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#define off Off(OUT_BC);
#define TURN_TIME 500 //1/4²óž¤Î»þ´Ö
#define BLACK 31 //²¼¸Â
#define WHITE 62 //¾å¸Â
#define go OnFwd(OUT_BC,);
#define left OnFwd(OUT_B,35);Off(OUT_C);
#define right OnFwd(OUT_C,35);Off(OUT_B);
#define THRESHOLD 46
#define lleft OnFwd(OUT_B,35);OnRev(OUT_C,35); 
#define rright OnFwd(OUT_C,35);OnRev(OUT_B,35);
 
   
 task main()
{
  SetSensorLight(S1);
  int n=0;
  long t0 = CurrentTick();
  long t1 = CurrentTick();
  

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while(CurrentTick()-t0 <= 5350)
         {

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      if (SENSOR_1 < 35){OnFwd(OUT_B,20);Off(OUT_C);}
      else {if(SENSOR_1 < 42){OnFwd(OUT_B,20);OnRev(OUT_C,20); } 
      else if (SENSOR_1 < 50){OnFwd(OUT_BC,20);}
      else {OnFwd(OUT_C,20);Off(OUT_B);}
        
              }
    }
 

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  while (true)
  {
          
      while(CurrentTick()-t1 <= 43500)
           {
        while(n<5000)
       {
       if (SENSOR_1 < 35){left;n++; }
       else {if(SENSOR_1 < 42){lleft} 
       else if (SENSOR_1 < 50){go}
       else if (SENSOR_1 < 56){right}
       else {rright}
       n=0;
            }
        }
        Wait(1000);
        rright;
        Wait(5000);
        go
        Wait(200);
        n=0;
           }

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     off
     Wait(500);
     OnFwd(OUT_C,25);OnRev(OUT_B,25);
     Wait(1100);
     off
     Wait(500);
     OnRev(OUT_BC,30);
     Wait(900);
     off
     rright
     Wait(1000);

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     while(true)
         {
       if (SENSOR_1 < 35){left}
       else {if(SENSOR_1 < 42){lleft} 
       else if (SENSOR_1 < 50){go}
       else  {right}
            }
         }

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  }
}

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Last-modified: 2013-07-10 (¿å) 15:25:45