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#define THRESHOLD 50
#define SPEED_H 35
#define SPEED_L 25
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define go_forward OnRL(SPEED_H,SPEED_H);
#define turn_left1 OnRL(SPEED_L,-SPEED_L);//º¸Àû²ó
#define turn_left0 OnRL(SPEED_L,0);//º¸ÀÞ
#define turn_right0 OnRL(0,SPEED_L);//±¦ÀÞ
#define turn_right1 OnRL(-SPEED_L,SPEED_L);//±¦Àû²ó
#define STEP 1
#define nMAX 120//ºÇ½é¤Î¸òº¹ÅÀ¤òÅϤ꤭¤ë¤Þ¤Ç¤Î¹õÀþ¥«¥¦¥ó¥¿¡¼¤ÎºÇÂçÃÍ
#define nMAX2 175//¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¸å¤Î¹õÀþ¥«¥¦¥ó¥¿¡¼¤ÎºÇÂçÃÍ
#define short_break Off(OUT_BC);Wait(1000);
#define CROSS_TIME 450
#define cross_line OnRL(SPEED_L,SPEED_L);Wait(CROSS_TIME);short_break;
task main()
{
 SetSensorLight(S3);//ü»Ò3¤Ë¥é¥¤¥È¥»¥ó¥µ¡¼
 SetSensorLowspeed(S4)//;ü»Ò4¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼
 int nOnline=0;//³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô
 int cross_number=0;//¸òº¹ÅÀ¤òÅϤ俲ó¿ô
 int sensor_number=0;//¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿²ó¿ô
  go_forward;
 Wait(1000);
 while(cross_number<1)//ºÇ½é¤Î¸òº¹ÅÀ¤òÅϤë¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
 {
  while(nOnline<nMAX)
  {
   if(SENSOR_3<THRESHOLD-15)
    {
     turn_right1;
      nOnline++;//¹õÀþ¥«¥¦¥ó¥¿¡¼¤òÄɲÃ
    }else{
          if(SENSOR_3<THRESHOLD-7)
               {
             turn_right0;
            }else if(SENSOR_3<THRESHOLD+7)
               {
                go_forward;
            }else if(SENSOR_3<THRESHOLD+15)
               {
             turn_left0;
            }else{
             turn_left1;
               }
            nOnline=0;
           }
    Wait(STEP);
      
  }
  short_break;
  turn_right1;Wait(nMAX*STEP+100);
  cross_line;
  PlaySound(SOUND_UP);
  nOnline=0;
  cross_number++;//¸òº¹ÅÀ¤òÅϤ뤴¤È¤Ë¸òº¹ÅÀ¥«¥¦¥ó¥¿¡¼¤òÄɲÃ
}
 while(sensor_number==0)//¶Ì¤òǧ¼±¤·¤Æ¼è¤ë¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
  {
    if(SENSOR_3<THRESHOLD-15)    {
     turn_right1;
      nOnline++;
      if(SensorUS(S4)<10)//¶Ì¤ò¤È¤ëÆ°ºî
       {
       Off(OUT_BC);
       turn_right0;//°ÌÃÖ½¤Àµ
       Wait(1000);
       Off(OUT_BC);
       OnFwd(OUT_A,20);//¥¢¡¼¥à¹ß²¼
       Wait(1300);
       Off(OUT_A);
       Off(OUT_BC);
       sensor_number++;//¥»¥ó¥µ¡¼¤Î¥«¥¦¥ó¥¿¡¼¤òÁý¤ä¤¹
        }
    }else{
          if(SENSOR_3<THRESHOLD-7)
               {
             turn_right0;
            }else if(SENSOR_3<THRESHOLD+7)
               {
                go_forward;
            }else if(SENSOR_3<THRESHOLD+15)
               {
             turn_left0;
            }else{
             turn_left1;
               }
            nOnline=0;
   
           }
    Wait(STEP);
      
  }
 while(cross_number<=3)//¶Ì¤ò¤È¤Ã¤¿¸å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
 {
  while(nOnline<nMAX2)
  {
   if(SENSOR_3<THRESHOLD-15)
    {
     turn_right1;
      nOnline++;
    }else{
          if(SENSOR_3<THRESHOLD-7)
               {
             turn_right0;
            }else if(SENSOR_3<THRESHOLD+7)
               {
                go_forward;
            }else if(SENSOR_3<THRESHOLD+15)
               {
             turn_left0;
            }else{
             turn_left1;
               }
            nOnline=0;
           }
    Wait(STEP);
      
  }
  short_break;
  turn_right1;Wait(nMAX*STEP+300);
  cross_line;
  PlaySound(SOUND_UP);
  nOnline=0;
  cross_number++;
}
  Off(OUT_BC);//¶Ì¤ò¥´¡¼¥ë¤ËÆþ¤ì¤ëÆ°ºî
  OnRev(OUT_A,20);
  Wait(400);
}

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Last-modified: 2014-07-04 (¶â) 00:15:07