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* ¥³¡¼¥¹¹¶Î¬ [#leb8b290]
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*¥×¥í¥°¥é¥à [#h30b0a79]
 #define BLACK1 38¡¡//ºÇ¤â¹õ¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ
 #define BLACK2 42¡¡//¤½¤³¤½¤³¹õ¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ¡¡
 #define WHITE1 45¡¡//¤½¤³¤½¤³Çò¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ
 #define WHITE2 49¡¡//ºÇ¤âÇò¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ
 #define HIPOWER 7
 #define LOWPOWER 1
 #define set_power_H SetPower(OUT_AC,HIPOWER);
 #define set_power_L SetPower(OUT_AC,LOWPOWER);
 #define go_fwd set_power_H; OnFwd(OUT_AC);
 #define turn_left1 set_power_L; Off(OUT_A); OnFwd(OUT_C);¡¡//º¸¤Ë¶Ê¤¬¤ë
 #define turn_right1 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦¤Ë¶Ê¤¬¤ë
 #define turn_left2 set_power_H; OnRev(OUT_A); OnFwd(OUT_C);¡¡//º¸¤ËÀû²ó
 #define turn_right2 set_power_H; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦¤ËÀû²ó
 #define STEP 1
 #define nMAX 4
 #define short_break Off(OUT_AC); Wait(100);
 #define CROSS_TIME 30¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëºÝ¤Ë¿Ê¤à»þ´Ö
 #define cross_line  set_power_L; OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëÆ°ºî
 #define time1 1000
 #define time2 500
 #define time3 2000
 task main() {
  SetSensor(SENSOR_1,SENSOR_LIGHT);
  SetSensor(SENSOR_2,SENSOR_TOUCH); 
  int nOnline=0;
  int nCloss=0; //¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¿ô
  ClearTimer(0);
  if(SENSOR_2 == 0) {
      OnRev(OUT_B);
     }
 while(FastTimer(0) <= time1){
      if(SENSOR_2 == 1){
        OnFwd(OUT_B);
      } if(SENSOR_1 < BLACK1) {
        turn_right2;
      } else if (SENSOR_1 < BLACK2) {
        turn_right1;
      } else if (SENSOR_1 < WHITE1) {
        go_fwd;
      } else if (SENSOR_1 < WHITE2) {
        turn_left1;
      } else {
	turn_left2;
	}
      Wait(STEP);
    }
                              PlaySound(SOUND_LOW_BEEP);
    while(nCloss <= 0) {
       while(nOnline < nMAX){
          if(SENSOR_1 < BLACK1) {  
        turn_right2;
	  nOnline++;
          } else {
             if (SENSOR_1 < BLACK2) {
	  turn_right1;
             } else if (SENSOR_1 < WHITE1) {
	   go_fwd;
             } else if (SENSOR_1 < WHITE2) {
	   turn_left1;
             } else {	   
          turn_left2;
             }
       nOnline=0;
         }
          Wait(STEP);  
       }
      PlaySound(SOUND_UP);
      short_break;
      turn_left1; Wait(nMAX*STEP);
      cross_line;
      nCloss++;
      nOnline=0;
     }
   }¡¡//°ìÅÙ¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¤éÎؤÎÆ⦤Ǥθòº¹ÅÀ¸íǧ¼±¤òËɤ°¤¿¤á¤·¤Ð¤é¤¯¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¤ß
 ClearTimer(0);¡¡//¤³¤³¤Ç¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Æ»þ´Ö¤Î¥º¥ì¤ò¸º¤é¤·¤¿¤¤
                              PlaySound(SOUND_LOW_BEEP); 
   while(FastTimer(0) <= time2){
      } if(SENSOR_1 < BLACK1) {
        turn_right2;
      } else if (SENSOR_1 < BLACK2) {
        turn_right1;
      } else if (SENSOR_1 < WHITE1) {
        go_fwd;
      } else if (SENSOR_1 < WHITE2) {
        turn_left1;
      } else {
	turn_left2;
	}
      Wait(STEP);
    }
                              PlaySound(SOUND_LOW_BEEP);
 while((nCloss > 0)&&(nCloss <= 4)) {
       while(nOnline < nMAX){
          if(SENSOR_1 < BLACK1) {  
        turn_right2;
	  nOnline++;
          } else {
             if (SENSOR_1 < BLACK2) {
	  turn_right1;
             } else if (SENSOR_1 < WHITE1) {
	   go_fwd;
             } else if (SENSOR_1 < WHITE2) {
	   turn_left1;
             } else {	   
          turn_left2;
             }
       nOnline=0;
         }
          Wait(STEP);  
       }
      PlaySound(SOUND_UP);
      short_break;
      turn_left1; Wait(nMAX*STEP);
      cross_line;
      nCloss++;
      nOnline=0;
     }
   }¡¡//¤³¤³¤«¤é¤Ï¸òº¹ÅÀ¤ò¶Ê¤¬¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌ᤹
 ClearTimer(0);////¤³¤³¤Ç¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Æ»þ´Ö¤Î¥º¥ì¤ò¸º¤é¤·¤¿¤¤
                              PlaySound(SOUND_LOW_BEEP); 
 while(FastTimer(0) <= time3){
      } if(SENSOR_1 < BLACK1) {
        turn_right2;
      } else if (SENSOR_1 < BLACK2) {
        turn_right1;
      } else if (SENSOR_1 < WHITE1) {
        go_fwd;
      } else if (SENSOR_1 < WHITE2) {
        turn_left1;
      } else {
	turn_left2;
	}
      Wait(STEP);
    }// ´Ì¤ò¤ª¤¯¤È¤³¤í¤Þ¤Ç»þ´Ö¤Ç»ØÄê
                              PlaySound(SOUND_LOW_BEEP);
  Off(OUT_AC);   //´Ì¤òÃÖ¤¯Æ°ºî
  Wait(100);
  OnFwd(OUT_A);
  OnRev(OUT_C);
  Wait(150);
  Off(OUT_AC);
  OnRev(OUT_B);
  OnRev(OUT_AC);
  Wait(200);
  OnFwd(OUT_A);
  OnRev(OUT_C);
  Wait(150);
                              PlaySound(SOUND_LOW_BEEP);
   while(true){¡¡¡¡¡¡//¤³¤³¤«¤é¥´¡¼¥ë¤Þ¤Ç¤Ï¸òº¹ÅÀ¤Ê¤·¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
      } if(SENSOR_1 < BLACK1) {
        turn_right2;
      } else if (SENSOR_1 < BLACK2) {
        turn_right1;
      } else if (SENSOR_1 < WHITE1) {
        go_fwd;
      } else if (SENSOR_1 < WHITE2) {
        turn_left1;
      } else {
	turn_left2;
	}
      Wait(STEP);
    }
 }

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**ÄêµÁ [#k3fcb1ef]
***ÌÀ¤ë¤µ¤Î¤·¤­¤¤ÃÍ [#accc44ab]
 #define BLACK1 38¡¡//ºÇ¤â¹õ¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ
 #define BLACK2 42¡¡//¤½¤³¤½¤³¹õ¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ¡¡
 #define WHITE1 45¡¡//¤½¤³¤½¤³Çò¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ
 #define WHITE2 49¡¡//ºÇ¤âÇò¤¤Éôʬ¤Î¤·¤­¤¤ÃÍ
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**È¿»þ·×²ó¤ê [#r05fb3ab]
***¥Ñ¥ï¡¼¤ÎÄêµÁ [#da21838a]
 #define HIPOWER 7
 #define LOWPOWER 1
 #define set_power_H SetPower(OUT_AC,HIPOWER);
 #define set_power_L SetPower(OUT_AC,LOWPOWER);
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***¤è¤¯»È¤¦Æ°¤­¤òÄêµÁ [#xa5293f0]
 #define go_fwd set_power_H; OnFwd(OUT_AC);
 #define turn_left1 set_power_L; Off(OUT_A); OnFwd(OUT_C);¡¡//º¸¤Ë¶Ê¤¬¤ë
 #define turn_right1 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦¤Ë¶Ê¤¬¤ë
 #define turn_left2 set_power_H; OnRev(OUT_A); OnFwd(OUT_C);¡¡//º¸¤ËÀû²ó
 #define turn_right2 set_power_H; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦¤ËÀû²ó
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***¸òº¹ÅÀ¤ÎÄêµÁ [#g4bf7ce0]
 #define STEP 1
 #define nMAX 4
 #define short_break Off(OUT_AC); Wait(100);
 #define CROSS_TIME 30¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëºÝ¤Ë¿Ê¤à»þ´Ö
 #define cross_line  set_power_L; OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëÆ°ºî
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***»þ´Ö¤ÎÄêµÁ [#y8e65cc3]
 #define time1 1000
 #define time2 500
 #define time3 2000
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**¥¹¥¿¡¼¥È¤«¤éÂè°ì¤Î¸òº¹ÅÀ¤Þ¤Ç [#h99452d9]
 task main() {
  SetSensor(SENSOR_1,SENSOR_LIGHT);
  SetSensor(SENSOR_2,SENSOR_TOUCH); 
  int nOnline=0;
  int nCloss=0; //¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¿ô
  ClearTimer(0);
  if(SENSOR_2 == 0) {
      OnRev(OUT_B);
     }
 while(FastTimer(0) <= time1){
      if(SENSOR_2 == 1){
        OnFwd(OUT_B);
      } if(SENSOR_1 < BLACK1) {
        turn_right2;
      } else if (SENSOR_1 < BLACK2) {
        turn_right1;
      } else if (SENSOR_1 < WHITE1) {
        go_fwd;
      } else if (SENSOR_1 < WHITE2) {
        turn_left1;
      } else {
	turn_left2;
	}
      Wait(STEP);
    }
                              PlaySound(SOUND_LOW_BEEP);
    while(nCloss <= 0) {
       while(nOnline < nMAX){
          if(SENSOR_1 < BLACK1) {  
        turn_right2;
	  nOnline++;
          } else {
             if (SENSOR_1 < BLACK2) {
	  turn_right1;
             } else if (SENSOR_1 < WHITE1) {
	   go_fwd;
             } else if (SENSOR_1 < WHITE2) {
	   turn_left1;
             } else {	   
          turn_left2;
             }
       nOnline=0;
         }
          Wait(STEP);  
       }
      PlaySound(SOUND_UP);
      short_break;
      turn_left1; Wait(nMAX*STEP);
      cross_line;
      nCloss++;
      nOnline=0;
     }
   }

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**Âè°ì¤Î¸òº¹ÅÀ¤«¤éÂèÆó¤Î¸òº¹ÅÀ¤Ø [#z07978de]
 ClearTimer(0); 
                              PlaySound(SOUND_LOW_BEEP); 
   while(FastTimer(0) <= time2){
      } if(SENSOR_1 < BLACK1) {
        turn_right2;
      } else if (SENSOR_1 < BLACK2) {
        turn_right1;
      } else if (SENSOR_1 < WHITE1) {
        go_fwd;
      } else if (SENSOR_1 < WHITE2) {
        turn_left1;
      } else {
	turn_left2;
	}
      Wait(STEP);
    }
                              PlaySound(SOUND_LOW_BEEP);
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#ref(2013a/Member/shu/Mission1/mission1-2.jpg,75%,)
#ref(2013a/Member/shu/Mission1/mission1-3.jpg,75%,)
**ÂèÆó¤Î¸òº¹ÅÀ¤«¤éºÇ¸å¤Î¸òº¹ÅÀ¤Þ¤Ç [#y63f0ff3]
 while((nCloss > 0)&&(nCloss <= 4)) {
       while(nOnline < nMAX){
          if(SENSOR_1 < BLACK1) {  
        turn_right2;
	  nOnline++;
          } else {
             if (SENSOR_1 < BLACK2) {
	  turn_right1;
             } else if (SENSOR_1 < WHITE1) {
	   go_fwd;
             } else if (SENSOR_1 < WHITE2) {
	   turn_left1;
             } else {	   
          turn_left2;
             }
       nOnline=0;
         }
          Wait(STEP);  
       }
      PlaySound(SOUND_UP);
      short_break;
      turn_left1; Wait(nMAX*STEP);
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     }
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 ClearTimer(0);
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 while(FastTimer(0) <= time3){
      } if(SENSOR_1 < BLACK1) {
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  Off(OUT_AC);   
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        go_fwd;
      } else if (SENSOR_1 < WHITE2) {
        turn_left1;
      } else {
	turn_left2;
	}
      Wait(STEP);
    }
 }
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