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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¦
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