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#define THRESHOLD 50

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#define SPEED_H 25¡¡
#define SPEED_L 20

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#define OnRL(speedR,speedL)OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define go_forward OnRL(SPEED_H,SPEED_H);
#define turn_left1 OnRL(SPEED_L+20,-SPEED_L-20);
#define turn_left0 OnRL(SPEED_L,0);
#define turn_right0 OnRL(0,SPEED_L);
#define turn_right1 OnRL(-SPEED_L-20,SPEED_L+20);Wait(t);

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#define STEP 1
#define short_break Off(OUT_BC);Wait(1000);
#define CROSS_TIME 300
#define cross_line OnRL(SPEED_L,SPEED_L);Wait(CROSS_TIME);short_break;

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sub AtoJ(int t)
{
int n = 0;
SetSensorLowspeed(S4);
  SetSensorLight(S3); 
 ¡¡ while(n < 1){  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤ÇÀ®¤êΩ¤Ä
 ¡¡  if(SensorUS(S4) <= 7){                //´Ì¤¬£·­Ñ°ÊÆâ¤Ë¤¢¤ë¤È¼Â¹Ô
  ¡¡   Off(OUT_BC);
   ¡¡  Wait(1000);
   ¡¡  go_forward;
   ¡¡  Wait(500);
  ¡¡   Off(OUT_BC);
  ¡¡   OnRev(OUT_A,50);
   ¡¡  Wait(1000);
   ¡¡  Off(OUT_A); 
¡¡     n++;
 ¡¡  }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¥È¥ì¡¼¥¹
  ¡¡¡¡  if (SENSOR_3 < THRESHOLD-14){
  ¡¡¡¡  turn_right1;
  ¡¡ }else if(SENSOR_3 < THRESHOLD-7){
    ¡¡¡¡ turn_right0;
 ¡¡  }else if(SENSOR_3 < THRESHOLD+7){
  ¡¡¡¡   go_forward;
 ¡¡  }else if(SENSOR_3 < THRESHOLD+10){
¡¡¡¡     turn_left0;
¡¡   }else if(SENSOR_3 < THRESHOLD+20){
  ¡¡    turn_left1;
     }else{
  ¡¡   turn_left1;
¡¡   }      
  ¡¡  Wait(STEP);
¡¡  }
¡¡ }
  n = 0;
}

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sub JtoL(int t)
{
int n = 0;
int  nOnline=0;

SetSensorLight(S3);
 while(n < 4){        ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»Í²ó¤Î¸òº¹ÅÀ¤Î´Ö¤ÇÀ®Î©
 

   if (SENSOR_3 < THRESHOLD-14){
        if(nOnline < 2){¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òÆó¤Ä̵»ë¤¹¤ë¤Þ¤ÇÀ®Î©
          OnFwd(OUT_BC,30);¡¡¡¡¡¡¡¡ //¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤ÈÁ°¿Ê
          Wait(200);
          nOnline++;
          n++;
          }else{                    //¸òº¹ÅÀ¤òÆó²óÁ°¿Ê¤¹¤ë¤ÈÀ®Î©
    turn_left1;Wait(1500);          //I¤Î¸òº¹ÅÀ¤ÈH¤Î¸òº¹ÅÀ¤òº¸ÀÞ
    nOnline=0;
    n++;
    }
   }else{
    if(SENSOR_3 < THRESHOLD-7){
     turn_left0;
   }else if(SENSOR_3 < THRESHOLD+7){
     go_forward;
   }else if(SENSOR_3 < THRESHOLD+10){
     turn_right0;
   }else if(SENSOR_3 < THRESHOLD+20){
      turn_right1;
   }else{
     turn_right1;
    }   
    nOnline=0;
    Wait(STEP);
  }
 }
 n=0;
 Off(OUT_BC);
 Wait(1000);
 turn_right1;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¼¡¤Î±¦¥È¥ì¡¼¥¹¤Î¤¿¤á±¦ÀÞ¤·¤Æ¤ª¤¯
}

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sub LtoH(int t)
{
int n = 0;

SetSensorLight(S3);
 while(n < 6){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì²óÌܤεޥ«¡¼¥Ö¤Þ¤ÇÀ®Î©
   if (SENSOR_3 < THRESHOLD-14){
    turn_right1;
   }else{ 
   if(SENSOR_3 < THRESHOLD-7){
     turn_right0;
   }else if(SENSOR_3 < THRESHOLD+7){
     go_forward;
   }else if(SENSOR_3 < THRESHOLD+10){
     turn_left0;
   }else if(SENSOR_3 < THRESHOLD+20){¡¡¡¡¡¡¡¡//º¸¥È¥ì¡¼¥¹¤Ë°Ü¹Ô¤Ç¤­¤ë¤è¤¦¤ËÂç²óž
      turn_left1;Wait(420);/*ÅÅÃӰ͸*/
      n++;
   }else{
     turn_left1;
     n++;
     }
    Wait(STEP);
  }
 }
 n = 0;
}

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sub HtoG(int t)
{
int n = 0;

SetSensorLight(S3);
while(n < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µÞ¥«¡¼¥Ö¸å¹õ¤òǧ¼±¤¹¤ë¤Þ¤ÇÀ®Î©
   if (SENSOR_3 < THRESHOLD-14){
     cross_line;      
     n++;     
   }else{ 
   if(SENSOR_3 < THRESHOLD-7){
     turn_left0;
   }else if(SENSOR_3 < THRESHOLD+7){
     go_forward;
   }else if(SENSOR_3 < THRESHOLD+10){
     turn_right0;
   }else if(SENSOR_3 < THRESHOLD+20){
      turn_right1;
   }else{
     turn_right1;
     }
    Wait(STEP);
  }
 }
 n = 0;
}

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sub GtoD(int t)
{
int n = 0;

SetSensorLight(S3);
 while(n < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òÆó²ó±¦ÀÞ¤¹¤ë¤Þ¤ÇÀ®Î©
   if (SENSOR_3 < THRESHOLD-14){¡¡¡¡¡¡//¸òº¹ÅÀ¤òǧ¼±¤·¤¿¤é±¦ÀÞ
     Off(OUT_BC);
     Wait(1000);     
    turn_right1;
    n++;
   }else{ 
   if(SENSOR_3 < THRESHOLD-7){
     turn_right0;
   }else if(SENSOR_3 < THRESHOLD+7){
     go_forward;
   }else if(SENSOR_3 < THRESHOLD+10){
     turn_left0;
   }else if(SENSOR_3 < THRESHOLD+20){
      turn_left1;
   }else{
     turn_left1;
     }
    Wait(STEP);
  }
 }
 n = 0;
}

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sub FtoD(int t) 
{
int n = 0;

 SetSensorLight(S3);
  while(n < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//E¤Î¸òº¹ÅÀ¤ò̵»ë¤¹¤ë¤Þ¤ÇÀ®Î©
   if (SENSOR_3 < THRESHOLD-14){¡¡¡¡//E¤òǧ¼±¤·Ä¾¿Ê
    OnFwd(OUT_BC,30);
    Wait(200);
    n++;
   }else{ 
   if(SENSOR_3 < THRESHOLD-7){
     turn_right0;
   }else if(SENSOR_3 < THRESHOLD+7){
     go_forward;
   }else if(SENSOR_3 < THRESHOLD+10){
     turn_left0;
   }else if(SENSOR_3 < THRESHOLD+20){
      turn_left1;
   }else{
     turn_left1;
     }
    Wait(STEP);
  }
 }
 n = 0;
}

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sub DtoD(int t)
{
int n = 0;

 SetSensorLight(S3);
  while(n < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤òÃÖ¤­¡¢180¡ë²óž¤¹¤ë¤Þ¤ÇÀ®Î©
   if (SENSOR_3 < THRESHOLD-14){¡¡//D¤òǧ¼±¤¹¤ë¤ÈÃÖ¤¯¤Ù¤­¾ì½ê¤Ë´Ì¤òÃÖ¤­180¡ë²óž
    turn_left1;Wait(t);
    OnRev(OUT_BC,30);
    Wait(t);
    Off(OUT_BC);
    OnFwd(OUT_A,50);
    Wait(1000);
    Off(OUT_A);
    OnRev(OUT_BC,30);
    Wait(90);
    Off(OUT_BC);
    turn_left1;
    Wait(t);
    n++;
   }else{ 
   if(SENSOR_3 < THRESHOLD-7){
     turn_right0;
   }else if(SENSOR_3 < THRESHOLD+7){
     go_forward;
   }else if(SENSOR_3 < THRESHOLD+10){
     turn_left0;
   }else if(SENSOR_3 < THRESHOLD+20){
      turn_left1;
   }else{
     turn_left1;
     }
    Wait(STEP);
  }
 }
 n = 0;
}

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 sub DtoC(int t)
{
int n = 0;

 SetSensorLight(S3);
  while(n < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//C¤Î¸òº¹ÅÀ¤ÈA¤Îľ¿Ê¤Þ¤ÇÀ®Î©
   if (SENSOR_3 < THRESHOLD-14){     //¹õ¤òƧ¤ó¤À¤éľ¿Ê
    Off(OUT_BC);
    Wait(1000);
    cross_line;
    n++;
   }else{ 
   if(SENSOR_3 < THRESHOLD-7){
     turn_right0;
   }else if(SENSOR_3 < THRESHOLD+7){
     go_forward;
   }else if(SENSOR_3 < THRESHOLD+10){
     turn_left0;
   }else if(SENSOR_3 < THRESHOLD+20){
      turn_left1;
   }else{
     turn_left1;
     }
    Wait(STEP);
  }
 }
 n = 0;
}  

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task main()
{
 AtoJ(1350);
 turn_left1;
 Wait(1000);
 go_forward;
 Wait(500);
 Off(OUT_BC);
 JtoL(100);
 LtoH(100);
 turn_left0;
 Wait(3000);
 HtoG(100);
 turn_left0;
 Wait(400);
 GtoD(740);
 FtoD(100);
 DtoD(1500);
 DtoC(100);
 }

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Last-modified: 2018-08-12 (Æü) 22:52:25