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#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à

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#define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶­³¦Àþ¾å¤ÎÃÍ

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sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    long ta=CurrentTick();
    while (CurrentTick()-ta<=Assist_time){
        if (SENSOR_1<average-11) {
            move1;                      //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move1¤ÎÆ°¤­¤ò¤¹¤ë
        }else if (SENSOR_1<average-7){
            move2;                      //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤­¤ò¤¹¤ë
        } else if (SENSOR_1<average+7){  
            move3;                      //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤­¤ò¤¹¤ë
        } else if (SENSOR_1<average+11){
            move4;                      //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤­¤ò¤¹¤ë
        } else {
            move5;                      //¤½¤ì°Ê³°¤Î»þ¡¢move5¤ÎÆ°¤­¤ò¤¹¤ë
         }
     }
}

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³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£

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º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈƱÍͤιͤ¨Êý¤Ç¥×¥í¥°¥é¥à¤ò½ñ¤¤¤Æ¤¤¤¯¡£Ãí°Õ¤¹¤ëÅÀ¤Ïº¸Â¦¤Î¥×¥í¥°¥é¥à¤È±¦Â¦¤Î¥×¥í¥°¥é¥à¤ÏµÕž¤·¤Æ¤¤¤ë¤À¤±¤È¤¤¤¦¤³¤È¤Ç¤¢¤ë¡£

sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    long tb=CurrentTick();
     while (CurrentTick()-tb<=Assist_time){
        if (SENSOR_1<average-11) {
            move5;                      //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move5¤ÎÆ°¤­¤ò¤¹¤ë
        } else if (SENSOR_1<average-7){
            move4;                      //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤­¤ò¤¹¤ë
        } else if (SENSOR_1<average+7){  
            move3;                      //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤­¤ò¤¹¤ë
        } else if (SENSOR_1<average+11){
            move2;                      //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤­¤ò¤¹¤ë
        } else {
            move1;                      //¤½¤ì°Ê³°¤Î»þ¡¢move1¤ÎÆ°¤­¤ò¤¹¤ë
         }
     }
}

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³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£

¸òº¹ÅÀǧ¼±

¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤ëºÝ¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤³¤È¤¬¤¢¤ë¡£²¿¤âÂкö¤·¤Æ¤¤¤Ê¤¤¾ì¹ç¡¢¤½¤Î¤Þ¤Þ³Ñ¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤È¤Ê¤Ã¤Æ¤·¤Þ¤¦¡£

¤½¤ÎÂкö¤È¤·¤Æ¡¢¸òº¹ÅÀǧ¼±¤¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¡£ ¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£ º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¡¢move1¤¬Ï¢Â³¤ÇÆ°ºî¤·¤¿¤È¤­¤Ë¸òº¹ÅÀ¤¬¤¢¤ë¤È¹Í¤¨¤é¤ì¤ë¤Î¤Çmove1¤Ë¤Ä¤¤¤Æ¹Í¤¨¤ë¡£¤Þ¤¿¡¢±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Ïmove5¤ÎÆ°ºî¤È¹Í¤¨¤é¤ì¤ë¡£

¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±

sub L_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
    long t1=CurrentTick();
    while (CurrentTick()-t1<=Stop_time){
        if (SENSOR_1<average-11) {
            move1;
        } else if (SENSOR_1<average-7){
            move2;
            t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
        } else if (SENSOR_1<average+7){  
            move3;
            t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
        } else if (SENSOR_1<average+11){
            move4;
            t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
        } else {
            move5;
            t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         }
     }
    Off(OUT_AB);                                   //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
}

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sub R_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
    long t2=CurrentTick();
    while (CurrentTick()-t2<=Stop_time){
        if (SENSOR_1<average-11) {
            move5;
        } else if (SENSOR_1<average-8){
            move4;
            t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
        } else if (SENSOR_1<average+6){  
            move3;
            t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
        } else if (SENSOR_1<average+11){
            move2;
            t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
        } else {
            move1;
            t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         }
     }
    Off(OUT_AB);                                   //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
}

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¡»Çò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤ«¤é¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à

sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    while (SENSOR_1>blight){
        OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
        OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
     }
    Off(OUT_AB);
}

¡»¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤ«¤éÇò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à

sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    while (SENSOR_1<blight){
        OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
        OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
     }
    Off(OUT_AB);
}

¾å¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤ÎÁȤ߹ç¤ï¤»¤Ë¤è¤Ã¤Æ¤Ç¤­¤¿¥×¥í¥°¥é¥à¤Ï°Ê²¼¤Ëɽµ­¤¹¤ë¡£

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¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤éľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¸òº¹ÅÀǧ¼±¤·¤¿¤¢¤È¤«¤é²¼¤Î¥×¥í¥°¥é¥à¤¬»Ï¤Þ¤ë¤³¤È¤ËÃí°Õ¤¹¤ë¡£¤Ä¤Þ¤ê¡¢¸òº¹ÅÀǧ¼±¤ò¤·¤¿Ä¾¸å¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤÏ30°Ì¤È¤Ê¤Ã¤Æ¤¤¤ë¡£¤³¤Î¤³¤È¤Ï°Ê²¼¤¹¤Ù¤Æ¤Î¥×¥í¥°¥é¥à¤Ë¤¤¤¨¤ë¤³¤È¤Ç¤¢¤ë¡£

sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
{
    Black_to_White(48,40,35);
}

ľ¿Ê

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sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    Black_to_White(48,-10,30);
}

±¦ÀÞ

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º¸ÀÞ¤Î¥×¥í¥°¥é¥à

¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤é¤Îº¸ÀÞ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    Black_to_White(48,40,10);
}

º¸ÀÞ

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sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤­¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤­¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
    OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à(»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¡Ë
    Wait(800);
    Off(OUT_C);
}

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»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¡Ê£Õ¥¿¡¼¥ó¡Ë¤Î¥×¥í¥°¥é¥à

¾å¤Î¥×¥í¥°¥é¥à¤Ç»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£Æ°¤­¤È¤·¤Æ¤Ï£Õ¥¿¡¼¥ó¤ÈÊѤï¤é¤Ê¤¤¡£ÌÀ¤ë¤µ¤ÎÃͤϻ楳¥Ã¥×¤ò¼è¤Ã¤¿»þ¤«¤éÊѤï¤Ã¤Æ¤¤¤Ê¤¤¤È¹Í¤¨¤é¤ì¤ë¤³¤È¤ò¹Íθ¤¹¤ë¡£

sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    White_to_Black(33,-28,35);
    Black_to_White(48,-20,35);
}

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sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    White_to_Black(30,-50,0);
    Black_to_White(53,-30,0); 
}

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sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
{
    OnFwd(OUT_C,-30);
    Wait(900);
    Off(OUT_C);
}

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sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    White_to_Black(35,30,-10);
}

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sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à
{
    Black_to_White(48,10,40);
    L_line(200,100);
    Black_to_White(48,20,30); 

    OnFwd(OUT_A,20);
    OnFwd(OUT_B,40);
    Wait(500);
    Off(OUT_AB);
}

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¤³¤Î¥³¡¼¥¹¤Î½Ðȯ»þ¤Ï¹õÀþ¤Ç°Ï¤Þ¤ì¤Æ¤¤¤ë¤¿¤á¡¢¤Þ¤º¤½¤³¤òÈ´¤±½Ð¤µ¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£¤½¤Î¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤â¤·¤Ê¤¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¤¿¤á¾¯¤·Æüì¤Ê¥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£

sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
    Wait(100);
    White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶­³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤­¤ë
}

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°Â¿´°ÂÁ´¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°Ù¤Ë

¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢¸òº¹ÅÀǧ¼±¤·¡¢¸òº¹ÅÀ²£ÃǤäÆüì¤ÊÆ°¤­¤ò¤¹¤ë¡£¤½¤Î¸å¡¢¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ëºÝ¡¢¸í¤Ã¤¿²Õ½ê¤Ç¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬´Ö¡¹¤¢¤ë¡£¤½¤Î¤¿¤á¡¢¸òº¹ÅÀǧ¼±¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÁ°¤Ë²¿Éô֡ÊAssist_time¡Ë¤«ÀäÂФ˥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤òÆþ¤ì¤Æ¤ª¤¯¡£ ¤½¤¦¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸í¤Ã¤¿²Õ½ê¤Ç¤Î¸òº¹ÅÀǧ¼±¤¬¤Ê¤¯¤Ê¤Ã¤¿¡£

¤Þ¤¿¡¢¤³¤Î¥×¥í¥°¥é¥à¤òÍѤ¤¤ë¤³¤È¤Ë¤è¤ê¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¤è¤¦¤ÊµÞ¤Ê¥«¡¼¥Ö¤Çǧ¼±¤·¤Æ¤·¤Þ¤Ã¤Æ¤âÂн褬²Äǽ¤È¤Ê¤ë¡£

¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë

sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    long ta=CurrentTick();
    while (CurrentTick()-ta<=Assist_time){
        if (SENSOR_1<average-11) {
            move1
        }else if (SENSOR_1<average-7){
            move2;
        } else if (SENSOR_1<average+7){  
            move3;
        } else if (SENSOR_1<average+11){
            move4;
        } else {
            move5;
         }
     }
}
sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
    L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
    long t1=CurrentTick();
    while (CurrentTick()-t1<=Stop_time){
        if (SENSOR_1<average-11) {
            move1;
        } else if (SENSOR_1<average-7){
            move2;
            t1=CurrentTick();
        } else if (SENSOR_1<average+7){  
            move3;
            t1=CurrentTick();
        } else if (SENSOR_1<average+11){
            move4;
            t1=CurrentTick();
        } else {
            move5;
            t1=CurrentTick();
         }
     }
    Off(OUT_AB);
} 

¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë

sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    long tb=CurrentTick();
    while (CurrentTick()-tb<=Assist_time){
        if (SENSOR_1<average-11) {
            move5;
        } else if (SENSOR_1<average-7){
            move4;
        } else if (SENSOR_1<average+7){  
            move3;
        } else if (SENSOR_1<average+11){
            move2;
        } else {
            move1;
         }
     }
}
sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
    R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
    long t2=CurrentTick();
    while (CurrentTick()-t2<=Stop_time){
        if (SENSOR_1<average-11) {
            move5;
        } else if (SENSOR_1<average-8){
            move4;
           t2=CurrentTick();
        } else if (SENSOR_1<average+6){  
            move3;
            t2=CurrentTick();
        } else if (SENSOR_1<average+11){
            move2;
            t2=CurrentTick();
        } else {
            move1;
            t2=CurrentTick();
         }
     }
    Off(OUT_AB);
}

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¡Ê¡Ö»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë¤È¤­¡×¡Ö¥´¡¼¥ë¤·¤¿¤È¤­¡×¤Î£Ó£Å¤òƱ¤¸¤â¤Î¤Ë¤¹¤ë¡£¡Ö¸òº¹ÅÀǧ¼±¤ò¤·¤¿¤È¤­¡×¡ÖAssist_time¤¬½ª¤ï¤Ã¤¿¤È¤­¡×¤ÎSE¤òƱ¤¸¤â¤Î¤È¤¹¤ë¡Ë

°Ê²¼¤ÎÄêµÁ¤¬²»¤Î¿ôÃͤȤ¹¤ë

#define SO 392 //¥½¤Î²»
#define DO 523 //¥É¤Î²»
#define MI 659 //¥ß¤Î²»
#define SO_H 784 //¹â¤¤¥½¤Î²»
#define SI 988 //¥·¤Î²»
#define DO_H 1047 //¹â¤¤¥É¤Î²»
#define MI_H 1318 //¹â¤¤¥ß¤Î²»
#define RE 1175 //¥ì¤Î²»
#define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»

°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»

¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
{
    PlayTone(MI_H,90);Wait(100);
    PlayTone(DO_H,90);Wait(100);
    PlayTone(MI_H,90);Wait(100);
    PlayTone(DO_H,90);Wait(100);
}

»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»

¥Þ¡»¥ª¤Î1UP¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î1UP¤Î²»¡Ë
{
    PlayTone(MI,110);Wait(120);
    PlayTone(SO_H,110);Wait(120);
    PlayTone(MI_H,110);Wait(120);
    PlayTone(DO_H,110);Wait(120);
    PlayTone(RE,110);Wait(120);
    PlayTone(SO_SH,110);Wait(120);
}

¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²»

¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
{
    PlayTone(SI,90);Wait(100);
    PlayTone(MI_H,140);Wait(150);
}

¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»

¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
{
    PlayTone(MI,100);Wait(110);
    PlayTone(MI,100);Wait(250);
    PlayTone(MI,100);Wait(160);
    PlayTone(DO,90);Wait(100);
    PlayTone(MI,90);Wait(230);
    PlayTone(SO_H,90);Wait(420);
    PlayTone(SO,170);Wait(180);
}

Á´ÂÎ¤Î¥×¥í¥°¥é¥à

°Ê¾å¤Î¥×¥í¥°¥é¥à¹ç¤ï¤»¡¢Å¬ÀڤʰÌÃÖ¤ËSE¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¡£

°Ê²¼¤Ï´°À®¤·¤¿Á´ÂÎ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤È¤Ê¤ë¡£

#define SO 392 //¥½¤Î²»
#define DO 523 //¥É¤Î²»
#define MI 659 //¥ß¤Î²»
#define SO_H 784 //¹â¤¤¥½¤Î²»
#define SI 988 //¥·¤Î²»
#define DO_H 1047 //¹â¤¤¥É¤Î²»
#define MI_H 1318 //¹â¤¤¥ß¤Î²»
#define RE 1175 //¥ì¤Î²»
#define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»


sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¥ê¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
{
    PlayTone(MI_H,90);Wait(100);
    PlayTone(DO_H,90);Wait(100);
    PlayTone(MI_H,90);Wait(100);
    PlayTone(DO_H,90);Wait(100);
}
sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î1UP¤Î²»¡Ë
{
    PlayTone(MI,110);Wait(120);
    PlayTone(SO_H,110);Wait(120);
    PlayTone(MI_H,110);Wait(120);
    PlayTone(DO_H,110);Wait(120);
    PlayTone(RE,110);Wait(120);
    PlayTone(SO_SH,110);Wait(120);

}
sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢¥¢¥·¥¹¥È¥¿¥¤¥à¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
{
    PlayTone(SI,90);Wait(100);
    PlayTone(MI_H,140);Wait(150);
}

sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
{
    PlayTone(MI,100);Wait(110);
    PlayTone(MI,100);Wait(250);
    PlayTone(MI,100);Wait(160);
    PlayTone(DO,90);Wait(100);
    PlayTone(MI,90);Wait(230);
    PlayTone(SO_H,90);Wait(420);
    PlayTone(SO,170);Wait(180);
}


#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à

#define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶­³¦Àþ¾å¤ÎÃÍ


sub Stop_Motion() //°ì»þÄä»ß¤ò¤¹¤ë»þ¤Î¥×¥í¥°¥é¥à
{
    Wait(300); //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¤È²¼¤Î²»¤òº®Æ±¤µ¤»¤Ê¤¤°Ù¤ÎÂÔ¤Á»þ´Ö
    pose_SE(); //¥Ý¡¼¥º²»
    Wait(1000); //°ì»þÄä»ß¤Î»þ´Ö
}

sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    long ta=CurrentTick();
    while (CurrentTick()-ta<=Assist_time){
        if (SENSOR_1<average-11) {
            move1
        }else if (SENSOR_1<average-7){
            move2;
        } else if (SENSOR_1<average+7){  
            move3;
        } else if (SENSOR_1<average+11){
            move4;
        } else {
            move5;
         }
     }
    coin_SE(); //¥³¥¤¥ó¤Î²»
}

sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    long tb=CurrentTick();
    while (CurrentTick()-tb<=Assist_time){
        if (SENSOR_1<average-11) {
            move5;
        } else if (SENSOR_1<average-7){
            move4;
        } else if (SENSOR_1<average+7){  
            move3;
        } else if (SENSOR_1<average+11){
            move2;
        } else {
            move1;
         }
     }
    coin_SE(); //¥³¥¤¥ó¤Î²»
}

sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
    L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë 
    long t1=CurrentTick();
    while (CurrentTick()-t1<=Stop_time){
        if (SENSOR_1<average-11) {
            move1;
        } else if (SENSOR_1<average-7){
            move2;
            t1=CurrentTick();
        } else if (SENSOR_1<average+7){  
            move3;
            t1=CurrentTick();
        } else if (SENSOR_1<average+11){
            move4;
            t1=CurrentTick();
        } else {
            move5;
            t1=CurrentTick();
         }
     }
    Off(OUT_AB);
    coin_SE(); //¥³¥¤¥ó¤Î²»
}

sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
{
    R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
 
    long t2=CurrentTick();
    while (CurrentTick()-t2<=Stop_time){
        if (SENSOR_1<average-11) {
            move5;
        } else if (SENSOR_1<average-8){
            move4;
            t2=CurrentTick();
        } else if (SENSOR_1<average+6){  
            move3;
            t2=CurrentTick();
        } else if (SENSOR_1<average+11){
            move2;
            t2=CurrentTick();
        } else {
            move1;
            t2=CurrentTick();
         }
     }
    Off(OUT_AB);
    coin_SE(); //¥³¥¤¥ó¤Î²»
}

sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    while (SENSOR_1>blight){
        OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
        OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
     }
    Off(OUT_AB);
}

sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
{
    while (SENSOR_1<blight){
        OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
        OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
     }
    Off(OUT_AB);
}

sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤­¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤­¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
    OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à
    Wait(800);
    Off(OUT_C);
    one_UP_SE(); //1UP¤Î²»
}

sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
{
    OnFwd(OUT_C,-30);
    Wait(900);
    Off(OUT_C);
    one_UP_SE(); //1UP¤Î²»
}

sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
{
    Black_to_White(48,40,35);
}

sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    Black_to_White(48,-10,30);
}

sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    Black_to_White(48,40,10);
} 

sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    White_to_Black(33,-28,35);
    Black_to_White(48,-20,35);
} 

sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    White_to_Black(30,-50,0);
    Black_to_White(53,-30,0); 
}

sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    White_to_Black(35,30,-10);
}

sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à¡£¾¯¤·¤À¤±Æüì¤Ê¥×¥í¥°¥é¥à¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿
{
    Black_to_White(48,10,40);
    L_line(200,100);
    Black_to_White(48,20,30);
    OnFwd(OUT_A,20);
    OnFwd(OUT_B,40);
    Wait(500);
    Off(OUT_AB);
    one_UP_SE(); //1UP¤Î²»
}

sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
    move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
    Start_SE(); //¥¹¥¿¡¼¥È¤Î²»
    Wait(100);
    White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶­³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤­¤ë
}

task main()
{
    SetSensorLight(S1); //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ°
    Start_Set(); //¥¹¥¿¡¼¥È
    L_line(6000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢6ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
    Get_cup(); //»æ¥³¥Ã¥×¤ò¼è¤ë
    Return_cource_1(); //¥³¡¼¥¹¤ËÌá¤ë
    L_line(200,200); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.2ÉäǸòº¹ÅÀǧ¼±
    Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
    R_line(700,110); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.7ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.11ÉäǸòº¹ÅÀǧ¼±
    Straight(); //¸òº¹ÅÀǧ¼±¤òľ¿Ê
    R_line(3000,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
    R_line(3500,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3.5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
    R_line(1000,100); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.1ÉäǸòº¹ÅÀǧ¼±
    Stop_Motion(); //°ì»þÄä»ß
    Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
    R_Assist_line(5000); //5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡Ê»æ¥³¥Ã¥×¤ÎÃÖ¤¯¤È¤³¤í¤Þ¤Ç¤Î°ÜÆ°¡Ë
    Derailment_cource(); //¥³¡¼¥¹¤òæÀþ¡Ê»æ¥³¥Ã¥×¤òÃÖ¤¯¾ì½ê¤òÄ´À°¡Ë
    Put_cup(); //»æ¥³¥Ã¥×¤òÃÖ¤¯
    Return_cource_2(); //¥³¡¼¥¹¤ËÌá¤ë
    L_line(2000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
    Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
    R_line(1000,180); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.18ÉäǸòº¹ÅÀǧ¼±
    Stop_Motion(); //°ì»þÄä»ß
    Right(); //¸òº¹ÅÀ¤ò±¦ÀÞ
    L_line(1000,250); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.25ÉäǸòº¹ÅÀǧ¼±
    Stop_Motion(); //°ì»þÄä»ß
    Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
    R_line(1000,130); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.13ÉäǸòº¹ÅÀǧ¼±
    Stop_Motion(); //°ì»þÄä»ß
    Go_goal(); //¥´¡¼¥ë¤Ø¸þ¤«¤¦
}

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Last-modified: 2018-01-18 (ÌÚ) 19:20:27