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# define TMAX 29
# define forward OnFwd(OUT_AC);
# define back OnRev(OUT_AC);
# define t_left OnRev(OUT_A);OnFwd(OUT_C); //º¸Àû²ó
# define turn_left Off(OUT_A);OnFwd(OUT_C);     //º¸²óž
# define t_right OnFwd(OUT_A);OnRev(OUT_C); //±¦Àû²ó
# define turn_right OnFwd(OUT_A);Off(OUT_C);    //±¦²óž
# define stop(t) Off(OUT_AC);Wait(t);
# define power(s) SetPower(OUT_AC,s);
# define KOUON PlaySound(SOUND_UP);
# define TEION PlaySound(SOUND_DOWN);

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int n=0;
sub right(){
    while(FastTimer(0)<TMAX){
       if(SENSOR_2<42){
        OnFwd(OUT_A);OnRev(OUT_C);
       }else if(SENSOR_2<47){
        OnFwd(OUT_A);Off(OUT_C);
       }else if(SENSOR_2<52){
        OnFwd(OUT_A);OnFwd(OUT_C);
       }else if(SENSOR_2<55){
        Off(OUT_A);OnFwd(OUT_C);
       } else {
        OnRev(OUT_A);OnFwd(OUT_C);
        }
       if(SENSOR_2>42){
              ClearTimer(0);
        }
      }
     n++;
}
sub left(){
    while(FastTimer(0)<TMAX){
       if(SENSOR_2<42){
   OnRev(OUT_A);OnFwd(OUT_C);
  }else if(SENSOR_2<47){
   Off(OUT_A);OnFwd(OUT_C);
  }else if(SENSOR_2<52){
   OnFwd(OUT_A);OnFwd(OUT_C);
  }else if(SENSOR_2<55){
   OnFwd(OUT_A);Off(OUT_C);
  } else {
   OnFwd(OUT_A);OnRev(OUT_C);
  }
  if(SENSOR_2>40){
          ClearTimer(0);
  }
 } 
 n++;
} 

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task main(){
      power(0);
      SetSensor(SENSOR_2,SENSOR_LIGHT);
      ClearTimer(0);
      while(n<=13){

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          if(n==0){       //T»úÏ©
             right();
             KOUON;
             t_left;Wait(10);
             forward;Wait(40);        //0.1ÉÃÄä»ß¤·¤Æ0.4ÉÃÁ°¿Ê¡¡º¸¤Ø
             ClearTimer(0);     //¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
         }

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             else if(n==1){
             left();
             back;Wait(20);
             stop(80);
             TEION;
             t_left;Wait(30);
             forward;Wait(50);
             ClearTimer(0);
          }

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             else if(n==2){
             left();
             KOUON;
             t_right;Wait(15);
             forward;Wait(50);
             ClearTimer(0);
          }

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             else if(n==3){
             left();
             KOUON;
             t_right;Wait(15);
             forward;Wait(50);
             ClearTimer(0);
          }

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             else if(n==4){
             right();
             TEION;
             t_left;Wait(25);
             stop(80);
             forward;Wait(50);
             ClearTimer(0);
          }

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             else if(n==5){
             right();
             t_left;Wait(25);
             stop(80);
             TEION;
             forward;Wait(50);
             ClearTimer(0);
          }

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             else if(n==6){
             right();
             KOUON;
             t_right;Wait(50);
             forward;Wait(50);
             turn_right;Wait(15);
             ClearTimer(0);
          }

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             else if(n==7){
             right();
             forward;Wait(15);
             t_right;Wait(70);
             forward;Wait(50);
             turn_right;Wait(10);
             t_right;Wait(40);
             ClearTimer(0);
           }

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              else if(n==8){
             right();
             KOUON;
             t_left;Wait(10);
             forward;Wait(40);
             ClearTimer(0);
           }

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             else if(n==9){
             left();
             back;Wait(20);
             stop(80);
             TEION;
             t_left;Wait(30);
             forward;Wait(50);
             ClearTimer(0);
           }

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             else if(n==10){
             left();
             KOUON;
             t_right;Wait(15);
             forward;Wait(50);
             ClearTimer(0);
           }

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             else if(n==11){
             left();
             KOUON;
             t_right;Wait(15);
             forward;Wait(50);
             ClearTimer(0);
           }

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             else if(n==12){
             right();
             KOUON;
             t_right;Wait(50);
             forward;Wait(40);
             turn_right;Wait(10);
             ClearTimer(0);
           }

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             else if(n==13){
             right();
             KOUON;
             t_left;Wait(25);
             forward;Wait(250);
             }
     Off(OUT_AC);
    }

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Last-modified: 2017-08-27 (Æü) 19:12:28