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#define THRESHOLD 40¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤·¤­¤¤Ãͤò40¤ËÀßÄê
#define SPEED_H 38¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ï¥¤¥¹¥Ô¡¼¥É¤Ï38%
#define SPEED_L 25¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥í¥¦¥¹¥Ô¡¼¥É¤Ï25%
#define OnRL(speedR,speedL) OnFwd(OUT_A,speedR);OnFwd(OUT_C,speedL);
#define go_forward OnRL(SPEED_H,SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Á°¿Ê
#define spin_left OnRL(SPEED_H,-SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //º¸Àû²ó
#define turn_left OnRL(SPEED_H,0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //º¸¤Ë¶Ê¤¬¤ë
#define turn_right OnRL(0,SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //±¦¤Ë¶Ê¤¬¤ë
#define spin_right OnRL(-SPEED_H,SPEED_H);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦Àû²ó
#define nMAX2 350¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //nOnline¤Î¾å¸ÂÃÍ¡ÊÀâÌÀ¸å½Ò¡Ë
#define CROSS_TIME 400¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀÄ̲á»þ¤ÎÁ°¿Ê¤¹¤ë»þ´Ö
#define cross_line OnRL(SPEED_H,SPEED_H);Wait(CROSS_TIME);¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀÄ̲á
#define STEP 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÆÆ°ºî¤Ë¤«¤±¤ë»þ´Ö
#define go_back OnRL(-SPEED_L,-SPEED_L);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¿Ê
#define go_back2 OnRL(-SPEED_H -5,-SPEED_L);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¿Ê
#define shoot_ball go_back;Wait(400);Off(OUT_AC);\¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ºÇ¸å¤Ë¥¢¡¼¥à¤ò
                   RotateMotor(OUT_B,25,-90);Off(OUT_AC);¡¡ ¡¡¡¡¡¡¡¡¡¡¾å¤²¤Æ¥Ü¡¼¥ë¤òÊü¤Ä

¥é¥¤¥ó¥È¥ì¡¼¥¹

task main()
{
   SetSensorLight(S3);¡¡¡¡                        //¸÷¥»¥ó¥µ¡¼¤ò¥»¥Ã¥È
   _
   int nOnline = 0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡¡¡//"nOnline"¤È¤¤¤¦Ì¾Á°¤Î¥«¥¦¥ó¥¿¡¼¤ò¥»¥Ã¥È¡£±¦Àû²ó¤Î²ó¿ô¤ò·×¤ë
   int nCorner = 0;¡¡¡¡                           //"nCorner"¤È¤¤¤¦Ì¾Á°¤Î¥«¥¦¥ó¥¿¡¼¤ò¥»¥Ã¥È¡£Ä¾³Ñ¥«¡¼¥Ö¤Î¿ô¤ò·×¤ë
   _
   go_forward;until(SENSOR_3 < THRESHOLD -8)¡¡¡¡  //START¤Î°ÌÃÖ¤«¤é¥³¡¼¥¹¤Î
   go_forward;Wait(200);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡        ¹õÀþ¤Ë¾è¤ë¤Þ¤ÇÁ°¿Ê¤¹¤ë
   _
   while(nCorner <= 6) {¡¡¡¡                      //nCorner¤¬£¶°Ê²¼¤Î´Ö¤Ï¡Ð¡ÑÆâ¤ÎÌ¿Îá¤ò·«¤êÊÖ¤·¼Â¹Ô¤¹¤ë
     if(nOnline < nMAX2) {¡¡¡¡                    //nOnline¤ÎÃͤ¬nMAX2°Ê²¼¤Î»þ¤Ï°Ê²¼¤ÎÆ°ºî¤ò¤¹¤ë
       if(SENSOR_3 < THRESHOLD -5) {¡¡¡¡          //¼ÖÂΤ¬¹õÀþ¾å¤Ë¤¤¤ë¤È¤­
         spin_right;¡¡¡¡                          //±¦Àû²ó¤¹¤ë*
         nOnline++;¡¡¡¡                           //nOnline¤ò£±²Ã»»
       } else {
         if(SENSOR_3 < THRESHOLD +5) {¡¡          //¼ÖÂΤ¬¹õÀþ¾å¤Î¶­³¦Àþ¤è¤ê¤Ë¤¤¤ë¤È¤­
           turn_right;¡¡¡¡                        //±¦¤Ë¶Ê¤¬¤ë*
         } else if(SENSOR_3 < THRESHOLD +10) {¡¡  //¼ÖÂΤ¬¶­³¦Àþ¾å¤Ë¤¤¤ë¤È¤­
           go_forward;¡¡¡¡                        //Á°¿Ê¤¹¤ë*
         } else if(SENSOR_3 < THRESHOLD +14) {¡¡  //¼ÖÂΤ¬¹õÀþ³°¤Î¶­³¦Àþ¤è¤ê¤Ë¤¤¤ë¤È¤­
           turn_left;¡¡¡¡                         //º¸¤Ë¶Ê¤¬¤ë*
         } else {¡¡                               //¼ÖÂΤ¬¹õÀþ³°¤Ë¤¤¤ë¤È¤­
           spin_left;¡¡                           //º¸Àû²ó¤¹¤ë*
            }
         nOnline=0;¡¡¡¡                           //±¦Àû²ó°Ê³°¤ÎÆ°ºî¤ò¤·¤¿¤È¤­nOnline¤ò¥ê¥»¥Ã¥È¤¹¤ë
         }
       Wait(STEP);¡¡¡¡                            //³ÆÆ°ºî¤Ï°ì²óÅö¤¿¤ê1/1000ÉôֹԤ¦

¡¡¡¡¡¡¡¡¡Ê¡ù¤Ë³¤¯¡Ë

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¡¡Ä¾³Ñ¥«¡¼¥Ö¤Ï±¦Àû²ó¤Î²ó¿ô¤ò·×¤ë¤³¤È¤ÇȽÊ̤·¤Þ¤¹¡£±¦Àû²ó¤Î²ó¿ô¤ÏnOnline¤È¤¤¤¦¥«¥¦¥ó¥¿¡¼¤Ç ·×¤ê¤Þ¤¹¡£¾åµ­¤Î*¤ÎÆ°ºî¤Ï°ì²ó¤¢¤¿¤ê1/1000ÉôֹԤï¤ì¤Þ¤¹¡£¤Ä¤Þ¤êϢ³¤Ç±¦Àû²ó¤¬¹Ô¤ï¤ì¤Æ nOnline¤¬²Ã»»¤µ¤ì¤Æ¤¤¤Ã¤¿¾ì¹ç¡¢¤«¤«¤ë»þ´Ö¤Ï(nOnline¤Î²ó¿ô)/1000ÉäȤ·¤Æ¹Í¤¨¤ë¤³¤È¤¬¤Ç¤­¤Þ¤¹¡£nOnline¤ÎÃÍ¡ÊϢ³¤Ç±¦Àû²ó¤·¤¿²ó¿ô¡Ë¤òN¡¢Ï¢Â³¤ÇN²ó±¦Àû²ó¤¹¤ë¤Î¤Ë¤«¤«¤ë»þ´Ö¤òt¤È¤¹¤ë¤È¡¢ £ô¡á£Î/1000¡ÊÉáˤȤ¤¤¦¼°¤¬¤Ç¤­¤Þ¤¹¡£

¡¡Î㤨¤Ð¡¢100²óϢ³¤Ç±¦Àû²ó¤·¤¿¾ì¹ç¤«¤«¤ë»þ´Ö¤Ï100/1000Éáá0.1ÉäȤʤê¤Þ¤¹¡£¾åµ­¤Î¥×¥í¥°¥é ¥à¤Ç¤Ï¡¢nOnline¤Î¾å¸ÂÃͤònMAX2=350¤È¤·¤Æ¤¤¤ë¤Î¤Ç350²ó°Ê¾åϢ³¤Ç¡¢¸À¤¤´¹¤¨¤ì¤Ð0.35ÉðʾåÏ¢ ³¤Ç±¦Àû²ó¤ò¤¹¤ë¤Èľ³Ñ¥«¡¼¥Ö¤ÈȽÃǤ·¤Þ¤¹¡£µÕ¤Ë¡¢±¦Àû²ó¤¬0.35Éðʾå¹Ô¤ï¤ì¤Ê¤¤¸Â¤ê¤ÏÄ̾ï¤Ç¤¢ ¤ë¤ÈȽÃǤ·¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤Þ¤¹¡£

¸òº¹ÅÀ¤òÅϤ롦ľ³Ñ,¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤ò¶Ê¤¬¤ë¡¦¥Ü¡¼¥ë¤òÊü¤Ä

¡¡¡¡¡Ê¡ù¡Ë

     } else {                                                        //nOnline¤¬nMAX2°Ê¾å¤Ë¤Ê¤Ã¤¿¤È¤­¤Ï°Ê²¼¤ÎÆ°ºî¤ò¤¹¤ë
       PlayTone(440,100);¡¡¡¡//¹ç¿Þ¤Î¤¿¤á"¥é"¤Î²»¤òÌĤ餹
       Off(OUT_AC);Wait(1000);¡¡¡¡//°ì»þÄä»ß
       if((nCorner == 0)||(nCorner == 5)) {¡¡¡¡                      //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¤È¤­
         spin_right;until(SENSOR_3 > THRESHOLD +11)¡¡¡¡              //¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤­¤ë¤Þ¤Ç±¦Àû²ó
       } else if((nCorner == 1)||(nCorner == 3)||(nCorner == 4)) { ¡¡//¸òº¹ÅÀ¤Î»þ
         PlaySound(SOUND_UP);¡¡¡¡                                    //¹ç¿Þ¤Î¤¿¤á²»¤òÌĤ餹
         if(nCorner == 1) {¡¡¡¡                                      //°ì¤ÄÌܤθòº¹ÅÀ¤Î»þ
           go_forward;Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡               ¡¡¡¡//¥Ü¡¼¥ë¤ËÀܶá
           RotateMotor(OUT_B,15,85);                                 //¥¢¡¼¥à¤ò²¼¤í¤¹
           Off(OUT_B);                                               //¥¢¡¼¥à¤ò»ß¤á¤ë
           go_back2;Wait(300);                                       //¸µ¤Î¥³¡¼¥¹¤ËÌá¤ë
           go_back2;until(SENSOR_3 < THRESHOLD -10);                 //¡¡¡¡¡¡¡·¡¡¡¡
            }
         spin_left; Wait(nMAX2*STEP);¡¡                            ¡¡//µ°Æ»½¤Àµ¤Î¤¿¤áº¸Àû²ó
         if(nCorner == 4) {¡¡¡¡                                      //3¤ÄÌܤθòº¹ÅÀ¤Î¤È¤­
           spin_left;Wait(200);¡¡                                  ¡¡//¤µ¤é¤Ëµ°Æ»½¤Àµ¤Î¤¿¤áº¸Àû²ó
            }
         cross_line;¡¡                                             ¡¡//¸òº¹ÅÀ¤òÄ̲á
       } else if(nCorner == 2) {¡¡                                 ¡¡//ľ³Ñ¥«¡¼¥Ö¤Î»þ
         PlaySound(SOUND_LOW_BEEP);¡¡                              ¡¡//¹ç¿Þ¤Î¤¿¤á²»¤òÌĤ餹
         spin_right;until(SENSOR_3 > THRESHOLD -2)¡¡               ¡¡//ľ³Ñ¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤­¤ë¤Þ¤Ç±¦Àû²ó
       } else if(nCorner == 6) {¡¡¡¡                                 //¥´¡¼¥ëÁ°¤ËÅþÃ夷¤¿¤È¤­
         spin_left;Wait(nMAX2*STEP);¡¡¡¡                             //º¸Àû²ó¤·¤Æµ°Æ»½¤Àµ¤·¡¢¥´¡¼¥ë¤ÈÀµÂФ¹¤ë
         shoot_ball;¡¡¡¡                                             //¥Ü¡¼¥ë¤òÊü¤Ä
         }
       nOnline=0;¡¡¡¡                                                //nOnline¤ò¥ê¥»¥Ã¥È
       nCorner++;¡¡¡¡                                                //nCorner¤ò1²Ã»»
       }
    
    }
   Off(OUT_AC);¡¡                                                ¡¡//nCorner¤ÎÃͤ¬£¶¤òĶ¤¨¤¿¤éÄä»ß¡¢°Ê¾å¤Ç½ªÎ»¡£
}

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