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   void follow_line_migi(long t_min)
   {
   SetSensorLight(S1);
   long t_start=CurrentTick();         			       //´Ø¿ô¤¬»Ï¤Þ¤Ã¤¿»þ´Ö
   long t0=CurrentTick();            			       //Çòor¹õ¤òõÃΤ·»Ï¤á¤¿»þ´Ö
   long t_max=150;                			       //Ϣ³¤·¤Æ¹õ¤Î¸Â³¦ÃÍ
   long t1=CurrentTick();          			       //¶Ê¤¬¤ëÆ°ºî¤ò¤·»Ï¤á¤¿»þ´Ö¤Èľ¿Ê¤ò½ª¤¨¤¿»þ´Ö
   long t_kosa=200;							//¸òº¹ÅÀ¤ÎȽÃǤޤǤλþ´Ö
   while(t1-t_start<t_min){					//t_min¤Î´Ö¸òº¹ÅÀ¤ÎȽÃǤò¤·¤Ê¤¤
       if(SENSOR_1>60){
           if(t1-t0<t_max){
               OnFwd(OUT_C,40);Off(OUT_A);			//¾¯¤·Çò¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤éº¸ÀÞ
           }else{
               OnFwd(OUT_C,20);OnRev(OUT_A,50);			//Â礭¤¯Çò¤ÎÉôʬ¤Ë½Ð¤¿¤éº¸Àû²ó
           }
       }else if(SENSOR_1>50){
           OnFwd(OUT_AC,30);					//Çò¤È¹õ¤Î¶­³¦Àþ¤Ê¤Î¤Çľ¿Ê
           t0=CurrentTick();                                  //­¢Çòor¹õ¤òõÃΤ·¤Æ¤¤¤Ê¤¤¤Î¤Çt0¹¹¿·
       }else{
           if(t1-t0<t_max){
               OnFwd(OUT_A,40);Off(OUT_C);			//¾¯¤·¹õ¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤é±¦ÀÞ
           }else{
               OnFwd(OUT_A,20);OnRev(OUT_C,50);			//Â礭¤¯¹õ¤ÎÉôʬ¤Ë½Ð¤¿¤é±¦Àû²ó
           }
       }
       t1=CurrentTick();						//­¡±¦º¸ÀÞorľ¿Ê¤¬½ª¤ï¤Ã¤¿¤Î¤Ç¹¹¿·
   }
   PlaySound(SOUND_CLICK);						//²»¤òÌĤ餷¤³¤³¤«¤é¸òº¹ÅÀ¤ÎȽÃǤò¤¹¤ë¤è¤¦¤Ë¤Ê¤ë
   while(true){
      if(SENSOR_1>60){
           if(t1-t0<t_max){
               OnFwd(OUT_C,40);Off(OUT_A);			//¾¯¤·Çò¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤éº¸ÀÞ
           }else{
               OnFwd(OUT_C,20);OnRev(OUT_A,50);			//Â礭¤¯Çò¤ÎÉôʬ¤Ë½Ð¤¿¤éº¸Àû²ó
           }
       }else if(SENSOR_1>50){
           OnFwd(OUT_AC,40);					//Çò¤È¹õ¤Î¶­³¦Àþ¤Ê¤Î¤Çľ¿Ê
           t0=CurrentTick();                                  //Çòor¹õ¤òõÃΤ·¤Æ¤¤¤Ê¤¤¤Î¤Çt0¹¹¿·
       }else{
           if(t1-t0<t_max){
               OnFwd(OUT_A,40);Off(OUT_C);			//¾¯¤·¹õ¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤é±¦ÀÞ
           }else if(t1-t0<t_kosa){
               OnFwd(OUT_A,20);OnRev(OUT_C,50);			//Â礭¤¯¹õ¤ÎÉôʬ¤Ë½Ð¤¿¤é±¦Àû²ó
        }else{
         Off(OUT_AC);break;					//­¤¹õ¤Î»þ´Ö¤¬°ìÄêÃͰʾå¤Ë¤Ê¤Ã¤¿¤é¸òº¹ÅÀ¤ÈȽÃǤ·while¤Î¥ë¡¼¥×¤«¤éÈ´¤±¤ë
           }
       }
       t1=CurrentTick();						//­£±¦º¸ÀÞorľ¿Ê¤¬½ª¤ï¤Ã¤¿¤Î¤Ç¹¹¿·
   }
   Off(OUT_AC);							//­¤»ß¤Þ¤ë
   PlaySound(SOUND_CLICK);						//²»¤òÌĤ餷¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤³¤È¤òÃΤ餻¤ë
   }

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   void follow_line_hidari(long t_min)
   {
   SetSensorLight(S1);
   long t_start=CurrentTick();           			//´Ø¿ô¤¬»Ï¤Þ¤Ã¤¿»þ´Ö
   long t0=CurrentTick();            				//Çòor¹õ¤Î»þ´Ö¤òõÃΤ·»Ï¤á¤¿»þ´Ö
   long t_max=150;               				       //Ϣ³¤·¤Æ¹õ¤Î¸Â³¦ÃÍ
   long t1=CurrentTick();            				//¶Ê¤¬¤ëÆ°ºî¤ò¤·»Ï¤á¤¿»þ´Ö¤Èľ¿Ê¤ò½ª¤¨¤¿»þ´Ö
   long t_kosa=200;
   while(t1-t_start<t_min){					//t_min¤Î´Ö¸òº¹ÅÀ¤ÎȽÃǤò¤·¤Ê¤¤
       if(SENSOR_1>60){
           if(t1-t0<t_max){
               OnFwd(OUT_A,40);Off(OUT_C);			//¾¯¤·Çò¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤é±¦ÀÞ
           }else{
               OnFwd(OUT_A,20);OnRev(OUT_C,50);			//Â礭¤¯Çò¤ÎÉôʬ¤Ë½Ð¤¿¤é±¦Àû²ó
           }
       }else if(SENSOR_1>50){
           OnFwd(OUT_AC,40);					//Çò¤È¹õ¤Î¶­³¦Àþ¤Ê¤Î¤Çľ¿Ê
           t0=CurrentTick();                                  //­¢Çòor¹õ¤òõÃΤ·¤Æ¤¤¤Ê¤¤¤Î¤Çt0¹¹¿·
       }else{
           if(t1-t0<t_max){
               OnFwd(OUT_C,40);Off(OUT_A);			//¾¯¤·¹õ¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤éº¸ÀÞ
           }else{
               OnFwd(OUT_C,20);OnRev(OUT_A,50);			//Â礭¤¯¹õ¤ÎÉôʬ¤Ë½Ð¤¿¤éº¸Àû²ó
            }
       }
       t1=CurrentTick();						//­¡±¦º¸ÀÞorľ¿Ê¤¬½ª¤ï¤Ã¤¿¤Î¤Ç¹¹¿·
   }
   Off(OUT_AC);
   PlaySound(SOUND_CLICK);						//²»¤òÌĤ餷¤³¤³¤«¤é¸òº¹ÅÀ¤ÎȽÃǤò¤¹¤ë¤è¤¦¤Ë¤Ê¤ë
   while(true){
       if(SENSOR_1>60){
           if(t1-t0<t_max){
               OnFwd(OUT_A,40);Off(OUT_C);			//¾¯¤·Çò¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤é±¦ÀÞ
           }else{
               OnFwd(OUT_A,20);OnRev(OUT_C,50);			//Â礭¤¯Çò¤ÎÉôʬ¤Ë½Ð¤¿¤é±¦Àû²ó
           }
       }else if(SENSOR_1>50){
           OnFwd(OUT_AC,30);					//Çò¤È¹õ¤Î¶­³¦Àþ¤Ê¤Î¤Çľ¿Ê
           t0=CurrentTick();                                  //Çòor¹õ¤òõÃΤ·¤Æ¤¤¤Ê¤¤¤Î¤Çt0¹¹¿·
       }else{
           if(t1-t0<t_max){
               OnFwd(OUT_C,40);Off(OUT_A);			//¾¯¤·¹õ¤ÎÉôʬ¤ËÆþ¤Ã¤¿¤éº¸ÀÞ
           }else if(t1-t0<t_kosa){
               OnFwd(OUT_C,20);OnRev(OUT_A,50);			//Â礭¤¯¹õ¤ÎÉôʬ¤Ë½Ð¤¿¤éº¸Àû²ó
           }else{
                 Off(OUT_AC);break;				//­¤¹õ¤Î»þ´Ö¤¬°ìÄêÃͰʾå¤Ë¤Ê¤Ã¤¿¤é¸òº¹ÅÀ¤ÈȽÃǤ·while¤Î¥ë¡¼¥×¤«¤éÈ´¤±¤ë
             }
       }
       t1=CurrentTick();						//­£±¦º¸ÀÞorľ¿Ê¤¬½ª¤ï¤Ã¤¿¤Î¤Ç¹¹¿·
   }
   Off(OUT_AC);							//­¤»ß¤Þ¤ë
   PlaySound(SOUND_CLICK);						//²»¤òÌĤ餷¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤³¤È¤òÃΤ餻¤ë
   }

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   void follow_line_ensyu(long t_min)
   {
   SetSensorLight(S1);
   long t_start=CurrentTick();            			//´Ø¿ô¤¬»Ï¤Þ¤Ã¤¿»þ´Ö
   long t0=CurrentTick();          			      ¡¡ //Çòor¹õ¤Î»þ´Ö¤òõÃΤ·»Ï¤á¤¿»þ´Ö
   long t_max=150;                				//Ϣ³¤·¤Æ¹õ¤Î¸Â³¦ÃÍ
   long t_kousa=200;        					//¸òº¹ÅÀȽÃÇ
   long t1=CurrentTick();            				//¶Ê¤¬¤ëÆ°ºî¤ò¤·»Ï¤á¤¿»þ´Ö¤Èľ¿Ê¤ò½ª¤¨¤¿»þ´Ö
   while(t1-t_start<t_min){
       if(SENSOR_1>60){
           if(t1-t0<t_max){
               OnFwd(OUT_A,40);Off(OUT_C);
           }else{
               OnFwd(OUT_A,30);OnRev(OUT_C,60);
           }
       }else if(SENSOR_1>50){
           OnFwd(OUT_AC,30);
           t0=CurrentTick();
       }else{
           if(t1-t0<t_max){
               OnFwd(OUT_C,40);Off(OUT_A);
           }else if(t1-t0<t_kousa){
               OnFwd(OUT_C,30);OnRev(OUT_A,50);
            }else{
          OnFwd(OUT_AC,40);Wait(200);PlaySound(SOUND_CLICK);
         }
       }
       t1=CurrentTick();
   }
   Off(OUT_AC);
   PlaySound(SOUND_CLICK);
   }

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   void search_direction()
   {
	ResetTachoCount(OUT_ABC);			//¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò¥ê¥»¥Ã¥È
	OnFwd(OUT_A,50);
	OnRev(OUT_C,50);
	SetSensorLowspeed(S4);			¡¡¡¡¡¡¡¡//ü»Ò4¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼
	int d1;
	d1=1000;					//ºÇ¾®µ÷Î¥¤ò1000¤ÈÄêµÁ¤¹¤ë
	long t0=CurrentTick();
	long t1=CurrentTick();
	long t2=CurrentTick();
	while(t2-t0<=3570){				//3570¤Î´Ö²ó¤ê³¤±¤ë
		t2=CurrentTick();
		if(SensorUS(S4)<d1){			//¥»¥ó¥µ¡¼¤ÇõÃΤ·ºÇ¾®µ÷Î¥¤è¤êû¤¤¾ì¹ç
			d1=SensorUS(S4);		//ºÇ¾®ÃͤòºÆÄêµÁ
			PlaySound(SOUND_CLICK);
			t1=CurrentTick();
		}
		t2=CurrentTick();
	}
	t0=CurrentTick();
	Off(OUT_AC);
	OnFwd(OUT_C,50);
	OnRev(OUT_A,50);
	Wait(t0-t1);					//¥»¥ó¥µ¡¼¤ÇºÇ¸å¤ËºÇ¾®ÃͤÎd1¤òõÃΤ·¤¿°ÌÃÖ¤ò¸þ¤¯
	Off(OUT_AC);
	Wait(1000);
	RotateMotorEx(OUT_AC,50,360,100,true,false);	//¥Ü¡¼¥ë¤òž¤¬¤¹
	RotateMotor(OUT_B,30,60);
	Wait(5000);
	RotateMotor(OUT_B,50,-60);
	RotateMotorEx(OUT_AC,50,380,100,true,false);
   }

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   void search_direction()
   {
   OnFwd(OUT_A,50);
   OnRev(OUT_C,50);
   SetSensorLowspeed(S4);            
   int d1;
   d1=1000;
   long t0=CurrentTick();
   long t1=CurrentTick();
   while(t1-t0<3570){
       if(SensorUS(S4)<d1){
           d1=SensorUS(S4);
           PlaySound(SOUND_CLICK);
       }
   t1=CurrentTick();
   }
   while(true){
   if(SensorUS(S4)==d1){
       PlaySound(SOUND_CLICK);
       Off(OUT_AC);
       break;
   }
   }
   }

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   task main()
   {
	follow_line_migi(1);				//A~B¤Î±¦¤ò¿Ê¤à
	OnFwd(OUT_AC,50);				//¼ÖÀþÊѹ¹
	Wait(200);
	follow_line_hidari(1);			¡¡¡¡¡¡¡¡//B~K¤Îº¸¤ò¿Ê¤à
	PlaySound(SOUND_CLICK);
	Wait(1000);					//K¤Ë¤Æ°ì»þÄä»ß
	OnFwd(OUT_C,50);
	Wait(500);
	follow_line_ensyu(15000);			//±ß¼þ²ó¤ë
	search_direction();				//´Ì¤Ë¥Ü¡¼¥ëÅö¤Æ¤ë
	follow_line_hidari(5000);			//&#12316;G¤Þ¤Ç¿Ê¤à
	Wait(1000);					//G¤Ë¤Æ°ì»þÄä»ß
	OnFwd(OUT_C,50);				//G¤òº¸ÀÞ
	Wait(500);
	follow_line_migi(1);				//G~E¤Î±¦¤ò¿Ê¤à
	follow_line_migi(15000);
	Wait(1000);					//E¤Ë¤Æ°ì»þÄä»ß
	follow_line_migi(3000);			¡¡¡¡¡¡¡¡//E~L¤Î±¦¤ò¿Ê¤à
	Wait(1000);
	OnFwd(OUT_AC,50);
	Wait(1000);
	Off(OUT_AC);
	OnFwd(OUT_A,50);
	Wait(2000);
	Off(OUT_AC);
   }

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Last-modified: 2019-02-13 (¿å) 17:20:46