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**´°À® [#c0694e23]
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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#a563890b]

**¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#h99af015]

 #define BLACK 42	//°Ê²¼¤Ï¹õ
 #define BLACK 45	//°Ê²¼¤Ï¹õ
 #define WHITE 50	//°Ê¾å¤ÏÇò
 #define go_forward OnFwd(OUT_AC);	//Á°¤Ø
 #define go_back OnRev(OUT_AC);		//¸å¤í¤Ø
 #define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó
 #define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
 #define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
 #define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
 #define CROSS_TIME 20  // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
 #define cross_line go_forward;Wait(CROSS_TIME);short_break;	//¸òº¹ÅÀ¤òÅϤë
 #define FIX_TIME 18
 #define nMAX 8
 #define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
 #define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
 #define shoot go_back;Wait(50);go_forward;Wait(30);clip_off;	//¥·¥å¡¼¥È
 task main()
 {
   SetSensor(SENSOR_2, SENSOR_LIGHT);
   int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
   if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    while (nOnline <nMAX) {
        if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
       nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
       if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
       go_forward;               // ľ¿Ê
      } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð 
 	turn_right;	//±¦¤Ø
      }
      nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     }			
     Wait(STEP);
   }
   short_break;		//¾®µÙ·Æ
   turn_left;Wait(FIX_TIME);	//Êý¸þº¸½¤Àµ
   clip_on;		//Êáµå
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
   if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    while (nOnline <nMAX) {
        if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
       nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
       if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
        go_forward;               // ľ¿Ê
        } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð 
 	turn_right;	//±¦¤Ø
      }
      nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     }			
     Wait(STEP);
   }
   short_break;		//¾®µÙ·Æ
   turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ
   cross_line;		//¸òº¹ÅÀ¤òÅϤë
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
 if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    while (nOnline <nMAX) {
        if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
       nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
       if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
       go_forward;               // ľ¿Ê
      } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
 	turn_right;	//±¦¤Ø
      }
      nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     }			
     Wait(STEP);
   }
   short_break;		//¾®µÙ·Æ
   go_forward;Wait(100);	//¥´¡¼¥ëÁ°¤Ø
   turn_right;Wait(80);	//Êý¸þ½¤Àµ
   shoot;		//¥·¥å¡¼¥È
   Off(OUT_AC);	//Ää»ß
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
     SetSensor(SENSOR_2, SENSOR_LIGHT);
     int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
     while (nOnline <nMAX) {
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	         turn_right;	//±¦¤Ø
             }
             nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }
         Wait(STEP);
     }
     short_break;		//¾®µÙ·Æ
     turn_left;Wait(FIX_TIME);	//Êý¸þº¸½¤Àµ
     clip_on;		//Êáµå
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     while (nOnline <nMAX) {
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	         turn_right;	//±¦¤Ø
             }
             nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }
         Wait(STEP);
     }
     short_break;		//¾®µÙ·Æ
     turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ
     cross_line;		//¸òº¹ÅÀ¤òÅϤë
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     while (nOnline <nMAX) {
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
	         turn_right;	//±¦¤Ø
             }
             nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }
         Wait(STEP);
     }
     short_break;		//¾®µÙ·Æ
     go_forward;Wait(100);	//¥´¡¼¥ëÁ°¤Ø
     turn_right;Wait(80);	//¸åÂà¡õÁ°¿Ê
     shoot;		//¥·¥å¡¼¥È
     Off(OUT_AC);	//Ää»ß
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
 }
**»ÈÍѤ·¤¿´Ø¿ô [#ma76d432]

 ­¡#define BLACK 42	//°Ê²¼¤Ï¹õ
 ­¢#define WHITE 50	//°Ê¾å¤ÏÇò
 ­£#define go_forward OnFwd(OUT_AC);	//Á°¤Ø
 ­¤#define go_back OnRev(OUT_AC);		//¸å¤í¤Ø
 ­¥#define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó
 ­¦#define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
 ­§#define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
 ­¨#define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
 ­©#define CROSS_TIME 20  // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
 ­ª#define cross_line go_forward;Wait(CROSS_TIME);short_break;	//¸òº¹ÅÀ¤òÅϤë
 ­«#define FIX_TIME 18
 ­¬#define nMAX 8
 ­­#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
 ­®#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
 ­¯#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off;	//¥·¥å¡¼¥È

***²òÀâ [#h6bcc6d4]
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**BÃÏÅÀ&#10145;¶Ê¤¬¤ê³Ñ [#i97421fe]

 task main()
 {
   ­¡SetSensor(SENSOR_2, SENSOR_LIGHT);
   ­¢int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
   ­£if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    ­¤while (nOnline <nMAX) {
       ­¥if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
       ¡¡turn_left;                // º¸¤Ø
       ¡¡nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
       ­¦if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
       ¡¡go_forward;               // ľ¿Ê
      } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð 
 	­§turn_right;	//±¦¤Ø
      }
      nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     }			
     ­¨Wait(STEP);
   }
   ­£while (nOnline <nMAX) {
       ­¤if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
           ­¥if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
               ­¦turn_right;	//±¦¤Ø
             }
             nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }
       ­§Wait(STEP);
     }

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+­¥¡Á­§¤Îºî¶È¤òSTEP/100É䴤Ȥ˹Ԥ¦¡£

**¶Ê¤¬¤ê³Ñ [#w0dea0c0]
   short_break;		//¾®µÙ·Æ
     short_break;		//¾®µÙ·Æ
   ­¡turn_left;Wait(FIX_TIME);	//Êý¸þº¸½¤Àµ
   ­¢clip_on;		//Êáµå
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È

***²òÀâ [#k007d8ac]
+¶Ê¤¬¤ê³Ñ¤ÈȽÃǤ·¡¢Êáµå¤Ç¤­¤ë³ÑÅÙ¤ËÄ´À°¡£
+Êáµå¤·¡¢¥Ü¡¼¥ë¤ò±¿¤ó¤Ç¤¤¤¯¡£

**¶Ê¤¬¤ê³Ñ&#10145;¸òº¹ÅÀQ [#b091a242]
   if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    while (nOnline <nMAX) {
        if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
       nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
       if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
        go_forward;               // ľ¿Ê
        } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð 
 	turn_right;	//±¦¤Ø
      }
      nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     }			
     Wait(STEP);
   }
     while (nOnline <nMAX) {
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
                 turn_right;	//±¦¤Ø
             }
             nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }
         Wait(STEP);
     }

***²òÀâ [#y9e77c75]
¡ÖBÃÏÅÀ&#10145;¶Ê¤¬¤ê³Ñ¡×¤ÈƱÍÍ

**¸òº¹ÅÀQ [#y68389dc]
   short_break;		//¾®µÙ·Æ
     short_break;		//¾®µÙ·Æ
   ­¡turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ
   ­¢cross_line;		//¸òº¹ÅÀ¤òÅϤë
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È

***²òÀâ [#bef05d71]
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**¸òº¹ÅÀQ&#10145;AÃÏÅÀ [#i2f08f15]
 if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    while (nOnline <nMAX) {
        if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
       turn_left;                // º¸¤Ø
       nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
       if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
       go_forward;               // ľ¿Ê
      } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
 	turn_right;	//±¦¤Ø
      }
      nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
     }			
     Wait(STEP);
   }
     while (nOnline <nMAX) {
         if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
             turn_left;                // º¸¤Ø
             nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
         } else {
             if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
                 go_forward;               // ľ¿Ê
             } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
                 turn_right;	//±¦¤Ø
             }
             nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
         }
         Wait(STEP);
     }

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   short_break;		//¾®µÙ·Æ
     short_break;		//¾®µÙ·Æ
   ­¡go_forward;Wait(100);	//¥´¡¼¥ëÁ°¤Ø
   ­¢turn_right;Wait(80);	//Êý¸þ½¤Àµ
   shoot;		//¥·¥å¡¼¥È
   Off(OUT_AC);	//Ää»ß
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
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     shoot;		//¥·¥å¡¼¥È
     Off(OUT_AC);	//Ää»ß
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
 }

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