15 右转 PULSOUT 13,770 PULSOUT 12,770 PAUSE 20NEXTDO 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20LOOP UNTIL(IN6=1) FOR go =1 TO 12 前进一段 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20 NEXTFOR go =1 TO 35 右转 PULSOUT 13,750 PULSOUT 12,819 PAUSE 20NEXTDO 走到蓝色IF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN2=0) FOR go =1 TO 100 抓住蓝色木块 PULSOUT 0,650 PAUSE 20 NEXTDOIF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightENDIFLOOP UNTIL(IN14=1)AND(IN15=1)FOR go =1 TO 11 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20NEXTFOR go =1 TO 45 左转90 PULSOUT 13,690 PULSOUT 12,750 PAUSE 20NEXTDOIF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN6=1)FOR go =1 TO 10 停一下 PULSOUT 13,750 PULSOUT 12,750 PAUSE 20NEXTFOR go =1 TO 16 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 40NEXTFOR go =1 TO 10 停一下 PULSOUT 13,750 PULSOUT 12,750 PAUSE 40NEXTFOR go =1 TO 50 放蓝色 PULSOUT 0,950 PAUSE 20NEXTFOR go =1 TO 40 后退 PULSOUT 13,820 PULSOUT 12,689 PAUSE 20NEXTFOR go =1 TO 84 转180 PULSOUT 13,770 PULSOUT 12,775 PAUSE 20NEXTDOIF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN14=1)AND(IN15=1) FOR go =1 TO 11 前进 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20 NEXT FOR go =1 TO 50 左转90 PULSOUT 13,690 PULSOUT 12,750 PAUSE 20 NEXTDO 走回原点IF (IN14 = 0) AND (IN15 = 0) THEN GOSUB forwardELSEIF (IN14 = 0) THEN GOSUB leftELSEIF (IN15 = 0) THEN GOSUB rightELSE GOSUB stopping_Pulse EXITENDIFLOOP UNTIL(IN6=1) FOR go =1 TO 60 PULSOUT 13,690 PULSOUT 12,819 PAUSE 20 NEXTFOR go =1 TO 82 PULSOUT 13,770 PULSOUT 12,775 PAUSE 20NEXTEND - Subroutines -stopping_pulse: FOR pulsecount = 0 TO 1 PULSOUT 13,750 PULSOUT 12,750 PAUSE 20 NEXT RETURNleft