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**¼ÂºÝ¤ËÁȤó¤À¥×¥í¥°¥é¥à [#sc93f4f9]

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-¿ô¤Ê¤É¤ÎÄêµÁ
 #define THRESHOLD 50¡¡¡¡¡¡//¤·¤­¤¤ÃÍ¡ÊÌÀ¤ë¤µÈ½Äê¤Ç¤Ä¤«¤¦ÃÍ¡Ë//
 #define SPEED 75¡¡¡¡¡¡¡¡  //¥·¥å¡¼¥ÈÆ°ºî¤Ê¤É¤Ç¤Î¥â¡¼¥¿¡¼¤Î½ÐÎÏ¡Ê¡ó¡Ë//
 #define SPEED_T 40       //¥¿¡¼¥ó»þ¤Î¥â¡¼¥¿¡¼¤Î½ÐÎÏ(¡ó¡Ë//
 #define SPEED_S 30       //ľ¿Ê»þ¤Î¥â¡¼¥¿¡¼¤Î½ÐÎÏ(¡ó¡Ë//
 #define STEP 1           //ÌÀ¤ë¤µÈ½Äê¤ÎÉÑÅÙ  ¡Êx²ó/£±£°£°£°£ó¡Ë//
 #define CROSS_TIME 200   //¸òº¹ÅÀ¤òľ¿Ê¤¹¤ëºÝ¤Ë¤«¤±¤ë»þ´Ö//
 #define SHOOT_TIME 1000  //¥·¥å¡¼¥ÈÆ°ºî¤Ë¤«¤±¤ë»þ´Ö//
 #define nMAX 300         //¸òº¹ÅÀȽÄê¤Ç¤Î°Û¾ï¤Ê¿ô¤ÎÌÜ°Â//
 #define START_DASH 1000  //¥¹¥¿¡¼¥Èľ¸å¤Îľ¿Ê¤¹¤ëÆ°ºî¤Ë¤«¤±¤ë»þ´Ö//
 #define TRACE_TIME 8000  //¥¹¥¿¡¼¥Èľ¸å¤Îľ¿Ê¤Î¸å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡ÊºÇ½é¤Î¸òº¹ÅÀ¤Î¼êÁ°¤Þ¤Ç¡Ë¤Ë¤«¤±¤ë»þ´Ö//
 #define short_break Off(OUT_BC); Wait(1000);   //ȽÄê¤Î¸å¡¢¸òº¹ÅÀ¤ò¤ï¤¿¤ë¤Þ¤Ç¤ÎÈù̯¤Ê»þ´ÖÄ´À°//
 #define CATCH_TIMING 30000   //Æ°ºî³«»Ï¤«¤é¥Ü¡¼¥ë¤ò¤Ä¤«¤à¤Þ¤Ç¤Ë¤«¤±¤ë»þ´Ö//


-»È¤¦´Ø¿ô¤ÎÄêµÁ
   sub start_go()¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥Èľ¸å¤Îľ¿Ê¤¹¤ëÆ°ºî¤Î´Ø¿ô¤ÎÄêµÁ//
 {
    OnFwd(OUT_BC,SPEED_S);
    Wait(START_DASH);
    Off(OUT_BC);
 }
   sub go_forward()         //Á°¤Ë¿Ê¤àÆ°ºî¤ÎÄêµÁ//
 {
    OnFwd(OUT_BC,SPEED_S);
 }
   sub turn_left0()        //º¸¤Ë¶Ê¤¬¤ëÆ°ºî¤ÎÄêµÁ//
 {
    OnFwd(OUT_C,-SPEED_T);
 }
   sub turn_left1()       //¤½¤Î¾ì¤Çº¸¤ËÀû²ó¤¹¤ëÆ°ºî¤ÎÄêµÁ//
 {
    OnFwd(OUT_B,SPEED_T);
    OnRev(OUT_C,SPEED_T);
 }
    sub turn_right0()     //±¦¤Ë¶Ê¤¬¤ëÆ°ºî¤ÎÄêµÁ//
 {
    OnFwd(OUT_B,-SPEED_T);
 }
    sub turn_right1()     //¤½¤Î¾ì¤Ç±¦¤ËÀû²ó¤¹¤ëÆ°ºî¤ÎÄêµÁ//
 {
    OnFwd(OUT_C,SPEED_T);
    OnRev(OUT_B,SPEED_T);
 }
    sub cross_line()     //¸òº¹ÅÀ¤òÆͤÃÀÚ¤ëÆ°ºî¤ÎÄêµÁ//
 {
    PlaySound(SOUND_LOW_BEEP);
    OnFwd(OUT_BC,SPEED_S);
    Wait(CROSS_TIME);
    short_break;
 }
    sub pre_shoot()     //¥Ü¡¼¥ë¤òÊá³Í¤¹¤ëÁ°¤Ë­¤ò¿¶¤ê¾å¤²¤ëÆ°ºî¡Ê¥Ü¡¼¥ëÊá³ÍÁ°¤ÎͽÈ÷Æ°ºî¡Ë¤ÎÄêµÁ//
 {
    RotateMotor(OUT_A,SPEED,-200);
 }
    sub Messi_Shoot()  //¤Þ¤ë¤Ç¥á¥Ã¥·¤Î¤è¤¦¤Ê¥·¥å¡¼¥È¤òÂǤÄÆ°ºî¤ÎÄêµÁ//
 {
    RotateMotor(OUT_B,SPEED,45);
    RotateMotor(OUT_C,SPEED,45);
    RotateMotor(OUT_A,SPEED,200);
    Wait(SHOOT_TIME);
    Off(OUT_A);
 }
    sub shoot_performance()  //¥·¥å¡¼¥È¸å¤Ë¤¹¤ë¥Ñ¥Õ¥©¡¼¥Þ¥ó¥¹¤ò¤¹¤ëÆ°ºî¤ÎÄêµÁ//
 {
    PlaySound(SOUND_DOUBLE_BEEP);
    RotateMotor(OUT_B,SPEED,90);
    RotateMotor(OUT_C,SPEED,90);
    RotateMotor(OUT_B,SPEED,90);
    RotateMotor(OUT_C,SPEED,90);
 }


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-¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à¡Ä°Ê²¼£´¤Ä¤ÏËÜÍè¤Ä¤Ê¤¬¤Ã¤Æ¤¤¤ë¤â¤Î¤Ç¤¢¤ë¤¬¡¢ÀâÌÀ¤ÎÊص¹¾åʬ³ä¤·¤¿¡£
--ÍÍ¡¹¤ÊÄêµÁ
 
 task main()
 ¡¡  {
  SetSensorLight(S1);¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÀܳÀè»ØÄê//
  int nOnline=0;             //¸å¡¹»È¤¦¸òº¹ÅÀȽÄê¤Î¤È¤­¤Î¿ô¤òÄêµÁ¡Ü¸½ºß¤½¤ÎÃͤϣ°¤È»ØÄê//
  int cross_line_times=0;    //Ä̲ᤷ¤¿¸òº¹ÅÀ¤Î¿ô¥«¥¦¥ó¥¿¡¼¤ÎÄêµÁ¡Ü¸½ºß¤½¤ÎÃͤϣ°¤È»ØÄê//
  long t0 = CurrentTick();   //³«»Ïľ¸å¤Î»þ´Ö¤òµ­Ï¿//
  

--ľ¿Ê
 
   pre_shoot();¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ëÊá³Í¤Î¤¿¤á¤ÎͽÈ÷Æ°ºî·ó°Ò³Å//
   start_go();              //ľ¿Ê¡Ê¹õ¤¤¥¹¥¿¡¼¥È¤ÎÏȤ«¤é³°¤Ë½Ð¤ë¤¿¤á¡Ë//


--ºÇ½é¤Î¸òº¹ÅÀ¼êÁ°¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ä¤³¤³¤«¤é¤Ï¥×¥í¥°¥é¥à¤Î¾Ü¤·¤¤ÀâÌÀ¤â¸ò¤¨¤Æ¤¤¤¯¡£
 
   while (CurrentTick()-t0 <= TRACE_TIME){    //³«»Ï¤«¤é²á¤®¤¿»þ´Ö¤¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð¤º¤Ã¤È°Ê²¼¡Ê¡É¢ª¡Ñ¡É¤Î°õ¤Þ¤Ç¡Ë¤Î´Ø¿ô¤ò¼Â¹Ô//
      if (SENSOR_1 < THRESHOLD-35){         //¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ðº¸¤ØÀû²ó¤·¤í//¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
          turn_left1();
        } else {                            //¤Ç¤Ê¤¤¾õ¶·¤Ç//
         if (SENSOR_1 < THRESHOLD-15){     //¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ðº¸¤Ø¶Ê¤¬¤ì//¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
          turn_left0();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
        } else if (SENSOR_1 < THRESHOLD+15){¡¡//¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð¤Þ¤Ã¤¹¤°¿Ê¤á//
          go_forward();
        } else if (SENSOR_1 < THRESHOLD+35){  //¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð±¦¤Ø¶Ê¤¬¤ì//
          turn_right0();
          } else {                            //¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¤â¤·¥»¥ó¥µ¡¼¤ÎÃͤ¬¤¢¤ëÃͤè¤ê¾®¤µ¤±¤ì¤Ð±¦¤ØÀû²ó¤·¤í//
          turn_right1();
          }
        Wait(STEP);                           //ȽÃÇ»þ´Ö¤È¹õ¤¤Àþ¤Ë±è¤¦¤¿¤á¤ÎÆ°ºî»þ´Ö¤Î¹ç·×¤Î»ØÄê//
    ¡É¢ª}¡É
   PlaySound(SOUND_UP);                       //¶èÀÚ¤ê¤Ç¤Î·ÙÅ«//


--¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀȽÄꤢ¤ê¡¢»þ¸Â¼°¥Ü¡¼¥ëÊá³Í¤¢¤ê¡Ë¡Ü¸òº¹ÅÀ¥«¥¦¥ó¥¿¡¼¼°¥á¥Ã¥·¤Î¤è¤¦¤Ê¥·¥å¡¼¥È
   while (true) {                             
    long t1 = CurrentTick();                 //³«»Ï¤«¤é¬¤Ã¤¿¸½ºß¤Î»þ´Ö¤òµ­Ï¿//     
   while (nOnline < nMAX){                   //²£¤Ë¶Ê¤¬¤ëȽÄê¤Î¿ô¤¬°Û¾ï¤Ç¤Ï¤Ê¤¤¾ì¹ç¡¢°Ê²¼¤Î´Ø¿ô¤ò¼Â¹Ô¤·¤í//
      if (SENSOR_1 < THRESHOLD-35){          //¤³¤³¤«¤é//
          turn_left1();
          nOnline++;
        } else {
         if (SENSOR_1 < THRESHOLD+15){
          turn_left0();
        } else if (SENSOR_1 < THRESHOLD+15){
          go_forward();
        } else if (SENSOR_1 < THRESHOLD+35){
          turn_right0();
          } else {
          turn_right1();
          }
          nOnline=0;
        }
        Wait(STEP);
    }                                        //¤³¤³¤Þ¤Ç $ºÇ½é¤Î¸òº¹ÅÀ¼êÁ°¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹$¤ÈƱ¤¸//
 if(t1-t0 == CATCH_TIMING){  RotateMotor(OUT_A,SPEED,200);}//¤â¤·³«»Ï¤«¤éº£¤Þ¤Ç¤Î·Ð²á»þ´Ö¤¬¤¢¤ëÃͤÈƱ¤¸¤Ê¤é¤Ð¡¢Â­¤ò¿¶¤ê²¼¤í¤»¡Ê¡á¥Ü¡¼¥ë¤òÊá¤Þ¤¨¤í¡Ë//
  }
 }                                                         (°Ê²¼¡¢¸òº¹ÅÀ¤òÅϤë¡Ü¥·¥å¡¼¥È¤òÂǤÄÆ°ºî)
  short_break;                                          //»þ´ÖÄ´À°¤Î¤¿¤á¤Î¾®µÙ»ß//
  turn_right1();                                        //¸òº¹ÅÀ¤òľ¿Ê¤¹¤ëºÝ¤ÎÆþ¼Í³ÑÅÙ¤ÎÄ´À°//
  Wait(nMAX*STEP);
  cross_line_times++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Ä̲ᤷ¤¿¸òº¹ÅÀ¤Î¿ô¥«¥¦¥ó¥¿¡¼¤ÎÃͤˡܣ±//
  if (cross_line_times==3){Messi_Shoot();shoot_performance();}//¤â¤·¡¢¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤ë¥«¥¦¥ó¥¿¡¼¤¬¤¢¤ëÃͤÈÅù¤·¤±¤ì¤Ð¡¢Â­¤ò¿¶¤ê¾å¤²¤í¡Ê¡á¥·¥å¡¼¥È¤òÂǤơˤ½¤·¤Æ¡¢¥Ñ¥Õ¥©¡¼¥Þ¥ó¥¹¤ò¤·¤í//
  else{cross_line();}                                   //¤Ç¤Ê¤¤¾õ¶·¤Ç¡¢¸òº¹ÅÀ¤òľ¿Ê¤·¤í//
  nOnline=0;                                            //²£¤Ë¶Ê¤¬¤ëȽÄê¤Î²ó¿ô¤Î¥«¥¦¥ó¥¿¡¼¤ò¥ê¥»¥Ã¥È//
   }
  }



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 task main ()
 {
 OnFwd(OUT_A,-70); Wait(500);Off(OUT_A);//¹õ¤¤ÏȤ«¤é¤Ç¤ë¤¿¤á¤ÎºÇ½é¤ÎÁ°¿Ê//
 PlaySound(SOUND_FAST_UP);              //¶èÀÚ¤ê¤Î·ÙÅ«¡Êº£²ó¤Ï³Æ¥«¡¼¥Ö¤ÇÌĤë¤è¤¦¤ËÀßÄꤵ¤ì¤Æ¤¤¤ë¡£ËèÅÙËèÅÙÀâÌÀ¤¹¤ë¤Èݵƫ¤·¤¤¤Î¤Ç¼¡²ó¤«¤é¾Êά¤¹¤ë¤³¤È¤Ë¤¹¤ë¡£¡Ë//
 
 
 OnFwd(OUT_BC,50); Wait(500);Off(OUT_BC);//¥³¡¼¥¹¤Î»Ï¤á¤ÎÁ°¿Ê//
 PlaySound(SOUND_LOW_BEEP);
 
               OnFwd(OUT_B,50); Wait(900);Off(OUT_BC);//ºÇ½é¤Îº¸Àû²ó¤½¤Î£±//
 PlaySound(SOUND_LOW_BEEP);
 
 OnFwd(OUT_BC,50); Wait(300);Off(OUT_BC);//°ÌÃÖÄ´À°¤Îľ¿Ê¤½¤Î£±//
 
 
 OnFwd(OUT_C,50);OnFwd(OUT_B,15); Wait(1500);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£±//
 PlaySound(SOUND_LOW_BEEP);
 
 //¤³¤³¤ÇÂè°ì¸òº¹ÅÀÄ̲á//
 
 OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(1000);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£²//
 PlaySound(SOUND_LOW_BEEP);
 
 OnFwd(OUT_A,80); Wait(500);Off(OUT_A);
 PlaySound(SOUND_FAST_UP);//­¤ò²¼¤í¤»¡Ê¡á¥Ü¡¼¥ë¤òÊá¤Þ¤¨¤í¡Ë//
 
 OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(1000);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£³//
 PlaySound(SOUND_LOW_BEEP);
 
 OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(1000);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£´//
 PlaySound(SOUND_LOW_BEEP);
 
 OnFwd(OUT_C,40);OnFwd(OUT_B,10); Wait(500);Off(OUT_BC);//º¸¤Ø¤Î²óž¤½¤Î£µ//
 PlaySound(SOUND_LOW_BEEP);
 OnFwd(OUT_A,60); Wait(500);Off(OUT_A);
 OnFwd(OUT_A,60); Wait(500);Off(OUT_A);
 
 //¤³¤³¤ÇÃæ±û¸òº¹ÅÀ¤òÄ̲á//
 
 PlaySound(SOUND_DOUBLE_BEEP);
 
 OnFwd(OUT_BC,50); Wait(500);Off(OUT_BC);//°ÌÃÖÄ´À°¤Îľ¿Ê¤½¤Î£²//
 
 OnFwd(OUT_C,10);OnFwd(OUT_B,25);Wait(2400);Off(OUT_BC);//±¦¤Ø¤Î²óž¤½¤Î£±//
 PlaySound(SOUND_LOW_BEEP);
 
 
 
 OnFwd(OUT_BC,50); Wait(300);Off(OUT_BC);//¥³¡¼¥¹¾å¤Îľ¿Ê//
 PlaySound(SOUND_LOW_BEEP);
 
 
                OnFwd(OUT_B,50);Wait(1000);Off(OUT_B);//º¸¤Ø¤Îľ³Ñ²óž//
 PlaySound(SOUND_LOW_BEEP);
 
 
 OnFwd(OUT_C,50);OnFwd(OUT_B,45); Wait(1000);Off(OUT_BC);//¥³¡¼¥¹¾å¤Îľ¿Ê¤½¤Î£²//
 PlaySound(SOUND_LOW_BEEP);
 
 
                OnFwd(OUT_B,50); Wait(1600);Off(OUT_BC);//ºÇ¸å¤Îº¸¤Ø¤Î²óž¤½¤Î£±//
 PlaySound(SOUND_LOW_BEEP);
 
 
 OnFwd(OUT_C,50); Wait(1900);Off(OUT_BC);//ºÇ¸å¤Îº¸¤Ø¤Î²óž¤½¤Î£²//
 PlaySound(SOUND_LOW_BEEP);
 
 OnRev(OUT_C,30);OnRev(OUT_B,25);Wait(500);Off(OUT_BC);//¥·¥å¡¼¥È¤òÂǤÄÁ°¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ì¡Ê¡á¥·¥å¡¼¥È¤ÎͽÈ÷Æ°ºî¡Ë//
 
 
 OnFwd(OUT_A,-90); Wait(400);Off(OUT_A);//­¤ò¿¶¤ê¾å¤²¤í¡Ê¥·¥å¡¼¥È¤òÂǤơË//
 PlaySound(SOUND_FAST_UP);
 
 }


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