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#define kurot 37
#define kurok 42
#define kurog 45
#define shiro 47
#define hi 1
#define low 1
#define lift_up OnFwd(OUT_AB);
#define lift_down OnRev(OUT_AB);
#define tukamu OnRev(OUT_C);
#define release OnFwd(OUT_C);
#define MOVE_TIMEA 280
#define MOVE_TIMEB 140
#define MOVE_TIMEC 30
#define MOVE_TIMED 250
#define kousin 5
#define pdown 6
#define zensin 7
#define kyatti 8
#define anoraitore 10
#define kankan 11
#define bnoraitore 12
#define cnoraitore 13
#define bniraitore 14
#define kanhanasu 15
#define tyoikousin 16 
int p=0;
int n=0;
int x=0;
int y=0;
int k=0; 
task main()
{
ClearMessage(); 
while(k < 1){
until(Message() == kyatti);
tukamu;
Wait(50);
lift_up;
Wait(300);
k++;
}
ClearMessage();
SendMessage(anoraitore);
Wait(10);
while(k < 2){
ClearMessage();
until(Message() == kankan);
lift_down; 
Wait(MOVE_TIMEC);
Off(OUT_AB);
release;
Wait(50);
Off(OUT_C);
release; 
Wait(50);
Off(OUT_C);
k++;
}
ClearMessage();
SendMessage(kousin);
Wait(10);
ClearMessage();
while(k < 3){
until(Message() == pdown);
lift_down; 
Wait(MOVE_TIMED);
Off(OUT_AB);
k++;
}
ClearMessage();
SendMessage(zensin);
Wait(10);
ClearMessage();
while(k < 4){
until(Message() == kyatti);
tukamu; 
Wait(50);
k++;
}
ClearMessage();
SendMessage(bnoraitore);
Wait(10);
ClearMessage();
while(k < 5){
until(Message() == kyatti);
tukamu;
Wait(50);
lift_up;
Wait(MOVE_TIMEA);
k++;
}
ClearMessage();
SendMessage(cnoraitore);
Wait(10);
ClearMessage();
while(k < 6){
until(Message() == kankan);
lift_down;
Wait(MOVE_TIMEC);
release;
Wait(50);
k++; 
}
ClearMessage();
SendMessage(kousin);
Wait(10);
ClearMessage();
while(k < 7){
until(Message() == pdown);
lift_down; 
Wait(MOVE_TIMED);
Off(OUT_AB);
k++;
}
ClearMessage();
SendMessage(zensin);
Wait(10);
ClearMessage();
while(k < 8){
until(Message() == kyatti);
tukamu;
Wait(50);
k++;
}
ClearMessage();
SendMessage(bniraitore);
ClearMessage();
while(k < 9){
until(Message() == kanhanasu);
release;
Wait(50);
k++;
}
ClearMessage();
SendMessage(tyoikousin);
Wait(10);
Off(OUT_ABC);
}

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#define kurot 37
#define kurok 42
#define kurog 45
#define shiro 47
#define hi 5
#define low 2
#define sh SetPower(OUT_AC, hi);
#define sl SetPower(OUT_AC,low);
#define slh SetPower(OUT_A,low); SetPower(OUT_C,hi);
#define shl SetPower(OUT_A,hi);  SetPower(OUT_C,low);
#define sss SetPower(OUT_A,1);SetPower(OUT_C,1);
#define mae sh OnFwd(OUT_AC);
#define ushiro OnRev(OUT_AC); 
#define migi0 sl; OnFwd(OUT_C); Off(OUT_A);
#define migi1 sl; OnFwd(OUT_C); OnRev(OUT_A); 
#define hidari0 sl; Off(OUT_C); OnFwd(OUT_A);
#define hidari1 sl; OnRev(OUT_C); OnFwd(OUT_A);
#define STEP 1
#define nMAX 5 
#define yasumi Off(OUT_AC); Wait(100);
#define cross 25
#define cross_line  sl; OnFwd(OUT_AC); Wait(cross); yasumi;
#define kousin 5
#define pdown 6
#define zensin 7
#define kyatti 8
#define anoraitore 10
#define kankan 11
#define bnoraitore 12
#define cnoraitore 13
#define bniraitore 14
#define kanhanasu 15
#define tyoikousin 16  
int p=0;
int n=0;
int x=0;
int y=0; 
sub hidarikan () {  
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
    while(SENSOR_1 > 55){
    if (SENSOR_1 < kurot){
      hidari0;
      p++;
    } else {
    if(SENSOR_1 < kurok){
      hidari0;
    } else if (SENSOR_1 < kurog){
      mae;
    } else if (SENSOR_1 < shiro){
      migi0;
    } else {
      migi0;
     }
      p=0;
     }
      Wait(STEP);
     }
      yasumi;
      migi0;
      Wait(nMAX*STEP*2);
      cross_line;
      n++;
      p=0;
      }  
sub hidaria () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);  
while(n < 2){
while(p < nMAX){
    if (SENSOR_1 < kurot){
      hidari1;
      p++;
    } else {
    if(SENSOR_1 < kurok){
      hidari0;
    } else if (SENSOR_1 < kurog){
      mae;
    } else if (SENSOR_1 < shiro){
      migi0;
    } else {
      migi1;
    }
      p=0;
     }
      Wait(STEP);
     }
      yasumi;
      migi1;
      Wait(nMAX*STEP*2);
      cross_line;
      n++;
      p=0;
      }
} 
sub hidarib () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);  
while(n < 3){
while(p < nMAX){
    if (SENSOR_1 < kurot){
      hidari1;
      p++;
    } else {
    if(SENSOR_1 < kurok){
      hidari0;
    } else if (SENSOR_1 < kurog){
      mae;
    } else if (SENSOR_1 < shiro){
      migi0;
    } else {
      migi1;
     }
      p=0;
     }
      Wait(STEP);
     }
      yasumi;
      migi1;
      Wait(nMAX*STEP*2);
      cross_line;
      n++;
      p=0;
      }
}  
sub hidaric () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT); 
while(n < 4){
while(p < nMAX){
    if (SENSOR_1 < kurot){
      hidari1;
      p++;
    } else {
    if(SENSOR_1 < kurok){
      hidari0;
    } else if (SENSOR_1 < kurog){
      mae;
    } else if (SENSOR_1 < shiro){
      migi0;
    } else {
      migi1;
     }
      p=0;
     }
      Wait(STEP);
     }
      yasumi;
      migi1;
      Wait(nMAX*STEP*2);
      cross_line;
      n++;
      p=0;
      }
} 
sub hidarid () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT); 
while(n < 7){
while(p < nMAX){
    if (SENSOR_1 < kurot){
      hidari1;
      p++;
    } else {
    if(SENSOR_1 < kurok){
      hidari0;
    } else if (SENSOR_1 < kurog){
      mae;
    } else if (SENSOR_1 < shiro){
      migi0;
    } else {
      migi1;
     }
      p=0;
     }
      Wait(STEP);
     }
      yasumi;
      migi1;
      Wait(nMAX*STEP*2);
      cross_line;
      n++;
      p=0;
      }
}  
task main ()
{ 
int p=0;
int n=0;
int x=0;
int y=0;
int k=0;
migi0;until(SENSOR_1 < 45); Off(OUT_AC);
hidarikan();
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 1){
until(Message() == anoraitore);
hidaria();
k++;
}
hidarikan();
ClearMessage();
SendMessage(kankan);
Wait(10);
ClearMessage();
while(k < 2){
until(Message() == kousin);
OnRev(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
} 
ClearMessage();
SendMessage(pdown);
Wait(10);
ClearMessage();
while(k < 3){
until(Message() == zensin);
OnFwd(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 4){
until(Message() == bnoraitore);
hidarib();
hidari1;
Wait(50);
OnFwd(OUT_AC);
Wait(25);
OnRev(OUT_AC);
Wait(50);
Off(OUT_AC);
migi0;
Wait(50);
migi1;until(SENSOR_1 <45); Off(OUT_AC);
hidarikan();
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 5){
until(Message() == cnoraitore);
hidaric();
hidarikan();
k++;
}
ClearMessage();
SendMessage(kankan);
Wait(10);
ClearMessage();
while(k < 6){
until(Message() == kousin);
OnRev(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(pdown);
Wait(10);
ClearMessage();
while(k < 7){
until(Message() == zensin);
OnFwd(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 8){
until(Message() == bniraitore);
hidarid();
hidari0;
Wait(10);
OnFwd(OUT_AC);
Wait(15);
k++;
}
ClearMessage();
SendMessage(kanhanasu);
Wait(10);
ClearMessage();
while(k < 9){
until(Message() == tyoikousin);
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
k++;
}
}

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Last-modified: 2014-02-06 (ÌÚ) 15:15:21