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 //²ÝÂꡧ¸òº¹ÅÀ¤Ç£±ÉÃÄä»ß¡¢¥³¡¼¥¹B		BÃÏÅÀ¢ªP±¦ÀÞ¢ªQ±¦ÀÞ¢ªPº¸ÀÞ¢ªQº¸ÀÞ¢ªQľ¿Ê¢ªPľ¿Ê¢ªAÃÏÅÀ
 #define BLACK 35	                     //¤³¤ì°Ê²¼¤ÏÇ»¤¤¹õ
 #define WHITE 50	                     //¤³¤ì°Ê¾å¤ÏÇò
 #define LowSPEED 25
 #define HighSPEED 30
 #define Go OnFwd(OUT_AB,HighSPEED);	     // ľ¿Ê
 #define Go_left OnFwd(OUT_B,LowSPEED);Off(OUT_A);
 #define Go_right OnFwd(OUT_A,LowSPEED);Off(OUT_B);
 #define turn_left OnFwd(OUT_B,LowSPEED);OnRev(OUT_A,HighSPEED);
 #define turn_right OnFwd(OUT_A,LowSPEED);OnRev(OUT_B,HighSPEED);
 #define STEP 1
 #define Chokushin Off(OUT_AB);Wait(1000);Go;Wait(700);break;
 #define Usetu Off(OUT_AB);Wait(1000);turn_right;Wait(700);Go;Wait(300);break;
 #define Sasetu Off(OUT_AB);Wait(1000);turn_left;Wait(500);Go;Wait(300);break;

sub´Ø¿ôÉôʬ¡Ê¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¡Ë

 sub KOUSATEN(int counter) {
   switch (counter) {
       case 0: Usetu;
       case 1: Usetu;
       case 2: Sasetu;
       case 3: Sasetu;
       case 4: Chokushin;
       case 5: Chokushin;
       default: Wait(1);
   }
 }

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 task main() {
   SetSensorLight(S1);
   int counter = 0;
   int counter1 = 0;
   int counter2 = 0;
   Off(OUT_AB);
   Wait(1000);
   while (true) {
       if (SENSOR_1 < BLACK) {		       //Ç»¤¤¹õ¤Î¤È¤­&br;

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           if (counter == 0 || counter == 1 || counter == 5 || counter == 6) {
               Go_left;								//º¸¤Ø
               counter1++;

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           } else if (counter == 2) {
               Go_right;								//±¦¤Ø
               counter2++;
               if (counter2 < 5000) {
               	counter1 = 0;
               } else {
               	counter1++;
               }

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           } else if(counter == 3) {
           	Go_right;
           	counter1++;

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           } else {
               turn_right;
               counter1++;

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           } if (counter1 > 250) {
           	KOUSATEN(counter);
           	counter++;
           	counter1 = 0;
           }

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       } else if (SENSOR_1 < WHITE) {	   //¶­³¦ÉÕ¶á¤Ê¤é
           Go;							   //ľ¿Ê
           counter1 = 0;

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       } else {					       //Çò¤Î¤È¤­
           if (counter == 0 || counter == 1) {
           	Go_right;							//±¦¤Ø
           	counter1 = 0;
           } else if (counter == 2 || counter == 3) {
           	turn_left;							//º¸¤Ø
           	counter1 = 0;
           } else if (counter == 5 || counter == 6){
           	Go_right;
           } else {
           	turn_left;
           	counter1 = 0;
           }
       }
       Wait(STEP);
   }
 }

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