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  task main(){
  SetSensor(SENSOR_3,SENSOR_LIGHT);
  go_straight(100);                            //Á°¤Ëľ¿Ê
  OnFwd(OUT_AC);
  until(SENSOR_3<=46);                         //X¤Î±ß¤ÎÁ°¤Ç»ß¤Þ¤ë¤è¤¦¤Ë¤¹¤ë¡¥ÌÀ¤ë¤µ¤Ï¾ì½ê¡Ê¶µ¼¼¡Ë¤Ë¤è¤Ã¤ÆÊѤï¤ë
  Off(OUT_AC);
  SendMessage(kan_temae_toutyaku);             //ËÜÂΤ¬´Ì¤Î¼êÁ°¤Þ¤Ç¤­¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
  ClearMessage();
  until (Message()==kan_sanko_motu);           //¥¢¡¼¥à¤¬3¸Ä¤Î´Ì¤ò»ý¤Ä¤Î¤òÂÔ¤Ä
  TURN_LEFT(90);                               //3¸Ä¤Î´Ì¤ò»ý¤Áº¸Àû²ó
  Off(OUT_AC);
  SendMessage(kan_sanko_motte_senkaisita);     //3¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
  ClearMessage();
  until (Message()==kan_niko_motta);           //¥¢¡¼¥à¤¬´Ì¤ò2¸Ä»ý¤Ä¤Þ¤ÇÂÔ¤Ä
  TURN_RIGHT(140);                             //´Ì¤ò»ý¤Á±¦¤ËÀû²ó
  Off(OUT_AC);
  SendMessage(kan_niko_motte_senkaisita);      //¥¢¡¼¥à¤Ë´Ì¤ò2¸Ä»ý¤Ã¤Æ±¦Àû²ó¡ÊX¤Î°ÌÃÖ¤ËÌá¤ë¡Ë¤·¤¿¤³¤È¤òÅÁ¤¨¤ë
  ClearMessage();
  until (Message()==kan_ikko_motta);           //¥¢¡¼¥à¤¬´Ì¤ò1¸Ä»ý¤Ä¤Þ¤ÇÂÔ¤Ä
  go_back(45);                                 //¸åÂà¡Ê¤³¤Î»þ¥¢¡¼¥à¤Ï¾å¤Ë¤¢¤¬¤ê³¤±¤Æ´Ì¤â¤Ä¤«¤ß³¤±¤Æ¤¤¤ë¡Ë
  TURN_LEFT(97);                               //º¸Àû²ó
  Off(OUT_AC);
  go_back(10);                                 //¸åÂà
  SendMessage(kan_ikko_motte_senkaisita);      //»ý¤Ã¤Æ¤¤¤ë1¸Ä¤Î´Ì¤¬ÃÖ¤¤¤Æ¤¢¤ë1¸Ä¤Î´Ì¤Î¾å¤ËÍ褿¤³¤È¤òÅÁ¤¨¤ë
  ClearMessage();
  until (Message()==kan_okiowwata);            //¥¢¡¼¥à¤¬ÃÖ¤¤¤Æ¤¢¤ë1¸Ä¤Î´Ì¤Î¾å¤Ë»ý¤Ã¤Æ¤¤¤¿1¸Ä¤Î´Ì¤òÃÖ¤¯¤Þ¤ÇÂÔ¤Ä
  go_back(150);                                //¸åÂà
  Wait(100);
  go_straight(150);                            //¸åÂष¤¿Ê¬Ä¾¿Ê
  Off(OUT_AC);
  SendMessage(kan_futatabi_modoru);           //ËÜÂΤ¬ÀèÄø¤¤¤¿2¸Ä¤Î´Ì¤Î¼êÁ°¤Þ¤ÇÍ褿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
  ClearMessage();
  until (Message()==kan_futatabi_motta);       //¥¢¡¼¥à¤¬2¸Ä¤Î´Ì¤òºÆ¤Ó»ý¤Ä¤Þ¤ÇÂÔ¤Ä
  go_straight(400);                            //ľ¿Ê
  TURN_RIGHT(130);                             //±¦Àû²ó
  Off(OUT_AC);
  go_straight(10);                             //ľ¿Ê
  Wait(100);
  SendMessage(y_touchaku);                     //Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
  Off(OUT_AC);

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 sub ueno_kan_tukamu()
{
   arm_ueageru;              //¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç¤¢¤²¤ë
   Wait(10);  
   arm_sageru;               //¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
   Wait(5);
   kan_tukamu;               //´Ì¤ò¤Ä¤«¤à
   Wait(5);
   arm_ageru;                //´Ì¤ò¤Ä¤«¤ó¤À¤Þ¤Þ¥¢¡¼¥à¤ò¤¢¤²Â³¤±¤ë
}

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 task main ()
{    
   ClearMessage();
   until(Message() == kan_temae_toutyaku);                //X¤ËÃ夯¤Þ¤ÇÂÔ¤Ä
   kan_tukamu;
   Wait(50);
   SendMessage(kan_sanko_motu);
   ClearMessage();                                       //´Ì£³¸ÄÄϤó¤À¤³¤È¤òÅÁ¤¨¤ë
   until(Message() == kan_sanko_motte_senkaisita);       //´Ì¤ò£³¸Ä»ý¤Ã¤ÆÀû²ó¤·¤Æ¤â¤é¤¦¤Þ¤ÇÂÔ¤Ä
   Wait(100);
   STOP;
   kan_hanasu;                                           //´Ì¤ò£³¸Ä²£¤Ë°ÜÆ°
   ueno_kan_tukamu();
   ClearMessage();
   Wait(100);
   SendMessage(kan_niko_motta);                          //´Ì£²¸Ä»ý¤Á¾å¤²¤¿¤³¤È¤òÅÁ¤¨¤ë
   ClearMessage();
   until(Message() == kan_niko_motte_senkaisita);        //¤â¤¦°ì¤Ä¤Î¥í¥Ü¤ËÀû²ó¤·¤Æ¤â¤é¤¦
   Wait(100);
   Off(OUT_C);                                           //´Ì¤¬²¼¤ê¤ë¤Î¤òÂÔ¤Ä
   Wait(800);
   kan_hanasu;        //´Ì¤ò£±¸Ä£²¸Ä¤Ëʬ¤±¤ë
   ueno_kan_tukamu();
   Wait(100);
   ClearMessage();
   SendMessage(kan_ikko_motta);                          //´Ì¤ò°ì¸Ä»ý¤Ã¤¿¤³¤È¤òÁê¼ê¤ËÅÁ¤¨¤ë
   ClearMessage();
   until(Message() == kan_ikko_motte_senkaisita);        //¥í¥Ü¥Ã¥È¤¬Àû²ó¤¹¤ë¤Þ¤Ç¤Þ¤Ä
   STOP;
   Wait(800);                                            //´Ì¤¬²¼¤¬¤ë¤Î¤òÂÔ¤Ä
   kan_hanasu;                                           //´Ì¤ò£²¸Ä£±¸Ä¤Ëʬ¤±¤¿
   OnFwd(OUT_A);                                         //¥¢¡¼¥à¤ò³«¤­Â³¤±¤ë
   arm_ueageru;                                          //¥¢¡¼¥à¤ò¾å¤²¤ë  
   SendMessage(kan_okiowatta);                           //´Ì¤«¤é¥¢¡¼¥à¤ò´°Á´¤ËÊü¤·¤¿¤³¤È¤òÅÁ¤¨¤ë
   until(Message() == kan_futatabi_modoru);              //ºÆ¤Ó´Ì¤Î¼êÁ°¤Þ¤ÇÌá¤Ã¤Æ¤­¤¿¤³¤È¤òÅÁ¤¨¤ë
   kan_tukamu;                                           //´Ì¤òÄϤà
   SendMessage(kan_futatabi_motta);                      //´Ì¤òÄϤó¤À¤³¤È¤òÅÁ¤¨¤ë
   until(Message() == y_toutyaku);                       //´Ì¤ò»ý¤Ã¤ÆY¤ËÅþÃ夷¤Æ¤â¤é¤¦¤Þ¤ÇÂÔ¤Ä
   kan_hanasu;                                           //´Ì¤òÊü¤¹    

} ¡¡´Ì¤òµÞ¤ËÊü¤¹¤È¥¢¡¼¥à¤ò³«¤¯Àª¤¤¤ÇÅݤì¤Æ¤·¤Þ¤¦¤¿¤á¡¤Wait¤ò¤Ï¤µ¤ß²þÁ±¤µ¤»¤Æ¤¤¤ë¡¥

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Last-modified: 2018-08-19 (Æü) 00:08:03