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#define BLACK 34
#define BLACKWH  42
#define WB 45
#define WHITE 48
#define SPEED_H 40
#define SPEED_L 35
#define OnRL(speed_R,speed_L) OnFwd(OUT_B,speed_R);OnFwd(OUT_C,speed_L);
#define go_forward  OnRL(SPEED_H, SPEED_H);
#define turn_left1  OnRL(SPEED_L, -SPEED_L);  // º¸Àû²ó
#define turn_left0  OnRL(SPEED_L, 0);         // º¸ÀÞ
#define turn_right0 OnRL(0, SPEED_L);         // ±¦ÀÞ
#define turn_right1 OnRL(-SPEED_L, SPEED_L);  // ±¦Àû²ó

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sub Rine_Trace(int Move_time)¡¡//Move_time¤ËÆþ¤ì¤¿»þ´Ö¤À¤±¹õ¤¤Àþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
{
    long tb=CurrentTick();¡¡//»þ´Ö¤ò¥ê¥»¥Ã¥È
    while(CurrentTick()-tb<=Move_time){¡¡
        if(SENSOR_3>WHITE){
        turn_left1;
      } else if(SENSOR_3>WB){
        turn_left0;
      } else if(SENSOR_3>BLACKWH){
        go_forward;
      } else if(SENSOR_3>BLACK){
        turn_right0;
      } else {
        turn_right1;
       }
    }
   Off(OUT_BC);
}

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sub Line_Trace(int Move_time)  //Move_time¤ËÆþ¤ì¤¿»þ´Ö¤À¤±¹õ¤¤Àþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
{
    long tb=CurrentTick();
    while(CurrentTick()-tb<=Move_time){
        if(SENSOR_3>WHITE){
        turn_right1;
      } else if(SENSOR_3>WB){
        turn_right0;
      } else if(SENSOR_3>BLACKWH){
        go_forward;
      } else if(SENSOR_3>BLACK){
        turn_left0;
      } else {
        turn_left1;
       }
    }
   Off(OUT_BC);
}

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¸÷¥»¥ó¥µ¡¼¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬BLACK¤è¤ê¤â¾®¤µ¤ÊÃͤò´Ñ¬¤¹¤ë¾ì¹ç¤¬200²ó°Ê¾å³¤¯¤Þ¤Ç¡Ê¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤Ç¡Ë¹õ¤¤Àþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£°Ê²¼¡¢ÍѤ¤¤¿¥×¥í¥°¥é¥à

sub R_line_trace()  
{
  int n=0;
  while(n<=200){
     if(SENSOR_3>WHITE){
        turn_left1;
        n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È
      } else if(SENSOR_3>WB){
        turn_left0;
        n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È
      } else if(SENSOR_3>BLACKWH){
        go_forward;
        n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È
      } else if(SENSOR_3>BLACK){
        turn_right0;
        n=0;¡¡¡¡¡¡¡¡¡¡//n¤ÎÃͤò¥ê¥»¥Ã¥È
      } else {
        turn_right1;
        n++;          //¤³¤Î¤È¤­¤Î¤ßn¤ÎÃͤòÊݸ¤·¤¿¤Þ¤Þwhile¤Î¼°¤ËÌá¤ë
       }
     }
   Off(OUT_BC);
   Wait(1000);
}

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sub L_line_trace()
{
  int n=0;
  while(n<=200){
     if(SENSOR_3>WHITE){
        turn_right1;
        n=0;
      } else if(SENSOR_3>WB){
        turn_right0;
        n=0;
      } else if(SENSOR_3>BLACKWH){
        go_forward;
        n=0;
      } else if(SENSOR_3>BLACK){
        turn_left0;
        n=0;
      } else {
        turn_left1;
        n++;
       }
    }
  Off(OUT_BC);
  Wait(1000);
}

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sub BK_to_WT(int blight,int B_speed,int C_speed) 
{
   while (SENSOR_3<blight){
       OnFwd(OUT_B,B_speed); 
       OnFwd(OUT_C,C_speed); 
    }
   Off(OUT_BC);
}

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sub WT_to_BK(int blight,int B_speed,int C_speed) 
{
   while (SENSOR_3>blight){
       OnFwd(OUT_B,B_speed); 
       OnFwd(OUT_C,C_speed); 
    }
   Off(OUT_BC);
}

¥á¥¤¥ó¥×¥í¥°¥é¥à

task main()
{
    SetSensorLight(S3);¡¡¡¡¡¡¡¡¡¡//­¡3È֥ݡ¼¥È¤Ë¸÷¥»¥ó¥µ¡¼¤òÄêµÁ
    BK_to_WT(34,40,40);¡¡¡¡¡¡¡¡¡¡//­¢ÌÀ¤ë¤µ¤¬34¤Ë¤Ê¤ë¤Þ¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤ò40%¤ÇÆ°¤«¤¹
    WT_to_BK(48,40,40);¡¡¡¡¡¡¡¡¡¡//­£ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤ò40%¤ÇÆ°¤«¤¹
    Rine_Trace(3000);¡¡¡¡¡¡¡¡¡¡¡¡//­¤Àþ¤Î±¦Â¦¤ò3Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    R_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¥¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
    BK_to_WT(48,40,-10);¡¡¡¡¡¡¡¡ //­¦ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸40%¡¢±¦10%¸å¤í¸þ¤­¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    RotateMotor(OUT_A,-40,100);¡¡//­§±¦ÏӤΥ⡼¥¿¡¼A¤ò40%¸å¤í¸þ¤­¤Ë100¡ë²óž¤¹¤ë
    Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¨A¤Î¥â¡¼¥¿¡¼¤ÎÅŸ»¤òÀÚ¤ë
    WT_to_BK(42,0,-40);¡¡¡¡¡¡¡¡¡¡//­©ÌÀ¤ë¤µ¤¬42¤Ë¤Ê¤ë¤Þ¤Ç±¦40%¸å¤í¸þ¤­¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    Rine_Trace(6000);¡¡¡¡¡¡¡¡¡¡¡¡//­ªÀþ¤Î±¦Â¦¤ò6Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    BK_to_WT(48,60,20);          //­«ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%±¦20%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹¡×
    L_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¬¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    Line_Trace(1000);¡¡¡¡¡¡¡¡¡¡¡¡//­­Àþ¤Îº¸Â¦¤ò1Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    L_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­®¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    Line_Trace(20000);¡¡¡¡¡¡¡¡¡¡ //­¯Àþ¤Îº¸Â¦¤ò20Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    L_line_trace();              //­°¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    BK_to_WT(47,-25,40);¡¡¡¡¡¡¡¡ //­±ÌÀ¤ë¤µ¤¬47¤Ë¤Ê¤ë¤Þ¤Çº¸25%¸å¤í¸þ¤­±¦40%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    Line_Trace(1500);¡¡¡¡¡¡¡¡¡¡¡¡//­²Àþ¤Îº¸Â¦¤ò1.5Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    L_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­³¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    BK_to_WT(48,-30,60);¡¡¡¡¡¡¡¡ //­´ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸30%¸å¤í¸þ¤­±¦60%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    Line_Trace(7000);            //21Àþ¤Îº¸Â¦¤ò7Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    BK_to_WT(48,20,60);¡¡¡¡¡¡¡¡¡¡//22ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸20%±¦60%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    R_line_trace();              //23¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    BK_to_WT(48,60,-30);         //24ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%±¦30%¸å¤í¸þ¤­¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    RotateMotor(OUT_A,40,100);¡¡ //25±¦ÏӤΥ⡼¥¿¡¼A¤ò40%¤Ç100¡ë²óž¤µ¤»¤ë
    Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//26¥â¡¼¥¿¡¼A¤ÎÅŸ»¤òÀÚ¤ë
    WT_to_BK(34,-60,30);¡¡¡¡¡¡¡¡ //27ÌÀ¤ë¤µ¤¬34¤Ë¤Ê¤ë¤Þ¤Çº¸60%¸å¤í¸þ¤­±¦30%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    BK_to_WT(48,-60,30);         //28ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%¸å¤í¸þ¤­±¦30%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    Rine_Trace(10000);           //29Àþ¤Î±¦Â¦¤ò10Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    R_line_trace();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//30¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    BK_to_WT(48,60,30);          //31ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸60%±¦30%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
    Rine_Trace(7000);¡¡¡¡¡¡¡¡¡¡¡¡//32Àþ¤Î±¦Â¦¤ò7Éô֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    R_line_trace();              //33¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
    BK_to_WT(48,40,40);          //34ÌÀ¤ë¤µ¤¬48¤Ë¤Ê¤ë¤Þ¤Çº¸40%±¦40%¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹
}                                //½ª
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Last-modified: 2018-07-19 (ÌÚ) 19:06:01