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#define BLACK 42	//°Ê²¼¤Ï¹õ
#define WHITE 50	//°Ê¾å¤ÏÇò
#define go_forward OnFwd(OUT_AC);	//¿¿¤Ãľ¤°
#define go_back OnRev(OUT_AC);		//¸å¤í¤Ø
#define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó
#define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
#define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
#define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
#define CROSS_TIME 30  // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
#define cross_line go_forward;Wait(CROSS_TIME);short_break;	//¸òº¹ÅÀ¤òÅϤë
#define FIX_TIME 25
#define nMAX 8
#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off;	//¥·¥å¡¼¥È
task main()
{
  SetSensor(SENSOR_2, SENSOR_LIGHT);
  int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
      while (nOnline <nMAX) {
          if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
              turn_left;                // º¸¤Ø
              nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
          } else {
              if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                  go_forward;               // ľ¿Ê
              } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	            turn_right;	//±¦¤Ø
              }
          nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
          }			
          Wait(STEP);
      }
  short_break;		//¾®µÙ·Æ
  turn_left;Wait(FIX_TIME);	//Êý¸þº¸½¤Àµ
  short_break;		//¾®µÙ·Æ
  clip_on;		//Êáµå
  turn_right;Wait(45);	//Êý¸þ±¦½¤Àµ
  go_forward;Wait(CROSS_TIME);	//Á°¿Ê
  nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
      while (nOnline <nMAX) {
          if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
              turn_left;                // º¸¤Ø
              nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
          } else {
              if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                  go_forward;               // ľ¿Ê
              } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	            turn_right;	//±¦¤Ø
              }
          nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
          }			
          Wait(STEP);
      }
  short_break;		//¾®µÙ·Æ
  turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ
  cross_line;		//¸òº¹ÅÀ¤òÅϤë
  nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
      while (nOnline <nMAX) {
          if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
              turn_left;                // º¸¤Ø
              nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
          } else {
              if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                  go_forward;               // ľ¿Ê
              } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	        turn_right;	//±¦¤Ø
              }
          nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
          }			
      Wait(STEP);
      }
  short_break;		//¾®µÙ·Æ
  turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ
  shoot;	//¥·¥å¡¼¥È
  Off(OUT_AC);	//Ää»ß
  nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}

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#define BLACK 42	//°Ê²¼¤Ï¹õ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­¡
#define WHITE 50	//°Ê¾å¤ÏÇò¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­¢
#define go_forward OnFwd(OUT_AC);	//¿¿¤Ãľ¤°¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­£
#define go_back OnRev(OUT_AC);		//¸å¤í¤Ø¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­¤
#define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­¥
#define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­¦
#define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ­§
#define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ­¨
#define CROSS_TIME 30  // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ­©
#define cross_line go_forward;Wait(CROSS_TIME);short_break;	//¸òº¹ÅÀ¤òÅϤ롡­ª
#define FIX_TIME 25¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ­«
#define nMAX 8¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ­¬
#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ­­
#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ­®
#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off;	//¥·¥å¡¼¥È¡¡¡¡¡¡­¯

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task main()
{
 SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡     ­¡
 int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡      ­¢
     while (nOnline <nMAX) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡    ­£
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡    ­¤
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é¡¡¡¡¡¡¡¡¡¡  ­¥
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	           turn_right;	//±¦¤Ø¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡    ­¦
             }
         nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }			
         Wait(STEP);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­§
     }

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 short_break;		//¾®µÙ·Æ
 turn_left;Wait(FIX_TIME);	//Êý¸þº¸½¤Àµ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡    ­¡
 short_break;		//¾®µÙ·Æ
 clip_on;		//Êáµå
 turn_right;Wait(45);	//Êý¸þ±¦½¤Àµ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡    ¡¡¡¡¡¡­¢
 go_forward;Wait(CROSS_TIME);	//Á°¿Ê
 nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     while (nOnline <nMAX) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡    ­£
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡  ­¤
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é¡¡¡¡¡¡¡¡¡¡  ­¥
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	           turn_right;	//±¦¤Ø¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡­¦
             }
         nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }			
         Wait(STEP);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡         ­§
     }

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 short_break;		//¾®µÙ·Æ
 turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡          ­¡
 cross_line;		//¸òº¹ÅÀ¤òÅϤ롡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡         ¡¡ ­¢
 nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     while (nOnline <nMAX) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡  ­£
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡  ­¤
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é¡¡¡¡¡¡  ¡¡  ­¥
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
 	            turn_right;	//±¦¤Ø¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   ¡¡     ­¦
             }
         nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }			
         Wait(STEP);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   ¡¡ ­§
     }
 short_break;		//¾®µÙ·Æ
 turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡  ¡¡­¨
 shoot;	//¥·¥å¡¼¥È
 Off(OUT_AC);	//Ää»ß
 nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}

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