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RotateMotor(OUT_C,75,45);

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int scan_angle(int a){ //0<=a<=36¤Ç»ØÄê a*10¡ë¤ÎÈϰϤò¥¹¥­¥ã¥ó¤¹¤ë
	PlaySound(SOUND_CLICK);
	Wait(500);
	int min_temp=0; //²¾¤ÎºÇ¾®ÃÍ
	int min=100; //ºÇ¾®ÃÍ
	int angle=0; //ºÇ¾®Ãͤòµ­Ï¿¤·¤¿³ÑÅÙ[¡ë]
	int i=0; //i*10[¡ë]¤´¤Èµ­Ï¿¤¹¤ë
	int turn_time=TURN_TIME_10;
	repeat(a){
		min_temp=SensorUS(S4);
		if(min>=min_temp){ //ºÇ¾®ÃÍÈæ³Ó
			min=min_temp; //ºÇ¾®Ã͹¹¿·
			angle=i*10; //ºÇ¾®ÃÍ
			PlaySound(SOUND_LOW_BEEP);
			Wait(500);
		}
		turn_right;
		Wait(turn_time);
		i++;
	}
	return angle;
}

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task main(){
	int machine_turn_time=0; //¥í¥Ü¥Ã¥È¤Î²óž»þ´Ö
	SetSensorLowspeed(S4);
	int angle=scan_angle(36); //360¡ë¥¹¥­¥ã¥ó
	if(angle<=180){
		machine_turn_time=TURN_TIME_10*angle;
		go_forward;
		Wait(machine_turn_time);
		Off(OUT_AB);
	}else{
		machine_turn_time=TURN_TIME_10*angle;
		go_forward;
		Wait(machine_turn_time);
		Off(OUT_AB);
	}
 int flg=0;
	while(flg==0){
		go_forward;
		if(SensorUS(S4)<=15){
			flg=1;
		}
	}
  Off(OUT_AB);
 RotateMotor(OUT_C,75,45);
}

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Last-modified: 2015-07-30 (ÌÚ) 13:50:31