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**¥í¥ô¥©½é¹æµ¡¡¢Æõ¹æµ¡¤Î¥×¥í¥°¥é¥à [#jef7212b]

 task main()
 {    OnFwd(OUT_A+OUT_C);   //½é¹æµ¡¤Îȯ¿Ê
      Wait(400);
      Off(OUT_A+OUT_C);
      
      OnRev(OUT_A);   //½é¹æµ¡¤Î¸åÂà¡Ê¤³¤ì¤Ç½é¹æµ¡¤ÏÌò³ä¤ò½ª¤¨¤ë¡Ë
      OnRev(OUT_C);
      Wait(400);
      Off(OUT_A+OUT_C);
      
      OnFwd(OUT_B);   //Æõ¹æµ¡¤ÎÁ°¿Ê(Îí¹æµ¡¤Î¿ÊÏ©¾å¤Þ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö)
      Wait(895);
      OnRev(OUT_B);   //Æõ¹æµ¡¤Î¸åÂà¡£
      Wait(400);
      Float(OUT_B);   
      
      Wait(3500);   //Îí¹æµ¡¤¬¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤·¤Æ¤¯¤ë¤Þ¤ÇÂԤäƤ¤¤ë»þ´Ö¡£
      
      OnFwd(OUT_B);   //Æõ¹æµ¡¡¢£²¸ÄÌܤΥܡ¼¥ë¤ò²¡¤·½Ð¤¹¡£
      Wait(615);
      OnRev(OUT_B);   //Æõ¹æµ¡¸åÂà
      Wait(400);
      Float(OUT_B);
      
      Wait(3500);   //Îí¹æµ¡¤òÂÔ¤Ä
 
 ¡¡¡¡ OnFwd(OUT_B);   //Æõ¹æµ¡¡¢£³¸ÄÌܤΥܡ¼¥ë¤ò²¡¤·½Ð¤¹¡£
      Wait(615);
      OnRev(OUT_B);   //Æõ¹æµ¡¸åÂà
      Wait(600);
    
      Float(OUT_B);   //½ªÎ»
 } 


**¥í¥ô¥©Îí¹æµ¡¤Î¥×¥í¥°¥é¥à [#dfa2d787]
 #define THRESHOLD 40  //¸÷¥»¥ó¥µ¡¼¤Î´¶ÅÙÀßÄê
 #define turna 50  //Àû²ó»þ´Ö£±
 #define turnb 100  //Àû²ó»þ´Ö£²
 #define fwd 60  //Á°¿Ê»þ´Ö
 #define ballup 150  //¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ë¤Þ¤Ç¤Î¥¢¡¼¥àºîÆ°»þ´Ö
 #define ballput 60  //¥Ü¡¼¥ë¤ò²¼¤²¤ë¤Þ¤Ç¤Î¥¢¡¼¥àºîÆ°»þ´Ö
 #define back 280  //¸åÂà»þ´Ö
 
 sub linetrace()  //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à
 {
 	SetSensor(SENSOR_1,SENSOR_LIGHT);  //¥»¥ó¥µ£±¤È¥»¥ó¥µ£³¤Ï¸÷¥»¥ó¥µ
 	SetSensor(SENSOR_3,SENSOR_LIGHT);
	 if ((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))  //¥»¥ó¥µ£±¤È¥»¥ó¥µ£³¤¬Çò»æ¾å
 	{
 		OnFwd(OUT_A+OUT_C);  //ľ¿Ê
 	}
 	if ((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD))  //¸òº¹ÅÀ¤Ë¤µ¤·¤«¤«¤Ã¤¿¤é
 	{
 		OnFwd(OUT_A);  //Àû²ó
 		OnRev(OUT_C);
 		Wait(turna);
 		Off(OUT_A+OUT_C);
 		OnFwd(OUT_B);  //¥Ü¡¼¥ë¤ò²¼¤²¤ë
 		Wait(ballput);
 		Off(OUT_B);
 		OnFwd(OUT_A+OUT_C);  //Á°¿Ê
 		Wait(fwd);
 		Off(OUT_A+OUT_C);
 		OnFwd(OUT_B);  //¥Ü¡¼¥ë¤òÃÖ¤¯
 		Wait(ballup-ballput);
 		Off(OUT_B);
 		OnRev(OUT_A+OUT_C);  //¸åÂà
 		Wait(fwd);
 		Off(OUT_A+OUT_C);
 		OnRev(OUT_B);  //¥¢¡¼¥à¤ò¾å¤²¤ë
 		Wait(ballup);
 		Off(OUT_B);
 		OnFwd(OUT_A);  //Àû²ó
 		OnRev(OUT_C);
 		Wait(turnb);
 		Off(OUT_A+OUT_C);
 		while(SENSOR_3>THRESHOLD)  //¥»¥ó¥µ£³¤¬¹õÀþ¤ò¸«¤Ä¤±¤é¤ì¤ë¤Þ¤Ç
 		{
 			OnFwd(OUT_A);
 			OnRev(OUT_C);
 		}
 	Off(OUT_A+OUT_C);
 	OnFwd(OUT_B);  //¥¢¡¼¥à¤ò²¼¤í¤¹
 	Wait(ballput);
 	Off(OUT_B);
 	}
 	if ((SENSOR_1<THRESHOLD)&&(SENSOR_3>THRESHOLD))
                                               //¥»¥ó¥µ£±¤¬¹õÀþ¾å¡¤¥»¥ó¥µ£³¤¬Çò»æ¾å
 	{
 		Off(OUT_A);  //º¸Àû²ó
 		OnFwd(OUT_C);
 	}
 	if ((SENSOR_1>THRESHOLD)&&(SENSOR_3<THRESHOLD))
                                               //¥»¥ó¥µ¡¼£±¤¬Çò»æ¾å¡¤¥»¥ó¥µ¡¼£³¤¬¹õÀþ¾å
 	{
 		OnFwd(OUT_A);  //±¦Àû²ó
 		Off(OUT_C);
 	}
 }
 
 sub rcv()  //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë¥×¥í¥°¥é¥à
 {
 	Off(OUT_A+OUT_C);
 	OnFwd(OUT_B);  //¥¢¡¼¥à¤ò³«¤¯
 	Wait(ballup-ballput);
 	Off(OUT_B);
 	OnFwd(OUT_A+OUT_C);  //Á°¿Ê
 	Wait(80);
 	Off(OUT_A+OUT_C);
 	OnFwd(OUT_A+OUT_C);  //Á°¿Ê¤·¤Ê¤¬¤é¥¢¡¼¥à¤òÊĤ¸¤ë
 	OnRev(OUT_B);
 	Wait(80);
 	Off(OUT_A+OUT_C);
 	Wait(ballup-80);
 	Off(OUT_B);
 	OnRev(OUT_A+OUT_C);  //¸åÂà
 	Wait(back);
 	OnFwd(OUT_A);  //Àû²ó
 	OnRev(OUT_C);
 	Wait(turna+turnb);
 	Off(OUT_A+OUT_C);
 	while(SENSOR_3>THRESHOLD)  //¥»¥ó¥µ£³¤¬¹õÀþ¤ò¸«¤Ä¤±¤é¤ì¤ë¤Þ¤Ç
 	{
 		OnFwd(OUT_A);
 		OnRev(OUT_C);
 	}
 }
 
 task main ()
 {
 	SetSensor(SENSOR_2,SENSOR_TOUCH);  //¥»¥ó¥µ£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ËÀßÄê
 	Wait(500);  //5ÉôÖÂԤäƤ«¤é¥¹¥¿¡¼¥È
 	while(true)
 	{
 		if (SENSOR_2 ==0)  //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤Ê¤¤¤È¤­
 		{
 			linetrace();  //¥é¥¤¥ó¥È¥ì¡¼¥¹
 		} else {  //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤¿¤È¤­
 			rcv();  //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë
 			linetrace();  //¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
 		}
 	}
 }


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