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#define arm_ueageru OnFwd(OUT_AC);Wait(120);Off(OUT_AC);    //¥¢¡¼¥à¤ò°ìÄê»þ´Ö¾å¤²¤ë
#define arm_sageru OnRev(OUT_C);                            //¥¢¡¼¥à¤ò²¼¤²Â³¤±¤ë
#define kan_tukamu OnRev(OUT_A);                            //¥¢¡¼¥à¤òÄϤß³¤±¤ë
#define arm_ageru OnFwd(OUT_C);                             //¥¢¡¼¥à¤ò¾å¤²Â³¤±¤ë
#define kan_hanasu OnFwd(OUT_A);Wait(30);Off(OUT_AC);       //´Ì¤ò¥¢¡¼¥à¤«¤éÊü¤¹
#define STOP Off(OUT_AC);                                   //°ì»þÄä»ß
#define kan_temae_toutyaku 10                               //ËÜÂΤ¬´Ì¤¬¼êÁ°¤Þ¤ÇÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_sanko_motu 11                                   //¥¢¡¼¥à¤¬´Ì¤ò£³¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_sanko_motte_senkaisita 12                       //ËÜÂΤ¬£³¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_niko_motta 13                                   //¥¢¡¼¥à¤¬´Ì¤ò£²¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_niko_motte_senkaisita 14                        //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤Æ¸µ¤ÎX¤Î°ÌÃ֤˱¦Àû²ó¤·¤Æ¤Ä¤¤¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_ikko_motta 15                                   //¥¢¡¼¥à¤¬´Ì¤ò£±¸Ä»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_ikko_motte_senkaisita 16                        //ËÜÂΤ¬£±¸Ä¤Î´Ì¤ò»ý¤Ã¤Æº¸¤ËÀû²ó¤·¤ÆÁ°¤ËÃÖ¤¤¤¿£±¸Ä¤Î´Ì¤Î¾å¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_okiowatta 17                                    //¥¢¡¼¥à¤¬£±¸Ä¤Î´Ì¤ò¤â¤¦°ì¸Ä¤Î´Ì¤Î¾å¤ËÃÖ¤¤¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define kan_futatabi_modoru 18                              //ËÜÂΤ¬£²¸Ä¤Î´Ì¤ÎÁ°¤ËºÆ¤ÓÌá¤Ã¤Æ¤­¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë
#define kan_futatabi_motta 19                               //¥¢¡¼¥à¤¬£²¸Ä¤Î´Ì¤ò»ý¤Ã¤¿¤³¤È¤òËÜÂΤËÅÁ¤¨¤ë
#define y_toutyaku 20                                       //ËÜÂΤ¬Y¤ËÅþÃ夷¤¿¤³¤È¤ò¥¢¡¼¥à¤ËÅÁ¤¨¤ë

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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    
}

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#define go_straight(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);                 //ľ¿Ê
#define go_back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC);                     //¸åÂà
#define TURN_RIGHT(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_AC);      //±¦¤ËÀû²ó
#define TURN_LEFT(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_AC);       //º¸¤ËÀû²ó
#define cross_stop Off(OUT_AC);Wait(100);              //°ì»þÄä»ß
#define kan_temae_toutyaku 10              //¤³¤ì¤«¤é²¼¤ÎÄêµÁ¤Ï¥¢¡¼¥à¤Î¤â¤Î¤ÈƱ¤¸¤Ê¤Î¤Ç¾Êά
#define kan_sanko_motu 11
#define kan_sanko_motte_senkaisita 12
#define kan_niko_motta 13
#define kan_niko_motte_senkaisita 14
#define kan_ikko_motta 15
#define kan_ikko_motte_senkaisita 16
#define kan_okiowwata 17
#define kan_futatabi_modoru 18
#define kan_futatabi_motta 19
#define y_touchaku 20

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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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Last-modified: 2018-08-14 (²Ð) 12:31:21