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#define go_forward OnFwd(OUT_AC);//Á°¿Ê
#define turn_right OnFwd(OUT_A);//±¦ÀÞ
#define turn_left OnFwd(OUT_C);//º¸ÀÞ
#define migisenkai OnFwd(OUT_A); OnRev(OUT_C);//±¦Àû²ó
#define hidarisenkai OnFwd(OUT_C); OnRev(OUT_A);//º¸Àû²ó
#define power(s) SetPower(OUT_AC,s); //¥â¡¼¥¿¡¼¤Î½ÐÎϤ¬Êѹ¹²Äǽ
#define sound1 PlaySound(SOUND_UP);
#define sound2 PlaySound(SOUND_DOWN);Wait(100);
#define GO(t) OnFwd(OUT_AC); Wait(t); Off(OUT_AC);//Á°¿Ê»þ´ÖÊѹ¹²Äǽ
#define SIGNALGRAB 100
#define SIGNALBACK 200
#define back(u) OnRev(OUT_AC); Wait(u); Off(OUT_AC);//¸åÂà»þ´ÖÊѹ¹²Äǽ

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sub trace2()//¸òº¹ÅÀ¤ÎȽÃǤʤɤϲÝÂê­¶¤Î»þ¤ÈƱÍÍ
{
    ClearTimer(0); 

    while (FastTimer(0)<=25){
        if (SENSOR_1 > 49){//±¦Àû²ó
            migisenkai; ClearTimer(0);
        } else if (SENSOR_1 > 44){//±¦ÀÞ
            turn_right; ClearTimer(0);
        } else if (SENSOR_1 > 40){//Á°¿Ê
            go_forward; ClearTimer(0);
        } else if (SENSOR_1 > 36){//º¸ÀÞ
            turn_left; ClearTimer(0);
        } else if (SENSOR_1 > 33){//º¸Àû²ó
            hidarisenkai;//¥¿¥¤¥Þ¤ò¥ê¥»¥Ã¥È¤·¤Ê¤¤
        }
    }
    Off(OUT_AC);
}


sub hidari1()
{
    sound1;
    go_forward;
    Wait(20);
    hidarisenkai;
    Wait(40);
    turn_left;
    Wait(30);
}

sub hidari2()
{
    sound2;
    go_forward;
    Wait(20);
    hidarisenkai;
    Wait(40);
    turn_left;
    Wait(30);
}

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task main()
{
    SetSensor(SENSOR_1, SENSOR_LIGHT);
    power(4);//¥â¡¼¥¿¡¼¤Î½ÐÎϤòÄ´À°¡£²ÝÂê­¶¤Î»þ¤Ï0¤Ç¤¢¤Ã¤¿¤¬¡¢0¤Î¾ì¹ç¤Ç¤Ï½ÐÎϤ¬Â­¤ê¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢Á°²ó¤Î²ÝÂê¤Î¤È¤­¤è¤ê¤â½ÐÎϤò¹â¤á¤¿¡£
    ClearMessage();

    GO(100);//¥¹¥¿¡¼¥ÈÏȤ«¤éÁ°¿Ê

    trace2();//A-F¶è´Ö
    hidari1();//F¤òº¸ÀÞ

    trace2();//F-Q¶è´Ö
    hidari2();//Q¤òº¸Êý¸þ

    trace2();//Q-R¶è´Ö
    hidari1();//R¤òº¸ÀÞ¤·¡¢T¤Ë¸þ¤«¤¦

    trace2();//R-T
    GO(200);//Á°¿Ê¤·¤Æ¥´¡¼¥ë¤ÎÃæ¤ËÆþ¤ë

    SendMessage(SIGNALGRAB);//¥´¡¼¥ë¤Î°ÌÃÖ¤ËÅþÃ夷¤¿¤³¤È¤òÃΤ餻¤ë¡£¥¢¡¼¥à¦¤Ï¤³¤ì¤ò¼õ¤±¼è¤Ã¤¿¤é¥¢¡¼¥à¤òÆ°¤«¤·¤Æ´Ì¤¬¥´¡¼¥ë¤ÎÎΰè¤ËÆþ¤ë¤è¤¦¤Ë¤¹¤ë
    while(true){
        until (Message() == SIGNALBACK);//SIGNALBACK¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔ¤Ä
        back(300);//¸åÂह¤ë
    }
}

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#define grab OnFwd(OUT_C); Wait(100); Off(OUT_C);//¥¢¡¼¥à¤Ç´Ì¤ò¤Ä¤«¤à
#define relese OnRev(OUT_C); Wait(100); Off(OUT_C);//¥¢¡¼¥à¤Ç´Ì¤òÎ¥¤¹
#define rift_up OnFwd(OUT_A); Wait(700); Off(OUT_A);//¥ê¥Õ¥È¤ò»ý¤Á¾å¤²¤ë
#define rift_down1 OnRev(OUT_A); Wait(200); Off(OUT_A);//¥ê¥Õ¥È¤ò¼¡¤Î´Ì¤Î¹â¤µ¤Þ¤Ç²¼¤²¤ë 
#define rift_down2 OnRev(OUT_A); Wait(300); Off(OUT_A);//¥ê¥Õ¥È¤ò¼¡¤Î´Ì¤Î¤Ä¤«¤à¹â¤µ¤Þ¤Ç²¼¤²¤ë¡£¤Ä¤Þ¤ê¤Ï¤¸¤á¤Î¹â¤µ¤Þ¤Ç²¼¤²¤ë
#define SIGNALGRAB 100
#define SIGNALBACK 200
#define grab2(s) OnFwd(OUT_C); Wait(s); Off(OUT_C);//´Ì¤òÄϤà»þ´ÖÊѹ¹²Äǽ
#define relese(t) OnRev(OUT_C); Wait(t); Off(OUT_C);//´Ì¤òÎ¥¤¹»þ´ÖÊѹ¹²Äǽ

¥¿¥¹¥¯¥á¥¤¥ó

task main()
{
    SetSensor(SENSOR_1,SENSOR_TOUCH);//¥»¥ó¥µ¡¼1¤Ë¥¿¥Ã¥Á¥»¥ó¥µ
    ClearMessage();
    int count;//ÊÑ¿ô¤òÄêµÁ
    count=0;

    while (count<1){//count¤¬1̤Ëþ¤Î»þ¥ë¡¼¥×¤ËÆþ¤ë
        ClearMessage();//Message¤ÎÃͤò0¤Ë½é´ü²½
        if (Message() == SIGNALGRAB){//SIGNALGRAB¤ò¼õ¿®¤·¤¿¤écount¤Ë1¤¬Â­¤µ¤ì¤ë¡£¼õ¿®¤·¤¿¤é¥ë¡¼¥×¤òÈ´¤±½Ð¤¹¡£
            count++;
        } else count = 0;//¤½¤¦¤Ç¤Ê¤±¤ì¤Ðcount¤Ï0
        
    }
    grab2(50);//´Ì¤ò¥´¡¼¥ëÆâ¤Ë¤Þ¤È¤á¤ë¤¿¤á¤Ë¥¢¡¼¥à¤òÆ°¤«¤¹
    relese(70);//Â礭¤á¤Ë¥¢¡¼¥à¤ò³«¤¤¤Æ´Ì¤ò´°Á´¤ËÎ¥¤¹
    SendMessage(SIGNALBACK);//¸åÂह¤ë¤è¤¦¤ËÅÁ¤¨¤ë¡£

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