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(a)¸÷¥»¥ó¥µ¤¬1¸Ä¤Î¾ì¹ç(¥»¥ó¥µ3¤Ï¾þ¤ê)

 #define throw_time 10
 #define run_time 150 //¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë»þ´Ö¡£¤³¤Î¥×¥í¥°¥é¥à¤Ç¤Ï1¼þ°Ê¾å¤¹¤ì¤Ð²¿¼þ¤Ç¤âÎɤ¤
 int max ;  //¸÷¤ÎºÇÂçÃͤΤ¿¤á¤ÎÊÑ¿ô

 task main()
 {SetPower(OUT_B,0)¡¡//¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¤ÎºÇÂçÃͤνê¤Ç¤È¤Þ¤ì¤Ê¤¤
 SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡//¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê
 SetSensor(SENSOR_2,SENSOR_TOUCH);  //¥»¥ó¥µ2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤Ë»ØÄê

 ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢
 while(Timer(0)<run_time)¡¡
 {max=0;¡¡//¤È¤ê¤¢¤¨¤º¡¢¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤò0¤ËÀßÄê
 OnFwd(OUT_B);¡¡//»þ·×¼þ¤ê¤Ë²óž
 if(SENSOR_1>max){max=SENSOR_1;}¡¡//¤½¤ì¤Þ¤Ç¤ÇºÇÂç¤Î¶¯¤µ¤Î¸÷¤è¤ê¤â¶¯¤¤¸÷¤ò´¶ÃΤ·¤¿¤é¡¢¤½¤Î¶¯¤µ¤òºÇÂçÃͤȤ¹¤ë¡£
 }

 OnFwd(OUT_B);¡¡//ºÆ¤Ó¡¢»þ·×²ó¤ê
 until(SENSOR_1<=max+7 || SENSOR_1>=max-7)¡¡//ºÇÂçÃͤ˶ᤤ¸÷¤ò´¶¤¸¤¿¤é¡¢¤½¤ÎÊý¸þ¤ò¸÷¸»¤ÈȽÃÇ
 Float(OUT_B);

 OnFwd(OUT_C);
 Wait(throw_time);¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
 OnRev(OUT_C);
 until(SENSOR_2==1);¡¡//¸µ¤Î°ÌÃÖ¤ËËÀ¤òÌᤷ¡¢¼¡¤âÅꤲ¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
 Float(OUT_A+OUT_B);
 } 

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 #define throw_time 10 //Åê¤Æ¤­Éô¤¬Æ°¤¯»þ´Ö
 #define run_time 180  //1¼þ¤Î»þ´Ö
 int max ;¡¡//¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤΤ¿¤á¤ÎÊÑ¿ô
 int a ;¡¡//¸÷¸»¤Þ¤Ç¤Î»þ´Ö¤Î¤¿¤á¤ÎÊÑ¿ô

 task main()
 {SetPower(OUT_B,0)  //¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¤ÎºÇÂçÃͤνê¤Ç¤È¤Þ¤ì¤Ê¤¤
 SetSensor(SENSOR_1,SENSOR_LIGHT);¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê
 SetSensor(SENSOR_2,SENSOR_TOUCH);¥»¥ó¥µ3¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤Ë»ØÄê

 ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢
 while(Timer(0)<=run_time)
 {max=0;¡¡//¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤò¤È¤ê¤¢¤¨¤º0¤Ë
 OnFwd(OUT_B);¡¡//»þ·×²ó¤ê¤Ë²óž
 if(SENSOR_2>max){max=SENSOR_2;ClearTimer(1);}¡¡//¤½¤ì¤Þ¤Ç¤ÇºÇÂç¤Î¶¯¤µ¤Î¸÷¤è¤ê¤â¶¯¤¤¸÷¤ò´¶ÃΤ·¤¿¤é¡¢¤½¤Î¶¯¤µ¤òºÇÂçÃͤȤ¹¤ë¡£¤Þ¤¿¡¢¥¿¥¤¥Þ¡¼1¤ò¥¯¥ê¥¢
 }
 a=Timer(1);¡¡//¸÷¸»¤Þ¤Ç¤É¤ì¤¯¤é¤¤µÕ²ó¤ê¤¹¤ì¤Ð¤è¤¤¤«(¾Ü¤·¤¯¤Ï²¼¤Î¿Þ¤ò»²¾È)

 ClearTimer(0);  //¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢
 OnRev(OUT_B);¡¡
 until(Timer(0)>=a) //aÉô֤À¤±È¿»þ·×²ó¤ê¤Ë²óž
 Float(OUT_B);  //²óžÄä»ß

 OnFwd(OUT_C);
 Wait(throw_time);¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
 OnRev(OUT_C);
 until(SENSOR_2==1);¡¡
 Float(OUT_C);¡¡//¸µ¤Î°ÌÃÖ¤ËËÀ¤òÌᤷ¡¢¼¡¤âÅꤲ¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
 }

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 #define throw_time 10¡¡//Åê¤Æ¤­Éô¤¬Æ°¤¯»þ´Ö 
 #define TH 7  //ïçÃÍ¡£¤³¤ì¤è¤êº¸±¦¤Î¸÷¥»¥ó¥µ¤ÎÃͤκ¹¤¬¾®¤µ¤¤¤«¤É¤¦¤«¤òȽÃÇ
 #define THREADHOLD 50 //
 
 task main()
 {SetPower(OUT_B,0);  ////¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¸»¤ÎÊý¸þ¤Ç¤È¤Þ¤ì¤Ê¤¤
 SetSensor(SENSOR_1,SENSOR_LIGHT);  //¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê
 SetSensor(SENSOR_2,SENSOR_TOUCH);  //¥»¥ó¥µ2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤Ë»ØÄê
 SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡//¥»¥ó¥µ3¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê

 OnFwd(OUT_B); //»þ·×²ó¤ê¤Ë²óž
 until((SENSOR_1-SENSOR_3>TH && SENSOR_3>THREADHOLD) || (SENSOR_3-SENSOR_1>TH && SENSOR_1>THREADHOLD))  //2¤Ä¤Î¥»¥ó¥µ¤¬´¶¤¸¤ë¸÷¤Î¶¯¤µ¤Îº¹¤¬½½Ê¬¤Ë¾®¤µ¤¯¡¢¤«¤Ä¸÷¤Î¶¯¤µ¤¬½½Ê¬¤ËÂ礭¤¤¤ÈȽÃǤǤ­¤ë¤Þ¤Ç²óž
 Off(OUT_B);  //²óžÄä»ß

 OnFwd(OUT_C);
 Wait(throw_time);OnRev(OUT_C);¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
 until(SENSOR_2==1);
 Float(OUT_C);¡¡//¸µ¤Î°ÌÃÖ¤ËËÀ¤òÌᤷ¡¢¼¡¤âÅꤲ¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë¡¡¡¡
 }  

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  #define run_time 300 //¥È¥ì¡¼¥¹¤¹¤ëºÇÂç¤Î»þ´Ö¤ò»ØÄê(¤³¤Î¾ì¹ç¤Ï300ÉÃ) 
 #define run_time 300 //¥È¥ì¡¼¥¹¤¹¤ëºÇÂç¤Î»þ´Ö¤ò»ØÄê(¤³¤Î¾ì¹ç¤Ï300ÉÃ) 
 #define TH 50  //ïçÃͤòÀßÄê¡¡
 

 {task main()
 SetSensor(SENSOR_1,SENSOR_LIGHT);  //¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê
 SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡//¥»¥ó¥µ3¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê
 
 ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢
 while(Timer(0)<=run_time)
 {
  if(SENSOR_1>TH)
  {if(SENSOR_3>TH){OnFwd(OUT_B);OnRev(OUT_B);}  //ξÊý¤Î¥»¥ó¥µ¤¬ïçÃͤè¤êÂ礭¤¤¾ì¹ç¡¢¸÷¸»¤Ï¤Û¤ÜÁ°Êý¤Ë¤¢¤ë¤ÈȽÃǤ·¤Æľ¿Ê¤¹¤ë¡£
¡¡else{OnFwd(OUT_B);}}  //¥»¥ó¥µ1¤ÎÃͤΤߤ¬ïçÃͤè¤êÂ礭¤¤¤È¤­¡¢¸÷¸»¤Ï¥»¥ó¥µ1¦(¤³¤Î¾ì¹ç¡¢±¦)¤Ë¤¢¤ë¤È¤·¤Æ¡¢±¦¤Ë¶Ê¤¬¤ë¡£
  else
  {if(SENSOR_3>TH){OnRev(OUT_B);}  //¥»¥ó¥µ3¤ÎÃͤΤߤ¬ïçÃͤè¤êÂ礭¤¤¤È¤­¡¢¸÷¸»¤Ï¥»¥ó¥µ3¦(¤³¤Î¾ì¹ç¡¢º¸)¤Ë¤¢¤ë¤È¤·¤Æ¡¢º¸¤Ë¶Ê¤¬¤ë¡£
¡¡else{}}  
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 if(SENSOR_1>TH)
 {if(SENSOR_3>TH){OnFwd(OUT_B);OnRev(OUT_B);}  
 //ξÊý¤Î¥»¥ó¥µ¤¬ïçÃͤè¤êÂ礭¤¤¾ì¹ç¡¢¸÷¸»¤Ï¤Û¤ÜÁ°Êý¤Ë¤¢¤ë¤ÈȽÃǤ·¤Æľ¿Ê¤¹¤ë¡£
 else{OnFwd(OUT_B);}}  
 //¥»¥ó¥µ1¤ÎÃͤΤߤ¬ïçÃͤè¤êÂ礭¤¤¤È¤­¡¢¸÷¸»¤Ï¥»¥ó¥µ1¦(¤³¤Î¾ì¹ç¡¢±¦)¤Ë¤¢¤ë¤È¤·¤Æ¡¢±¦¤Ë¶Ê¤¬¤ë¡£
 else
 {if(SENSOR_3>TH){OnRev(OUT_B);}  
 //¥»¥ó¥µ3¤ÎÃͤΤߤ¬ïçÃͤè¤êÂ礭¤¤¤È¤­¡¢¸÷¸»¤Ï¥»¥ó¥µ3¦(¤³¤Î¾ì¹ç¡¢º¸)¤Ë¤¢¤ë¤È¤·¤Æ¡¢º¸¤Ë¶Ê¤¬¤ë¡£
 else{OnFwd(OUT_B);until(SENSOR_1>TH || SENSOR_3>TH)}}  
 //ξÊý¤Î¥»¥ó¥µ¤ÎÃͤ¬ïçÃͤè¤ê¾®¤µ¤¤¤È¤­¤Ë¤Ï¸÷¤ò¸«¼º¤Ã¤¿¤ÈȽÃǤ¹¤ë¡£»þ·×²ó¤ê¤Ë²óž¤·¤Æ¡¢¸÷¸»¤òõ¤¹¡£¤â¤·¡¢¸«¤Ä¤«¤é¤º¤Ë¥¹¥¿¡¼¥È¤«¤é300É俤ĤÈÄä»ß¡£}
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#comment


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