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int     shine;¡¡//¤É¤³¤¬ÌÀ¤ë¤¤¤«ÃµÃΤ¹¤ë¤¿¤á¤ÎÃÍ
#define set    SetPower(OUT_A,4);SetPower(OUT_C,7);SetSensor(SENSOR_3,SENSOR_LIGHT);shine==0;
#define r      OnFwd(OUT_A);¡¡¡¡//µ¡ÂΤ¬±¦Êý¸þ¤Ë²óž¤¹¤ë¥Þ¥¯¥í
#define tomare Off(OUT_A);¡¡¡¡¡¡//µ¡ÂιÔÆ°Ää»ß¥Þ¥¯¥í
#define fire   OnFwd(OUT_C);Wait(50);Float(OUT_C);¡¡¡¡//ȯ¼Í¡ª¤¹¤ë¥Þ¥¯¥í
#define s3     SENSOR_3¡¡¡¡¡¡¡¡ //SENSOR¤ÈÆþÎϤ¹¤ë¤Î¤¬ÌÌÅݤǺî¤Ã¤¿¥Þ¥¯¥í
task main (){
set;                            //¥Ñ¥ï¡¼¡¦¥»¥ó¥µ¡¼¡¦shine¤Î¥»¥Ã¥È
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡    //¥¿¥¤¥Þ¡¼¤ò¥¹¥¿¡¼¥È
while(Timer(0) < 40){ ¡¡    ¡¡  //£´£°¤Ï°ì²óž¤¹¤ë¤Î¤Ë½½Ê¬¤Ê»þ´Ö
r;if(s3 > shine){shine == s3;}¡¡//±¦²óž¤·¤Ê¤¬¤é¥»¥ó¥µ¡¼¤ÎÃͤ¬shine¤è¤êÂ礭¤«¤Ã¤¿¤éÃͤòÊѹ¹
}
PlayTone(440,50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¾å¤Î¥×¥í¥°¥é¥à¤¬Àµ¾ï¤ËºîÆ°¤·¤¿¤³¤È¤Î³Îǧ²»
r;until((s3 > shine-3)&&(s3 < shine+3));//¾å¤Ç¤È¤Ã¤¿shine¤ÎÃÍÉÕ¶á¤Þ¤Ç±¦²óž¤·¤¿¤é
r;Wait(15);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²ûÃæÅÅÅô¤Ø¤ÎÈùÄ´À°
tomare;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤½¤³¤Ç»ß¤Þ¤ë¡¡
fire;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤½¤·¤Æȯ¼Í¡ª¡ªÌ¿Ã桪¡ª
}

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int     shine;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤¤¤È¤³¤í¤òõÃΤ¹¤ë¤¿¤á¤ÎÃÍ
#define set    SetPower(OUT_A,4);SetPower(OUT_C,7);SetSensor(SENSOR_1,SENSOR_LIGHT);SetSensor(SENSOR_3,SENSOR_LIGHT);//¥Ñ¥ï¡¼¤È¥»¥ó¥µ¡¼¤ÎÀßÄê
#define r      OnFwd(OUT_A);//±¦²óž¤¹¤ë¤¿¤á¤Î¥Þ¥¯¥í
#define l      OnRev(OUT_A);//º¸²óž¤¹¤ë¤¿¤á¤Î¥Þ¥¯¥í
#define tomare Off(OUT_A);¡¡//Ää»ß¤¹¤ë¥Þ¥¯¥í
#define fire   OnFwd(OUT_C);Wait(50);Float(OUT_C);//ȯ¼Í¡ª¡ª¥Þ¥¯¥í
#define s1     SENSOR_1¡¡¡¡ //SENSOR¤ÎÆþÎϤ¬ÌÌÅݤǺî¤Ã¤¿¥Þ¥¯¥í¤½¤Î£±
#define s3     SENSOR_3¡¡¡¡ //¤½¤Î£²
task main (){
set;shine==0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥»¥Ã¥È¤Èshine¤Î¥»¥Ã¥È
ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤ò¥¹¥¿¡¼¥È
while(Timer(0) < 40){¡¡¡¡¡¡ //£´£°¤Ï£±²óž¤¹¤ë¤Î¤Ë½½Ê¬¤Ê»þ´Ö
r;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦²óž¤·¤Ê¤¬¤é
if((s3 > shine)&&(s1 < s3)) //±¦¥»¥ó¥µ¡¼¤ÎÃͤ¬º¸¥»¥ó¥µ¡¼¤ÎÃͤè¤êÂ礭¤¯shine¤ÎÃͤè¤êÂ礭¤«¤Ã¤¿¤é
{shine=s3;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //shine¤ÎÃͤòÊѹ¹
if((s1 > shine)&&(s1 > s3)) //º¸¥»¥ó¥µ¡¼¤ÎÃͤ¬±¦¥»¥ó¥µ¡¼¤ÎÃͤè¤êÂ礭¤¯shine¤ÎÃͤè¤êÂ礭¤«¤Ã¤¿¤é
{shine=s1;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //shine¤ÎÃͤòÊѹ¹
}
r;                          //±¦¥»¥ó¥µ¡¼¤¬shine¤ÎÃÍÉÕ¶á¤Þ¤Ç²óž¤·¤¿¤é
until((s3 >= shine-1)&&(s3 <= shine+1));
tomare;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Ää»ß
ClearTimer(1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤ò¥¹¥¿¡¼¥È
while(Timer(1) < 30){¡¡¡¡¡¡ //¡ù30¤Ï²ûÃæÅÅÅô¤ÎÄä»ßȽÃÇ»þ´Ö¡ù
if(s3 > shine)¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¥»¥ó¥µ¡¼¤¬shine¤è¤êÂ礭¤¤¤Ê¤é
{shine==s3;ClearTimer(1);}¡¡//ÃͤòÊѹ¹¤·¤Æ¥¿¥¤¥Þ¡¼¤ò¥ê¥¹¥¿¡¼¥È
if(s1 > shine)¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¥»¥ó¥µ¡¼¤¬shine¤è¤êÂ礭¤¤¤Ê¤é¡¡¡¡¡¡¡¡¡¡
{shine==s1;ClearTimer(1);}¡¡//ÃͤòÊѹ¹¤·¤Æ¥¿¥¤¥Þ¡¼¤ò¥ê¥¹¥¿¡¼¥È
if((s3 < shine)&&(s1 < shine)&&(s1 > s3))
{l;}¡¡//shine¤¬º¸±¦¤Î¥»¥ó¥µ¡¼¤è¤ê¤âÂ礭¤¯º¸¥»¥ó¥µ¡¼¤¬±¦¥»¥ó¥µ¡¼¤è¤êÂ礭¤¤¤Ê¤éº¸²óž
if((s3 < shine)&&(s1 < shine)&&(s1 < s3))
{r;}¡¡//shine¤¬º¸±¦¤Î¥»¥ó¥µ¡¼¤è¤ê¤âÂ礭¤¯±¦¥»¥ó¥µ¡¼¤¬º¸¥»¥ó¥µ¡¼¤è¤êÂ礭¤¤¤Ê¤é±¦²óž
}
tomare;ClearTimer(0);¡¡¡¡¡¡ //¹ÔÆ°Ää»ß¤È¥¿¥¤¥Þ¡¼¥¹¥¿¡¼¥È
while(Timer(0) < 5){¡¡¡¡¡¡¡¡//ÈùÄ´À°¤Î£°¡¥£µÉÃ
if(s1 > s3){l;}¡¡¡¡¡¡¡¡¡¡¡¡ //º¸±¦¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬Â礭¤¤Êý¤ËÊý¸þž´¹
if(s3 > s1){r;}
}
tomare;                     //¹ÔÆ°Ää»ß¤½¤·¤Æ
fire;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ȯ¼Í¡ª¡ªÌ¿Ã桪¡ª
}

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sub search_light (){//¸÷¸»¤òõ¤¹
	OnFwd(OUT_A);
	until ((SENSOR_1>50)||(SENSOR_3>50));
	ClearTimer(0);
}
task main() {
	SetSensor(SENSOR_1,SENSOR_LIGHT);
	SetSensor(SENSOR_3,SENSOR_LIGHT);
	ClearTimer(0);
	while(Timer(0)<=70){
	if (SENSOR_1<SENSOR_3) {OnFwd(OUT_A);}else{OnRev(OUT_A);}//¸÷¸»¤òÄÉÀפ¹¤ë
	if ((SENSOR_1<40)&&(SENSOR_3<40)) {search_light();}//¸÷¸»¤ò¸«¼º¤Ã¤¿¾ì¹ç¥¿¥¤¥Þ¡¼¤ò0¤Ë¤·¤Æ¸÷¸»¤òõ¤·½Ð¤¹
	if ((SENSOR_1>80)||(SENSOR_3>80)) {Off(OUT_A);}//¸÷¸»¤Ë¶á¤¤¾ì¹ç¤Ï»ß¤Þ¤ë
	Wait(5);
	}
	Off(OUT_A);OnFwd(OUT_C);Wait(30);Off(OUT_C);//7Éôָ÷¸»¤ò¸«¼º¤ï¤Ê¤«¤Ã¤¿¾ì¹ç¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
}

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