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   #define turn_left OnFwd(OUT_A,25);OnRev(OUT_B,25);
   #define turn_right OnFwd(OUT_B,25);OnRev(OUT_A,25);
   #define go_forward OnFwd(OUT_AB,25);
   #define TURN_TIME_10=147; //10¡ë²óž¤¹¤ë»þ´Ö

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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®
	int min=100; //ºÇ¾®
	int angle=0; //ºÇ¾®¤òµ­Ï¿¤·¤¿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¥È²óž»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);
               }

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       int flg=0;
	while(flg==0){
       go_forward;
       if(SensorUS(S4)<=15){
	flg=1;
		}
	}
       Off(OUT_AB);

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OnFwd(OUT_C,100); //¥Ü¡¼¥ë¼Í½Ð
Wait(500);
}

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Last-modified: 2015-07-30 (ÌÚ) 14:30:15