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int light_max = 0;     //¸÷¤Î°ìÈÖÂ礭¤¤¿ôÃÍ
int turn_time = 500;   //¸÷¤òõ¤¹¤¿¤á¤ËÀû²ó¤¹¤ë»þ´Ö
int time_max = 0;      //²ó¤ê»Ï¤á¤Æ¤«¤éºÇÂç¤ÎÌÀ¤ë¤µ¤ÎÃͤò¸«¤Ä¤±¤ë¤Þ¤Ç¤Î»þ´Ö

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sub light(){
  
     /*   ¥»¥ó¥µ¡¼£±¡¤£²¤ò¸÷¥»¥ó¥µ¡¼¤ËÀßÄê   */
        SetSensor(SENSOR_1, SENSOR_LIGHT);
        SetSensor(SENSOR_2, SENSOR_LIGHT);
  
     /*   »þ´Ö¤ò¤Ï¤«¤ê¤Ê¤¬¤éÀû²ó   */
        ClearTimer(0);
        OnFwd(OUT_A);OnRev(OUT_C);
  
     /*   ¸÷¥»¥ó¥µ¡¼¤¬ºÇ¤âÌÀ¤ë¤¤Ãͤò¼¨¤·¤¿»þ¤ÎÀû²ó¤·¤¿»þ´Ö¤òµá¤á¤ë   */
        while(FastTimer(0) < turn_time){
            if(SENSOR_2 > light_max){
                light_max = SENSOR_2;
                time_max = FastTimer(0);
            }
         }
         Off(OUT_AC);Wait(100);
  
     /*   ¸÷¤Î¤Û¤¦¤Ø¤à¤±¤ë   */
         OnFwd(OUT_C);OnRev(OUT_A);Wait(turn_time - time_max);
         Off(OUT_AC);Wait(100);
}

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task main(){
         SetSensor(SENSOR_2,SENSOR_LIGHT);
         SetSensor(SENSOR_1,SENSOR_LIGHT);
     
  
         SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50);    //¥¢¡¼¥à¤Î»ý¤Á¾å¤²
  
     /*   £±¤ÄÌܤΥܡ¼¥ë¤ò¤Ä¤«¤ß¤Ë¹Ô¤¯   */
         OnRev(OUT_AC);Wait(200);
         OnRev(OUT_A);OnFwd(OUT_C);Wait(100);
         OnRev(OUT_AC);Wait(200);
         Off(OUT_AC);Wait(100);
  
         SetPower(OUT_B, 1);OnRev(OUT_B);Wait(100); 
  
         OnRev(OUT_C);OnFwd(OUT_A);Wait(150);
         OnRev(OUT_AC);Wait(300);
  
     /*   ¸÷¤ÎºÇÂçÃͤ¬£¶£µ°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç¸÷¸»¤Ë¶á¤Å¤¯   */
         while(light_max < 65){
              
                    OnRev(OUT_AC);Wait(50);Off(OUT_AC);
                    light();
         }
  
         PlaySound(SOUND_CLICK);
         light();                                    //ºÇ¸å¤Ë¤â¤¦£±²ó¸÷¤ÎÊý¸þ¤ò³Îǧ¤¹¤ë
  
         SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50);    //¥Ü¡¼¥ë¤òÅꤲ¤ë

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     /*   £²¤ÄÌܤΥܡ¼¥ë¤ò¤Ä¤«¤ß¤Ë¹Ô¤¯   */
         OnFwd(OUT_C);OnRev(OUT_A);Wait(150);
         Off(OUT_AC);Wait(100);
  
         OnRev(OUT_AC);Wait(200);
         OnRev(OUT_AC);until(SENSOR_1 < 41);
         Off(OUT_AC);PlaySound(SOUND_CLICK);Wait(100);    //¹õÀþ¤Þ¤Ç¿Ê¤à
  
     /*   ³Ñ¤òǧ¼±¤·¤Æ¥Ü¡¼¥ë¤Ø¶á¤Å¤¯   */
         ClearTimer(1);
  
         while(FastTimer(1) < 50){
            if(SENSOR_1 > 49){
                OnRev(OUT_A);OnFwd(OUT_C);
  
            } else if(SENSOR_1 > 46){
                OnRev(OUT_A);Off(OUT_C);
  
            } else if(SENSOR_1 > 40){
                OnRev(OUT_AC);ClearTimer(1);
  
            } else if(SENSOR_1 > 37){
                OnRev(OUT_C);Off(OUT_A);ClearTimer(1);
  
            } else{
                OnRev(OUT_C);OnFwd(OUT_A);ClearTimer(1);
  
              }
  
        }
         OnRev(OUT_A);OnFwd(OUT_C);Wait(80);
         OnRev(OUT_AC);Wait(150);
         Off(OUT_AC);Wait(100);
  
     /*   ¥Ü¡¼¥ë¤ò¤Ä¤«¤à   */
         SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50);
         SetPower(OUT_B,1);OnRev(OUT_B);Wait(100);Off(OUT_B);
  
     /*   ¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬£µ£°°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç¶á¤Å¤¯   */
         OnFwd(OUT_A);OnRev(OUT_C);Wait(350);
         OnRev(OUT_AC);Wait(200);
  
         while(SENSOR_2 < 50){
              OnRev(OUT_AC);Wait(50);Off(OUT_AC);
              light();
         }
         PlaySound(SOUND_CLICK);
         light();
         OnRev(OUT_A);OnFwd(OUT_C);Wait(35);        //Åꤲ¤ëÊý¸þ¤ÎÈùÄ´À°
         Off(OUT_AC);Wait(100);
  
         SetPower(OUT_B,5);OnFwd(OUT_B);Wait(50);
  
         OnFwd(OUT_AC);Wait(100);
         Off(OUT_AC);
}

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Last-modified: 2016-02-27 (ÅÚ) 22:09:36