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#define black 20
#define white 50
#define lightgray 40
#define darkgray 28
#define center 35

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#define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15);//­£
#define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15);//­¤
#define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,20);//­¡
#define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,20);//­¢
#define go_straight OnFwd(OUT_BC,20);//­¥
#define go_straight2 OnFwd(OUT_BC,15);//­¥¤Î½ÐÎϤò¾¯¤·²¼¤²¤¿¤â¤Î

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sub followline_L(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){
        if(SENSOR_1<black){
            rotate_left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬20¤è¤ê¾®¤µ¤¤¤È¤­­¢¤ÎÆ°ºî
        }else if(SENSOR_1<darkgray){
            turn_left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬28¤è¤ê¾®¤µ¤¤¤È¤­­¤¤ÎÆ°ºî
        }else if(SENSOR_1>lightdark){
            turn_right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÌÀ¤ë¤µ¤¬35¤è¤ê¾®¤µ¤¤¤È¤­­£¤ÎÆ°ºî
        }else if(SENSOR_1<center){
            go_straight;         ¡¡¡¡¡¡  //ÌÀ¤ë¤µ¤¬40¤è¤êÂ礭¤¤¤È¤­­¥¤ÎÆ°ºî
        }else{
            rotate_right;         ¡¡¡¡¡¡ //ÌÀ¤ë¤µ¤¬50¤è¤êÂ礭¤¤¤È¤­­¡¤ÎÆ°ºî
        }
    }
}

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sub followline_R(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){
        if(SENSOR_1<black){
            rotate_right;            ¡¡ //ÌÀ¤ë¤µ¤¬20¤è¤ê¾®¤µ¤¤¤È¤­­¡¤ÎÆ°ºî
        }else if(SENSOR_1<darkgray){
            turn_right;               ¡¡//ÌÀ¤ë¤µ¤¬28¤è¤ê¾®¤µ¤¤¤È¤­­£¤ÎÆ°ºî
        }else if(SENSOR_1>lightdark){
            turn_left;              ¡¡  //ÌÀ¤ë¤µ¤¬35¤è¤ê¾®¤µ¤¤¤È¤­­¤¤ÎÆ°ºî
        }else if(SENSOR_1<center){
            go_straight;              ¡¡//ÌÀ¤ë¤µ¤¬40¤è¤êÂ礭¤¤¤È¤­­¥¤ÎÆ°ºî
        }else{
            rotate_left;            ¡¡  //ÌÀ¤ë¤µ¤¬50¤è¤êÂ礭¤¤¤È¤­­¢¤ÎÆ°ºî
        }
    }
}
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½ÐÍ褺¡¢¤½¤ì¤¾¤ì¤ÎÊÑ¿ô¤Îº¹¤Ï0¤Ë¤Ê¤é¤ºto=CurrentTick¤ÈÆþ¤Ã¤Æ¤¤¤Ê¤¤if¤äelse if¤ÎÆ°ºî¤ò¼Â¹Ô¤·¤Æ¤¤¤ëºÝ¤Ï
¤³¤ÎÊÑ¿ô¤ÎÃÍ¡ÊCurrentTick¡Ë¤ÏÁý¤¨Â³¤±¤Æ¤¤¤ë¤Î¤Ç¤¢¤ë¡£¤½¤·¤Æ¡¢¤½¤ì¤¾¤ì¤ÎÊÑ¿ô¤Îº¹(CurrentTick()-t0)¤Ë²¼µ­¤Î¥×¥í¥°¥é¥à¤Îstop_time¤Î¤è¤¦¤Ë¾å¸Â¤òÀߤ±¡¢stop_time¤Ë¤ÏÆÃÄê¤ÎÃͤòÆþ¤ì¤ë¡£¤³¤¦¤¹¤ë¤³¤È¤Ç¡¢CurrentTick()-t0
¤¬stop_time¤ËÆþ¤ì¤¿Ãͤλþ´Öʬ¤òĶ¤¹¤Èwhile¤ÎÆ°ºî¤òÄä»ß¤·¡¢¼¡¤ÎÆ°ºî¤Ç¤¢¤ëOff(OUT_BC);Wait(1000);
¤ò¼Â¹Ô¤·¡¢¥í¥Ü¥Ã¥È¤Ï1Éôֻߤޤ롣¤³¤ì¤¬¥×¥í¥°¥é¥àÃæ¤Ît0=CurrentTick()¤È(CurrentTick()-t0<stop_time
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¤½¤·¤Æº¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç if(SENSOR_1<black)¤Èelse if(SENSOR_1<darkgray)¤Ë
t0=CurrentTick();¤¬Æþ¤Ã¤Æ¤ª¤é¤ºblack¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤ÃÍ¡¢darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤ÃÍ
¤ò¸¡ÃΤ·¤¿»þ´Ö¤¬stop_time¤ÎÃͤλþ´Öʬ¤òĶ²á¤·¤¿¾ì¹ç¤Ë¤Ïwhile¤ÎÆ°ºî¤òÄä»ß¤·¡¢¼¡¤ÎÆ°ºî¤Ç¤¢¤ëOff(OUT_BC);Wait(1000);
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sub followline_L(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø
        if(SENSOR_1<black){             //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó
            rotate_left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
        }else if(SENSOR_1<darkgray){¡¡¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø
            turn_left;           ¡¡¡¡¡¡ //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
        }else if(SENSOR_1>lightdark){¡¡¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø¶Ê¤¬¤ë
            turn_right;          ¡¡¡¡¡¡ //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }else if(SENSOR_1<center){¡¡¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë
            go_straight;        ¡¡¡¡¡¡  //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó
            rotate_right;        ¡¡¡¡¡¡ //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }
    }
    Off(OUT_BC);
    Wait(1000);
}

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sub followline_R(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø
        if(SENSOR_1<black){             //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó
            rotate_right;                //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
        }else if(SENSOR_1<darkgray){¡¡¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø
            turn_right;                  //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
        }else if(SENSOR_1>lightdark){¡¡¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø¶Ê¤¬¤ë
            turn_left;                   //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }else if(SENSOR_1<center){¡¡¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë
            go_straight;                 //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó
            rotate_left;                 //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }
    }
    Off(OUT_BC);
    Wait(1000);
} 

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»ß¤Þ¤ë¥×¥í¥°¥é¥ß¥ó¥°¤¬´°À®¤·¤¿¡£ ¤³¤Î¾ì¹çelse if(SENSOR_1>lightdark) ¤Èelse¤Ë
t0=CurrentTick();¤¬Æþ¤Ã¤Æ¤ª¤é¤ºlightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤ÃÍ¡¢white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤ÃÍ
¤ò¸¡ÃΤ·¤¿»þ´Ö¤¬stop_time¤ÎÃͤλþ´Öʬ¤òĶ²á¤·¤¿¾ì¹ç¤Ë¤Ïwhile¤ÎÆ°ºî¤òÄä»ß¤·¡¢¼¡¤ÎÆ°ºî¤Ç¤¢¤ëOff(OUT_BC);Wait(1000);
¤ò¼Â¹Ô¤·¡¢¥í¥Ü¥Ã¥È¤Ï1Éôֻߤޤ롣

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sub followline_R2(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø
        if(SENSOR_1<black){               //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó
            rotate_right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }else if(SENSOR_1<darkgray){¡¡  ¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø
            turn_right;                   //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }else if(SENSOR_1>lightdark){¡¡ ¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø¶Ê¤¬¤ë
            turn_left;                    //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
        }else if(SENSOR_1<center){¡¡  ¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë
            go_straight2;                 //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
            t0=CurrentTick();
        }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó
            rotate_left;                  //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
        }
    }
    Off(OUT_BC);
    Wait(2000);
}

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sub Blackto_White()
{
    while(SENSOR_1<darkgray){¡¡ ¡¡//darkdray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë
        OnFwd(OUT_BC,15);
    }
    Off(OUT_BC);
}

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sub Blackto_White_R()
{
    while(SENSOR_1<lightgray){¡¡ ¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó
        OnFwd(OUT_C,20);
        OnRev(OUT_B,20);
    }
    Off(OUT_BC);
}

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sub Blackto_White_L()
{
    while(SENSOR_1<lightgray){¡¡ ¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó
        OnFwd(OUT_B,20);
        OnRev(OUT_C,20);
    }
    Off(OUT_BC);
}

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#define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A);

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#define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A);
#define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);

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#define turn OnFwd(OUT_B,25);OnRev(OUT_C,25);Wait(1500);Off(OUT_BC);

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task main()
{
    SetSensorLight(S1);
    followline_L(200);¡¡¡¡¡¡//1
    Blackto_White();        //2
    followline_L(150);      //3
    Blackto_White_R();      //4
    followline_R(200);      //5
    Blackto_White_R();      //6
    followline(150);        //7
    Blackto_White_R();      //8
    followline(150);        //9
    Blackto_White_R();      //10
    followline(150);        //11
    Blackto_White();        //12
    followline_R2(200);     //13
    catch;                  //¥Ü¡¼¥ë¤ò¤Ä¤«¤à
    turn;                   //º¸¤ËÀû²ó¤¹¤ë
    followline_R(150);      //14
    Blackto_White();        //15
    followline_R(150);      //16
    Blackto_White_L();      //17
    followline_R(150);      //18
    release;                //¥Ü¡¼¥ë¤òÎ¥¤¹
    osidasi;                //¥´¡¼¥ë¤¹¤ë
}

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#define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15);
#define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15);
#define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,20);
#define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,20);
#define go_straight OnFwd(OUT_BC,20);
#define go_straight2 OnFwd(OUT_BC,15);
#define turn OnFwd(OUT_B,25);OnRev(OUT_C,25);Wait(1500);Off(OUT_BC);
#define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A);
#define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A);
#define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);
#define black 20
#define white 50
#define lightgray 40
#define darkgray 28
#define center 35

sub followline_L(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){
        if(SENSOR_1<black){
            rotate_left;
        }else if(SENSOR_1<darkgray){
            turn_left;
        }else if(SENSOR_1>lightdark){
            turn_right;
            t0=CurrentTick();
        }else if(SENSOR_1<center){
            go_straight;
            t0=CurrentTick();
        }else{
            rotate_right;
            t0=CurrentTick();
        }
    }
    Off(OUT_BC);
    Wait(1000);
}

sub followline_R(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){
        if(SENSOR_1<black){
            rotate_right;
        }else if(SENSOR_1<darkgray){
            turn_right;
        }else if(SENSOR_1>lightdark){
            turn_left;
            t0=CurrentTick();
        }else if(SENSOR_1<center){
            go_straight;
            t0=CurrentTick();
        }else{
            rotate_left;
            t0=CurrentTick();
        }
    }
    Off(OUT_BC);
    Wait(1000);
} 

sub followline_R2(int stop_time)
{
    long t0=CurrentTick();
    while(CurrentTick()-t0<stop_time){
        if(SENSOR_1<black){
            rotate_right;
            t0=CurrentTick();
        }else if(SENSOR_1<darkgray){
            turn_right;
            t0=CurrentTick();
        }else if(SENSOR_1>lightdark){
            turn_left;
        }else if(SENSOR_1<center){
            go_straight2;
            t0=CurrentTick();
        }else{
            rotate_left;
        }
    }
    Off(OUT_BC);
    Wait(2000);
}

sub Blackto_White()
{
    while(SENSOR_1<darkgray){
        OnFwd(OUT_BC,15);
    }
    Off(OUT_BC);
}

sub Blackto_White_R()
{
    while(SENSOR_1<lightgray){
        OnFwd(OUT_C,20);
        OnRev(OUT_B,20);
    }
    Off(OUT_BC);
}

sub Blackto_White_L()
{
    while(SENSOR_1<lightgray){
        OnFwd(OUT_B,20);
        OnRev(OUT_C,20);
    }
    Off(OUT_BC);
}


task main()
{
    SetSensorLight(S1);
    followline_L(200);
    Blackto_White();
    followline_L(150);
    Blackto_White_R();
    followline_R(200);
    Blackto_White_R();
    followline(150);
    Blackto_White_R();
    followline(150);
    Blackto_White_R();
    followline(150);
    Blackto_White();
    followline_R2(200);
    catch;
    turn;
    followline_R(150);
    Blackto_White();
    followline_R(150);
    Blackto_White_L();
    followline_R(150);
    release;
    osidasi;
}

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Last-modified: 2019-07-31 (¿å) 15:10:01