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#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë
#define POW 20//ξÊý¤¬¹õ¤Ç¤¢¤ë¤È¤­¤ËÁ°¿Ê¤¹¤ëÎÌ	
#define G_TIME 0//¸íº¹½¤Àµ
#defineRORTARY();Rot++;while(SENSOR_1>IKT)
{OnRev(OUT_C);OnFwd(OUT_A);}OnFwd(OUT_C);Off(OUT_A);Wait(60);
#define TIKAMITI_1();tika=1;
#define TIKAMITI_2();tika2=1;
sub MAE()//ξÊý¹õ¤Î»þ¡¢°ìÊâÁ°¤ËÁ°¿Ê
{OnFwd(OUT_A+OUT_C);
Wait(POW);
Off(OUT_A+OUT_C);
}
sub IPOMAE()//¶áÆ»¤Ç¤Ê¤¤¤È¤­¤ÎÁ°¿Ê
{OnFwd(OUT_A+OUT_C);
Wait(5);
Off(OUT_A+OUT_C);
}
sub SEAMAE()//¥µ¡¼¥ÁÁ°
{OnFwd(OUT_B);
Wait(100+33*G_TIME);
Off(OUT_B);
}
sub SEAEND()//¥µ¡¼¥Á½ªÎ»
{OnRev(OUT_B);
Wait(860+33*G_TIME);
Off(OUT_B);
}
task main()
{
SetSensor (SENSOR_1,SENSOR_LIGHT);
SetSensor (SENSOR_3,SENSOR_LIGHT);
int sens=0;
int Rot=0;
int TKMT=0;
int kuro=0;
int count=0;
int tika=0;
int tika2=0;
OnRev(OUT_B);
Wait(30+G_TIME);
Float(OUT_B);
while(true){
SetPower(OUT_A,7);
SetPower(OUT_C,7);
OnFwd(OUT_A+OUT_C);//Ä̾ïÁö¹Ô
Wait(2);
Float(OUT_A+OUT_C);
Wait(1);
if(sens==0&&SENSOR_3<=IKT&&Rot!=0){	//¥í¡¼¥¿¥ê¡¼
			sens++;
			OnFwd(OUT_C);
			Off(OUT_A);
			Wait(55+G_TIME);
			PlaySound(SOUND_CLICK);Wait(5+G_TIME);
					}
		if(Rot!=0&&SENSOR_1<=IKT&&SENSOR_3<=IKT){
			Rot=0;
			sens=0;
			OnFwd(OUT_A);
			Off(OUT_C);
			Wait(50+G_TIME);
			while(SENSOR_1>IKT){
				OnFwd(OUT_A);
				Off(OUT_C);
						}
								}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=1&&tika<3){  //¶áÆ»1
PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C);
OnFwd(OUT_C);until(SENSOR_3>IKT);OnRev(OUT_A);Wait(20);tika++;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika>=3){
PlaySound(SOUND_CLICK);tika=0;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=1&&tika2<3){ //¶áÆ»2
PlaySound(SOUND_CLICK);Off(OUT_A+OUT_C);
OnFwd(OUT_A);until(SENSOR_1>IKT);OnRev(OUT_C);Wait(20);tika2++;}
if(SENSOR_1<=IKT&&SENSOR_3<=IKT&&tika2>=3){
PlaySound(SOUND_CLICK);tika2=0;}
while(SENSOR_1<=IKT&&SENSOR_3>IKT){//º¸¤Ë¶Ê¤¬¤ë¤È¤­ 
OnRev(OUT_A+OUT_C);  
}
while(SENSOR_3<=IKT&&SENSOR_1>IKT&&Rot==0){//±¦¤Ë¶Ê¤¬¤ë¤È¤­
OnRev(OUT_C);                       	
} 
while(SENSOR_1<=IKT&&SENSOR_3<=IKT&&Rot==0&&tika==0&&tika2==0){	//¹õ¤¤Àþ¤¬Î¾Êý¿¨¤ì¤¿¤È¤­
MAE();
if(SENSOR_1<=IKT&&SENSOR_3<=IKT){//¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤¿¡Ê¶áÆ»¤ÈȽÃÇ¡Ë
PlaySound(SOUND_DOWN);
if(count==0){//°ì¼þÌܤλþ
TIKAMITI_1();
		
}
if(count>0){//Æó¼þÌܰʹß
TIKAMITI_2();
}
				}
else{	//¥µ¡¼¥ÁÁ°¤ËξÊý¹õ¤¤Àþ¤Ë¿¨¤ì¤Ê¤«¤Ã¤¿¡Ê¶áÆ»°Õ³°¤ÈȽÃÇ¡Ë
IPOMAE();
ClearTimer(0);
kuro=0;
SEAMAE();
                               
while(FastTimer(0)<=750+33*G_TIME&&tika==0&&tika2==0){//¥µ¡¼¥ÁÃæ
OnFwd(OUT_B);

if(SENSOR_1<=IKT){
PlaySound(SOUND_LOW_BEEP);
kuro++;
Wait(500+33*G_TIME);
  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡}        
                                      ¡¡¡¡¡¡¡¡¡¡¡¡¡¡}
SEAEND();
if(kuro==1){	//¥µ¡¼¥Á¤·¤¿¤È¤­¤Î¹õ¤¤Àþ¤Î¿ô¤¬1Ëܡʸòº¹ÅÀ¤ÈȽÃÇ¡Ë
PlaySound(SOUND_UP);
OnFwd(OUT_A+OUT_C);
Wait(30+G_TIME);
break;                                
 }
if(kuro>=2){//¥µ¡¼¥Á¤·¤¿¤È¤­¤Î¹õ¤¤Àþ¤Î¿ô¤¬2ËÜ(¥¹¥¿¡¼¥È¤ÈȽÃÇ¡Ë   
count++;
PlaySound(SOUND_UP);
OnFwd(OUT_A+OUT_C);
Wait(55+G_TIME);
break;
}                                            
if(kuro==0){//¥µ¡¼¥Á¤·¤¿¤È¤­¤Î¹õ¤¤Àþ¤Î¿ô¤¬0ËÜ(¥í¡¼¥¿¥ê¡¼¤«±Ô³Ñ¡Ë
PlaySound(SOUND_FAST_UP);
if(SENSOR_3<=IKT){	//¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(±¦)
OnFwd(OUT_C);
until(SENSOR_3>IKT);
Wait(30+G_TIME);
Off(OUT_C);
OnRev(OUT_A);
Wait(70+G_TIME);
break;
		}
if(SENSOR_1<=IKT){//¤â¤·±Ô³Ñ¤Ç¤¢¤ì¤Ð(º¸¡Ë
OnFwd(OUT_A);
until(SENSOR_1>IKT);
Wait(30+G_TIME);
Off(OUT_A);
OnRev(OUT_C);
Wait(70+G_TIME);
break;
                    }
else {//¤â¤·¥í¡¼¥¿¥ê¡¼¤Ç¤¢¤ì¤Ð
RORTARY();
break;
      }
		}
}                                       
                             }                        	
              }
}

¤Ò¤í

#define IKT 45//ïçÃÍ¡ÊÌÀ¤ë¤µÈ½ÃÇ¡Ë
#define t 780//b¤ò´¬Ì᤹»þ´Ö
sub turn_r(){	//±¦ÀÞ
	OnFwd(OUT_A);
	Off(OUT_C);
}
sub turn_l(){	//º¸ÀÞ
	OnFwd(OUT_C);
	Off(OUT_A);
}
sub turn_rb(){	//¥Ð¥Ã¥¯¤Ç±¦ÀÞ
	OnRev(OUT_C);
	Off(OUT_A);
}
sub turn_lb(){	//¥Ð¥Ã¥¯¤Çº¸ÀÞ
	OnRev(OUT_A);
	Off(OUT_C);
}
task main()
{
	SetSensor (SENSOR_1,SENSOR_LIGHT);
	SetSensor (SENSOR_3,SENSOR_LIGHT);
	int go=1;	//0¡§¥í¡¼¥¿¥ê¡¼¡¢1¡§½½»ú
	int sens=0;	//¥í¡¼¥¿¥ê¡¼¤Î±¦¤ò1²óÈô¤Ð¤¹
	int Rot=0;	//¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0
	int tika=0;	//¶áÆ»¤ËÆþ¤Ã¤Æ¤¤¤ë¤Ê¤é!=0
	int count=0;	//²¿¼þ¤·¤¿¤«
	int l=0;	//1¤Ê¤éºÇ¸å¤Ëº¸ÀÞ
	int r=0;	//1¤Ê¤éºÇ¸å¤Ë±¦ÀÞ
	int ex_turn=0;	//µÞ¥«¡¼¥Ö¤ò¶Ê¤¬¤ëÄ´À°¤ò¤·¤¿¤é1¡¢µÞ¥«¡¼¥Ö¤ò¤·¤¿¤é0
	int time=0;	//´¬¤­Ìᤷ¤Î»þ´Ö
	SetPower(OUT_A,7);SetPower(OUT_B,7);SetPower(OUT_C,7);	//½ÐÎÏÄ´À°
	OnRev(OUT_B);
	Wait(50);
	while(true){
		if(count==2){	//Æó¼þÌܤ¬½ª¤ï¤ë
			Off(OUT_A+OUT_B+OUT_C);	//Ää»ß
			break;
		}
		OnFwd(OUT_A+OUT_C);	//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ê¤éÁ°¿Ê
		Wait(3);
		Float(OUT_A+OUT_C);
		Wait(1);
		Off(OUT_B);
		if(sens==0&&SENSOR_3<IKT&&Rot!=0){//¥í¡¼¥¿¥ê¡¼¤Ç±¦¤ò1²óÈô¤Ð¤¹
			sens=1;
			while(SENSOR_3<IKT){
				turn_l();
			}
			Wait(20);
			PlaySound(SOUND_CLICK);Wait(5);
		}
		if(Rot!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){	//¥í¡¼¥¿¥ê¡¼¤ò½Ð¤ë
			Rot=0;
			sens=0;
			while(SENSOR_1<IKT){
				turn_r();
			}
			Wait(20);
			while(SENSOR_1>IKT){
				turn_r();
			}
		}
		if(tika!=0&&count!=0&&SENSOR_1<IKT&&SENSOR_3<IKT){//¶áÆ»&2¼þÌÜ¡¢Î¾Êý¹õ¤Çº¸¤Î¹õ¤ò̵»ë
			turn_r();Wait(70);
			if(tika==2){
				tika=0;
			}
			if(tika==1){
				tika++;
			}
		}
		if(tika!=0&&count==0&&SENSOR_1<IKT&&SENSOR_3<IKT){	//¶áÆ»&1¼þÌÜ¡¢Î¾Êý¹õ¤Ç±¦¤Î¹õ¤ò̵»ë
			turn_l();Wait(70);
			if(tika==2){
				tika=0;
			}
			if(tika==1){
				tika++;
			}
		}
		ClearTimer(0);
		while(SENSOR_1<IKT&&SENSOR_3>IKT){	//º¸ÀÞ
			if(FastTimer(0)>55){	//¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö
				ex_turn=0;
				turn_lb();
				PlaySound(SOUND_CLICK);
			}
			if(FastTimer(0)<17){
				turn_l();
				l=1;
				r=0;
			}
			else{
				turn_lb();
			}
		}
		ClearTimer(0);
		while(SENSOR_3<IKT&&SENSOR_1>IKT&&Rot==0){	//±¦ÀÞ
			if(FastTimer(0)>55){	//¤¿¤¯¤µ¤ó¶Ê¤¬¤ë¤ÈµÞ¥«¡¼¥Ö
				ex_turn=0;
				turn_rb();
				PlaySound(SOUND_CLICK);
			}
			if(FastTimer(0)<17){
				turn_r();
				r=1;
				l=0;
			}
			else{
				turn_rb();
			}
		}
		while(SENSOR_1<IKT&&SENSOR_3<IKT&&Rot==0&&tika==0){//ξÊý¹õ¤Ç¥í¡¼¥¿¥ê¡¼¡¢¶áÆ»¤ò¤·¤Æ¤Ê¤¤»þ
			if(l==1&&ex_turn==0){//ºÇ¸å¤Ëº¸ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é
				OnRev(OUT_A+OUT_C);
				Wait(25);
				while(SENSOR_3>IKT&&SENSOR_1>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤ê±¦¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤êº¸¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤­¤ë
					turn_rb();
				}
				ex_turn=1;
				PlaySound(SOUND_CLICK);
				break;
			}
			if(r==1&&ex_turn==0){//ºÇ¸å¤Ë±¦ÀÞ¤·¤¿»þ¡¢Î¾Êý¹õ¤Ë¤Ê¤Ã¤¿¤é
				OnRev(OUT_A+OUT_C);
				Wait(25);
				while(SENSOR_1>IKT&&SENSOR_3>IKT){//¥é¥¤¥ó¤¬¥í¥Ü¥Ã¥È¤ÎÃæ¿´¤è¤êº¸¤Ë¤¢¤ë»þ¡¢Ãæ¿´¤è¤ê±¦¤Ë¤¹¤ë¤ÈµÞ¥«¡¼¥Ö¤Ç¤­¤ë
					turn_lb();
				}
				ex_turn=1;
				PlaySound(SOUND_CLICK);
				break;
			}
			else{	//µÞ¥«¡¼¥Ö¤ÎÄ´À°¤ò¤·¤Æ¤âξÊý¹õ¤Ë¤Ê¤Ã¤¿»þ
				ex_turn=0;
				OnRev(OUT_A+OUT_C);
				Wait(27);
				while(SENSOR_1<IKT||SENSOR_3<IKT){
					OnFwd(OUT_A+OUT_C);
				}
				Off(OUT_A+OUT_C);
				ClearTimer(0);
				while(FastTimer(0)<t&&tika==0){//¶áÆ»¤ÎȽÄê
					OnFwd(OUT_B);
					if(SENSOR_1<IKT&&FastTimer(0)<t&&tika==0){//¹õÀþ¤ÎŤµ¤ò¬¤ë
						PlaySound(SOUND_CLICK);
						OnFwd(OUT_B);
						Wait(235);
						PlaySound(SOUND_UP);
						ClearTimer(1);
						while(SENSOR_1>IKT&&FastTimer(1)<120){//¶áÆ»¤Ê¤éŤ¤Çò
							OnFwd(OUT_B);
							Wait(12);
							if(SENSOR_1<IKT){
								tika=0;
								break;
							}
							tika=1;PlaySound(SOUND_DOWN);
						}
						if(SENSOR_1<IKT){//¤½¤ì°Ê³°¤Ï¹õ
							break;
						}
					}
				}
				time=FastTimer(0);
				if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤­Ìᤷ¤ò¤¹¤ë
					OnRev(OUT_B);
					Wait(time-12);
				}
				OnFwd(OUT_A+OUT_C);
				Wait(22);
				Off(OUT_B);
				if(tika==0){//¥í¡¼¥¿¥ê¡¼¤«½½»ú¤«¥¹¥¿¡¼¥È¤ÎȽÄê
					go=1;
					Wait(38);
					Off(OUT_A+OUT_C);
					ClearTimer(0);
					while(SENSOR_1>IKT&&SENSOR_3>IKT&&FastTimer(0)<t){	//¹õ¤òõ¤¹
						OnFwd(OUT_B);
						if(FastTimer(0)>730){	//¹õ¤¬Ìµ¤¤¤Ê¤é¡¢¥í¡¼¥¿¥ê¡¼
							go=0;
							Wait(5);
							break;
						}
					}
					time=FastTimer(0);
					if(FastTimer(0)<160&&SENSOR_1<IKT){//¹õ¤¬º¸¤Î¥»¥ó¥µ¡¼¤È¶á¤¤¤È¥¹¥¿¡¼¥È
						count++;
						PlaySound(SOUND_DOUBLE_BEEP);
						OnFwd(OUT_A+OUT_C);
						OnRev(OUT_B);
						Wait(27);
						Off(OUT_A+OUT_B+OUT_C);
						if(time>=27){
							Wait(time-27);//Æ°¤«¤·¤¿Î̤À¤±´¬¤­Ìᤷ¤ò¤¹¤ë
						}
						break;
					}
					if(FastTimer(0)>12){//Æ°¤«¤·¤¿Î̤À¤±´¬¤­Ìᤷ¤ò¤¹¤ë
						OnRev(OUT_B);
						Wait(time-12);
					}
					if(go==1){//½½»ú¤Î¸òº¹ÅÀ
						PlaySound(SOUND_DOWN);
						OnRev(OUT_B);
						Wait(22);
						OnFwd(OUT_A+OUT_C);
						Off(OUT_B);
					}
					else {//¥í¡¼¥¿¥ê¡¼¤Î»þ
						PlaySound(SOUND_DOUBLE_BEEP);
						Rot=1;
						go=1;
						OnRev(OUT_A+OUT_C);
						Wait(31);
						Off(OUT_B);
						while(SENSOR_1<IKT){
							turn_r();
						}
						Wait(20);
						while(SENSOR_1>IKT){
							turn_r();
						}
						while(SENSOR_3<IKT){
							turn_l();
						}
						turn_l();
						Wait(15);
					}
					Off(OUT_B);
				}
			}
		}
	}
}

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Last-modified: 2012-02-18 (ÅÚ) 22:41:01