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 #define GO_STRAIGHT OnFwd(OUT_A+OUT_C);       //ľ¿Ê
 #define TURN_RIGHT OnFwd(OUT_A);OnRev(OUT_C); //±¦Àû²ó
 #define TURN_LEFT OnFwd(OUT_C);OnRev(OUT_A);  //º¸Àû²ó
 #define MINUS 15                              //¥Þ¥¤¥Ê¥¹
 
 int max;   //max¤òÄêµÁ
 int time;  //time¤òÄêµÁ
 task main()
 {
    SetSensor(SENSOR_2,SENSOR_LIGHT);   //¥»¥ó¥µ¡¼£²:¸÷¥»¥ó¥µ¡¼
    max=SENSOR_2;                       //¥»¥ó¥µ¡¼£²¤òmax¤Ë»ØÄê
    time=Timer(0);                      //time¤ò¥¿¥¤¥Þ¡¼£°¤Ë»ØÄê
    ClearTimer(0);                      //¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È
    while(Timer(0)<=14)                 //¥¿¥¤¥Þ¡¼£°¤¬£±£´°Ê²¼¤Î»þ
    {
        turn_right                      //±¦Àû²ó
        if(SENSOR_2>max)                //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃͰʾå¤Ê¤é
          {
           ClearTimer(1);               //¥¿¥¤¥Þ¡¼£±¤ò¥ê¥»¥Ã¥È
           max=SENSOR_2 ;               //¥»¥ó¥µ¡¼£²¤òºÇÂçÃͤ˻ØÄê
          }
        else                            //¤½¤¦¤Ç¤Ê¤±¤ì¤Ð
          {
           max=max;                     //max¤ò¤½¤Î¤Þ¤Þ
           time=Timer(1);               //time¤ò¥¿¥¤¥Þ¡¼£±¤Ë»ØÄê
          }
   }
   ClearTimer(1);                       //¥¿¥¤¥Þ¡¼£±¤ò¥ê¥»¥Ã¥È
   while(Timer(1)<=time)                //time¤¬¥¿¥¤¥Þ¡¼°Ê²¼¤Î»þ
   {turn_left}                          //º¸Àû²ó
   while(true)
   {
        if(SENSOR_2>=max-minus)         //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹°Ê¾å¤Î»þ
          {go_straight}                 //ľ¿Ê
        if(SENSOR_2<max-minus)          //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹Ì¤Ëþ¤Î»þ
          {
           turn_right                   //±¦Àû²ó
           ClearTimer(2);               //¥¿¥¤¥Þ¡¼£²¤ò¥ê¥»¥Ã¥È
           until((SENSOR_2>=max-minus)||(Timer(2)==5));  //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹°Ê¾å¡¢¤Þ¤¿¤Ï¥¿¥¤¥Þ¡¼£²¤¬£µ¤Þ¤Ç
          }
        if(SENSOR_2<max-minus)          //¤Þ¤À¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹Ì¤Ëþ¤Î»þ
          {
           turn_left                    //º¸Àû²ó
           until(SENSOR_2>=max-minus);  //¥»¥ó¥µ¡¼£²¤¬ºÇÂçÃÍ¡Ý¥Þ¥¤¥Ê¥¹°Ê¾å¤Þ¤Ç
          }
    }
 }

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 #define Mi  330 
 #define Fa  349 
 #define So  392 
 #define Ra  440 
 #define Si  494 
 #define Do  523 
 #define Re  587 
 #define mi  659   
 task play_music()   
 {    
   while (true)    
     {     
      PlayTone(Ra,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Do,60); Wait(65);     
      PlayTone(Do,15); Wait(20);    
      PlayTone(Re,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Si,60); Wait(65);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Ra,60); Wait(65);     
      PlayTone(Ra,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Ra,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Do,45); Wait(50);           
      PlayTone(Ra,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Do,60); Wait(65);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Re,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Si,60); Wait(65);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Si,15); Wait(20);     
      PlayTone(Ra,60); Wait(65);    
      PlayTone(Mi,15); Wait(20);     
      PlayTone(Fa,15); Wait(20);     
      PlayTone(Mi,15); Wait(20);     
      PlayTone(Mi,15); Wait(20);    
      PlayTone(Ra,45); Wait(50);          
      PlayTone(Ra,15); Wait(20);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(mi,30); Wait(35);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Ra,15); Wait(20);     
      PlayTone(Fa,30); Wait(35);     
      PlayTone(Ra,30); Wait(35);     
      PlayTone(Si,30); Wait(35);     
      PlayTone(Do,15); Wait(20);     
      PlayTone(Ra,45); Wait(50);     
      PlayTone(Si,30); Wait(35);    
      PlayTone(Do,15); Wait(20);    
      PlayTone(Ra,45); Wait(50);    
      PlayTone(Si,30); Wait(35);    
      PlayTone(Do,15); Wait(20);    
      PlayTone(Ra,30); Wait(35);    
      PlayTone(Fa,15); Wait(20);    
      PlayTone(Ra,15); Wait(20);    
      PlayTone(Do,15); Wait(20);    
      PlayTone(mi,30); Wait(35);    
      PlayTone(Do,15); Wait(20);    
      PlayTone(Do,15); Wait(20);    
      PlayTone(Ra,15); Wait(20);    
      PlayTone(Fa,30); Wait(35);    
      PlayTone(Ra,30); Wait(35);   
      PlayTone(Si,30); Wait(35);    
      PlayTone(Do,15); Wait(20);    
      PlayTone(Ra,45); Wait(50);    
      PlayTone(Ra,45); Wait(50);    
      PlayTone(Ra,45); Wait(50);    
      PlayTone(So,30); Wait(35);    
      PlayTone(Ra,60); Wait(65);    
   Wait();    
     }    
 }    
 task main()    
 {       
 SetSensor(SENSOR_1, SENSOR_LIGHT);              
 start play_music ;       
 OnFwd(OUT_A+OUT_B);              
 until (SENSOR_1==1);       
 stop play_music ;       
 Off(OUT_A+OUT_B);       
 }
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