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#define turn_left OnFwd(OUT_C);Off(OUT_A);
#define turn_right OnFwd(OUT_A);Off(OUT_C);
#define circling_left OnFwd(OUT_C);OnRev(OUT_A);
#define circling_right OnRev(OUT_C);OnFwd(OUT_A);
#define go_ahead OnFwd(OUT_AC);

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sub follow_line()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);
while((FastTimer(0)<t)){
  if(SENSOR_2<40){circling_left;}
  else if(SENSOR_2<43){turn_left;ClearTimer(0);}
  else if(SENSOR_2<48){go_ahead;ClearTimer(0);}
  else if(SENSOR_2<50){turn_right;ClearTimer(0);}
  else if(SENSOR_2<55){circling_right;ClearTimer(0);}
  }
Off(OUT_AC);
}

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sub follow_line1()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);ClearTimer(1);
while((FastTimer(0)<t1)&&(FastTimer(1)<t2)){
  if(SENSOR_2<40){circling_left;}
  else if(SENSOR_2<43){turn_left;ClearTimer(0);}
  else if(SENSOR_2<48){go_ahead;ClearTimer(0);}
  else if(SENSOR_2<50){turn_right;ClearTimer(0);}
  else if(SENSOR_2<55){circling_right;ClearTimer(0);}
  }
Off(OUT_AC);
}
sub follow_line2()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
ClearTimer(0);ClearTimer(1);
while((FastTimer(0)<t1)||(FastTimer(1)<t2)){
  if(SENSOR_2<41){circling_left;}
  else if(SENSOR_2<43){turn_left;ClearTimer(0);}
  else if(SENSOR_2<48){go_ahead;ClearTimer(0);}
  else if(SENSOR_2<55){circling_right;ClearTimer(0);}
  }
Off(OUT_AC);
}

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sub cross_line1()
{
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 while(SENSOR_2<48)
 {
 go_ahead;
 }
 Off(OUT_AC);Wait(100);
 while(SENSOR_2>47)
 {
 turn_right;
 }
 Off(OUT_AC);
}
sub cross_line2()
{
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 while(SENSOR_2<48)
 {
 go_ahead;
 }
 Off(OUT_AC);Wait(100);
 while(SENSOR_2>47)
 {
 circling_right;
 }
 Off(OUT_AC);
}

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task main()
{
SetPower(OUT_AC,4);
go_ahead;Wait(70);Off(OUT_AC);//  MÅþã
t1=15;t2=700;follow_line2();//  KÅþã
cross_line1();//  K±Û¤¨
t1=10000;t2=100;follow_line1();//  LÅþã
OnRev(OUT_B);Wait(30);Off(OUT_B);Wait(100);//  ¥Ô¥ó¥Ý¥ó¶ÌÄϤà
t1=25;t2=400;follow_line1();Wait(100);//  KÅþã
circling_right;Wait(40);Off(OUT_AC);//  ­¡
t1=15;t2=0;follow_line2();//  JÅþã
t1=10;t2=150;follow_line2();//  IÅþã
cross_line2();//  I±Û¤¨
t1=10;t2=150;follow_line2();//  HÅþã
cross_line2();//  H±Û¤¨
t1=15;t2=100;follow_line2();//  GÅþã
t1=20;t2=300;follow_line2();//  DÅþã
cross_line1();//  D±Û¤¨
t1=20;t2=0;follow_line2();//  CÅþã
cross_line1();//  C±Û¤¨
t1=20;t2=0;follow_line2();//  BÅþã
circling_right;Wait(10);Off(OUT_B);//  ¥í¥Ü¥Ã¥È¤Î³ÑÅÙ¤òÄ´Àá
OnFwd(OUT_B);Wait(50);Off(OUT_B);//  ¥Ô¥ó¥Ý¥ó¶Ì¥ê¥ê¡¼¥¹
go_ahead;Wait(50);Off(OUT_AC);//  AÅþã
}

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