2004/C5/tameshi9-2

/*tameshi-9-2*/
#define THRESHOLD 40
#define RUN_TIME 100
 
task main()
{
ClearTimer(0);
SetSensor(SENSOR_1,SENSOR_LIGHT);
while ( Timer(0) <= RUN_TIME )
{
if(SENSOR_1<=THRESHOLD)
{OnFwd(OUT_A+OUT_C);
}
else
{
OnRev(OUT_A+OUT_C);
Wait(30);
OnFwd(OUT_A);
if(SENSOR_1<=THRESHOLD)
{
OnFwd(OUT_A+OUT_C);
}
else
{
OnRev(OUT_A);
Wait(30);
OnFwd(OUT_C);
}
}}}