*¥é¥¤¥ó¥È¥ì¡¼¥¹¥í¥Ü¥Ã¥È [#oc0f9745]
Ìܼ¡
#contents


*²ÝÂê [#c1ecc07c]
¡¡¹õ¤¤Àþ¤Ë±è¤Ã¤ÆÁö¤ë¥í¥Ü¥Ã¥È¤ÎÀ½ºî¡¢¤¿¤À¤·°Ê²¼¤Î»ö¤ËÃí°Õ¤¹¤ë
~ 1 ®¤µ¤ÈÀµ³Î¤µ¤ÎÄɵá
~ 2 ¸òº¹ÅÀ¤ÇÍ¥Àèƻϩ¤òÁö¤Ã¤Æ¤Ê¤¤¾ì¹ç¤Ë¤Ï¡¢°ì»þÄä»ß¤ò¤¹¤ë
~&ref(2007b/A5/²ÝÂꣲ±¦/¤¤.jpg);
~ 3 Á°Êý¤Ë¤¢¤ë¥í¥Ü¥Ã¥È¤È¾×Æͤ·¤¿¾ì¹ç¡¢Áê¼ê¤Î¥í¥Ü¥Ã¥È¤¬Î¥¤ì¤ë¤Î¤òÂԤĤ³¤È
*¥í¥Ü¥Ã¥È¾Ò²ð [#f3914037]
¤Þ¤º¥­¥ã¥¹¥¿¡¼¤ò¤Ä¤±£³ÎضîÆ°¤Ë¤¹¤ë»ö¤Ë¤·¤¿¡£¤³¤ÎÊý¤¬¶Ê¤¬¤ê¤ä¤¹¤¯²óž¤âÍưפˤǤ­¤ë¤È»×¤Ã¤¿¤«¤é¤À¡£
~¥Ð¥ó¥Ñ¡¼¤Ï¥·¥ó¥°¥ë¥Ð¥ó¥Ñ¡¼¤Ë¤·¤Æ¥Þ¥·¥ó¤Î¤è¤±¤¤¤ÊÉôʬ¤òÇí¤®Íî¤È¤·¤¿¡£

~&ref(2007b/A5/²ÝÂꣲ±¦/¼ÖÎØ.jpg);¡¡  &ref(2007b/A5/²ÝÂꣲ±¦/071204_165731.jpg);                                        &ref(2007b/A5/²ÝÂꣲ±¦/Á´ÂÎ.jpg);       
~Á°ÎضîÆ°¤Ë¤¹¤ë¤³¤È¤Ç¥»¥ó¥µ¤ÎÈ¿±þ¤¬¸åÎضîÆ°¤Ë¤¹¤ë¤è¤êÁᤤ¡£¤è¤Ã¤Æ¾®²ó¤ê¤òÍø¤«¤»¤¿Áö¹Ô¤¬²Äǽ¤È¤Ê¤Ã¤¿¡£
~ &ref(2007b/A5/²ÝÂꣲ±¦/¤Ï¤Í.jpg);
~¥Þ¥·¥ó¤Î·Á¾õ¤È¤·¤Æ¤Ï£³ÎؤÇÁö¤ë°Õ³°¤Ï¥Î¡¼¥Þ¥ë¤Ê¥¿¥¤¥×¤È¤Ê¤Ã¤¿¡£
**¸÷¥»¥ó¥µ¡¼¤Î¼è¤êÉÕ¤± [#x4328df2]
~&ref(2007b/A5/²ÝÂꣲ±¦/¤»¤ó¤µ.jpg);    ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ &ref(2007b/A5/²ÝÂꣲ±¦/¸÷£².jpg);
~£²¤Ä¤Î¸÷¥»¥ó¥µ¡¼¤Ç¹õ¤¤Àþ¤ò¶´¤à¤è¤¦¤Ê¡Ø¶´¤ß·¿¡Ù¤òºÎÍÑ¡£ ±¦¤Î¸÷¥»¥ó¥µ¤¬È¿±þ¤¹¤ë¤³¤È¤Ç±¦¤Ë¶Ê¤¬¤ê¡¢º¸¥»¥ó¥µ¤¬È¿±þ¤¹¤ë¤³¤È¤Çº¸¤Ë¿Ê¤ß¤Þ¤¹¡£Î¾ÊýÇò¤ò´¶ÃΤ¹¤ë¤È¤­¤Ï¤Þ¤Ã¤¹¤°¿Ê¤à¤Î¤Ç¤¹¡£
~¥á¥ê¥Ã¥È¤È¤·¤Æ¹õÀþ¤«¤é¤Ï¤ß½Ð¤¿¤È¤­¤ËÈ¿±þ¤¬Áᤤ¡£Èæ³ÓŪ³Ú¤Ë¶Ê¤¬¤ë»ö¤¬¤Ç¤­¤Þ¤¹
~¥Ç¥á¥ê¥Ã¥È¤È¤·¤Æ¤Ï¸òº¹ÅÀ¤Ë»ß¤Þ¤ì¤ÎÀþ¤¬¤Ê¤¤¤È
¸÷¥»¥ó¥µ¤¬Ç§¼±¤·¤Ê¤¤¤È¤¤¤¦·çÅÀ¤¬¤¢¤ê¤Þ¤¹¡£¤Ä¤Þ¤êÁ´¤Æ¤Î¥³¡¼¥¹¤ËÂбþ¤¹¤ë¤È¤¤¤¦Ìõ¤Ç¤Ê¤¤¤È¤¤¤¦¤³¤È¤Ç¤¹¡£


**ÌäÂê [#re7e363d]
º£²ó¤Î²ÝÂê¤Ç°Ê²¼¤ÎÌäÂ꤬ȯÀ¸¤·¤¿
 1 µÞ¤Ê¥«¡¼¥Ö¤ËÂбþ¤Ç¤­¤ë¤«¡©
 2 ¸òº¹ÅÀ¤òÄ̤뤿¤á¤Î¥×¥í¥°¥é¥à¤Ï¤É¤¦¤¹¤ë¤«¡©
 3 ¤Þ¤Ã¤¹¤°¤Ë¿Ê¤Þ¤Ê¤¤¥Þ¥·¥ó
~£±¤ÎÌäÂê¤Ï²æ¡¹¤Î̵·×²è¤Ê¥³¡¼¥¹ºî¤ê¤ËÌäÂ꤬¤¢¤Ã¤¿¡£¥Þ¥·¥ó¤ÎÀ­Ç½¤òÃΤ餺¤Ë¥³¡¼¥¹¤òºî¤Ã¤¿¤Î¤ÇµÞ¤Ê¥«¡¼¥Ö¿¤¯¡¢¸òº¹ÅÀÁ°¤Ç¤â¥«¡¼¥Ö¤¬¤¢¤ë¡£µÞ¥«¡¼¥Ö¤Ç¥Þ¥·¥ó¤¬Ã¦Àþ¤·¤Æ¤·¤Þ¤Ã¤¿¡£
~£²¸òº¹ÅÀ¤òÄ̤ë¥×¥í¥°¥é¥à¤ÏξÊý¤Î¥»¥ó¥µ¡¼¤¬Æ±»þ¤ËÇò¤ò´¶ÃΤ·¤¿²ó¿ô¤ò¿ô¤¨¡¢£³¿ô¤¨¤ë¤È¸µ¤Î¥ë¡¼¥×¤ËÌá¤ë¤â¤Î¤À¤Ã¤¿¤¬¡¢¸òº¹ÅÀ¤ÎÁ°¤Ë¥«¡¼¥Ö¤¬¤¢¤êÄä»ßÀþ¤Ë¶Ê¤¬¤Ã¤Æ»ß¤Þ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤Î¤Þ¤Þ¿Ê¤à¤ÈÅϤ俸帵¤Î¥ë¡¼¥×¤ËÌá¤é¤Ê¤«¤Ã¤¿¡£
~3²æ¡¹¤Î¥Þ¥·¥ó¤Ï¤Ê¤¼¤«º¸¤Ë¶Ê¤¬¤Ã¤Æ¤·¤Þ¤¦¡£

**£±¤ÎÌäÂê²ò·è [#z058dc73]
¤Þ¤ºµÞ¥«¡¼¥Ö¤ÎÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¥â¡¼¥¿¤òÌ©Ã夵¤»¥Þ¥·¥ó¤ÎÉý¤ò¸Â³¦¤Þ¤Ç¶¹¤¯¤·¤¿¡£                                          ¤³¤¦¤¹¤ë»ö¤Ç¾®²ó¤ê¤òÍø¤«¤¹¤è¤¦¤Ë¤·¤¿¤Î¤Ç¤¢¤ë¡£¡¡¡¡¡¡
~¤Þ¤¿Á°Êý¤Ë¶îÆ°ÎؤòÀßÃÖ¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸åÊý¤ËÀßÃÖ¤¹¤ë¤è¤ê¤âÁ᤯ȿ±þ¤·¾®²ó¤ê¤ÎÎɤµ¤¬¾å¤¬¤Ã¤¿¡£
~¤½¤·¤Æ¥«¡¼¥Ö¤¹¤ë¤È¤­¤ËÊÒÊý¤Î¥â¡¼¥¿¡¼¤ò»ß¤á¤ë»ö¤ÇµÞ¥«¡¼¥Ö¤Ë¤âÂбþ¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¡£¡¡¡¡¡¡¡¡
~&ref(2007b/A5/²ÝÂꣲ±¦/¤â¡¼¤¿£².jpg);

**£²¤ÎÌäÂê ²ò·è[#of1d254b]
£²¤ÎÌäÂê¤ÏÇò¤ò£²²ó´¶ÃΤ·¤¿¸å¡¢¤º¤ì¤Æ¤¤¤¿¤é½¤Àµ¤¹¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤òľ¤·¤¿¡£
***¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à [#i903f892]
 x=0;
			while(x<3){
			if(SENSOR_2==1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬´¶ÃΤ·¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±½Ð¤·¤Þ¤¹
				break;
				}
				if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){¡¡¡¡¡¡¡¡¡¡//¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
	 			until((SENSOR_1<THRESHOLD||SENSOR_3<THRESHOLD)||(SENSOR_2==1));
				x++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤ò´¶ÃΤ·¤¿²ó¿ô¤ò¿ô¤¨¤Þ¤¹
				}else if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡¡¡¡¡   //Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
				if(x<2){
				until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));
				}else{
				until((SENSOR_1>THRESHOLD||SENSOR_3>THRESHOLD)||(SENSOR_2==1));
				x++;
				}

***ÊÒÊý¤¬¸òº¹ÅÀ¤Î¹õÀþ¤«¤é³°¤ì¤¿¤È¤­¤Î½¤Àµ¥×¥í¥°¥é¥à [#w4ce0450]
 else if((SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD)&&(x==2)){¡¡¡¡                  //º¸¤¬´¶ÃΤ·¤¿¤éº¸¤Ë¶Ê¤¬¤ê¤Þ¤¹
	 			
¡¡Off(OUT_A);
	 			
¡¡OnFwd(OUT_C);
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1));
	 	if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡¡¡¡¡¡¡¡¡¡¡//ξÊý¤¬Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
	 	until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));
	 				}
	 	x=3;
	 	}else if((SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD)&&(x==2)){¡¡//±¦¤¬´¶ÃΤ·¤¿¤é±¦¤Ë¶Ê¤¬¤ê¤Þ¤¹¡£
		OnFwd(OUT_A);
 		Off(OUT_C);
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1));
		 if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡//ξÊý¤¬Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
	 	until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));
	 				}
			¡¡¡¡x=3;
~¤³¤¦¤¹¤ë¤³¤È¤Ç¤â¤·¹õÀþ¤òÊÒÊý¤À¤±´¶ÃΤ·¤Æ¤â½¤Àµ¤·¤Æ¤¯¤ì¤Þ¤¹

**£³¤ÎÌäÂê²ò·è[#y0595e86]
~3¤ÎÌäÂê¤Ïľ¿Ê¤Ç¤­¤ë¤è¤¦¤Ë¤¹¤ë¤¿¤á¤ËSetPowar¤ò¤Ä¤«¤¤¥â¡¼¥¿¡¼¤Î®ÅÙ¤ÎÈùÄ´À°¤ò¤¹¤ë»ö¤Ç²ò·è¤·¤¿¡£
¤·¤«¤·¤½¤ì¤Ç¤â´°Á´¤Ëľ¿Ê¤·¤Ê¤¤
 task main(){
      SetPower(OUT_A,7);¡¡//º¸¤Î¥â¡¼¥¿½ÐÎÏ£·
      SetPower(OUT_C,4);   //±¦¤Î¥â¡¼¥¿½ÐÎÏ£´



*¥³¡¼¥¹¾Ò²ð [#qa623e67]
~¥³¡¼¥¹¤ÏÁ´ÂÎŪ¤Ë¥«¡¼¥Ö¤¬Â¿¤¯£²¤Ä¤Î¸òº¹ÅÀ¤òÀߤ±¤Æ¤¢¤ë(ľÀþ¤¬¤Û¤È¤ó¤É¤Ê¤¤)
~Á´Âμ̿¿
~&ref(2007b/A5/²ÝÂꣲ±¦/¤³¡¼¤¹.jpg);
~¸òº¹ÅÀÁ°¤ËµÞ¥«¡¼¥Ö¤¬¤¢¤ë¡£¤ª¤«¤²¤Ç¥Þ¥·¥ó¤ÎÀ­Ç½¤¬Ìä¤ï¤ì¤ë¤è¤¦¤Ê¥³¡¼¥¹¤Ë¤·¤¿
~¸òº¹ÅÀ¼Ì¿¿
~&ref(2007b/A5/²ÝÂꣲ±¦/¤³¤¦¤µ.jpg);

*¥×¥í¥°¥é¥à [#b7d4e8c8]
~¥¢¡¼¥à¥»¥ó¥µ¤¬È¿±þ¤·¤¿»þ¤Ë°Ê²¼¤Î£³¼ïÎà¤ÎÂбþ¤ò¸«¤»¤ë 
**&#9312;£³ÉôÖÄä»ß¤·¤ÆÂÔ¤Ä [#l4544280]
 Off(OUT_A+OUT_C);
 	Wait(300);¡¡¡¡¡¡¡¡//£³ÉÃÄä»ß
~¤³¤ì¤Ï¾×Æ͸壳ÉôÖÄä»ß¤¹¤ë¥×¥í¥°¥é¥à¤ÎÈ´¿è¤Ç¤¹¡£

**&#9313;¤½¤Î¾ì¤Ç£±²óž¤À¤±£³£¶£°ÅÙÀû²ó¤¹¤ë [#r276ca44]
 OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¥â¡¼¥¿Àµ²óž
	OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¥â¡¼¥¿µÕ²óž
	if(SENSOR_3<THRESHOLD){                                                    //¤â¤·¥»¥ó¥µ£³¤¬Çò¤ò´¶ÃΤ·¤Æ¤¤¤¿¤é
	until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD);//ξÊý¤¬¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤Ç
		}
	until(SENSOR_3<THRESHOLD);
	until(SENSOR_3>THRESHOLD);
	until(SENSOR_3<THRESHOLD);
~¾×Æ͸壱²óž¤·¤Þ¤¹¡£
**&#9314;£±£¸£°ÅÙÀû²ó¤·¤Æ£µÉô֥³¡¼¥¹¤òµÕÁö¤·¡¢ºÆ¤Ó£±£¸£°ÅÙÀû²ó¤·¤Æ¤â¤È¤Î¸þ¤­¤ËÁö¤ë [#b1c0318f]
 OnFwd(OUT_A);
 	OnRev(OUT_C);
 	if(SENSOR_3<THRESHOLD){
	until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD);
 		}
	hurimuki();
		OnFwd(OUT_A);
	 	OnRev(OUT_C);
 		until (SENSOR_3<THRESHOLD);
 	}
~¾×Æ͸å180Åٲ󞤷5ÉôֵÕÁö¸å¸µ¤ËÌá¤ê¤Þ¤¹¡£
**&#9312;&#9313;&#9314;¤ÎÊ£¹ç¤È¥×¥í¥°¥é¥à¤ÎÁ´ÂÎ [#nc793bf8]
 #define THRESHOLD 40¡¡¡¡¡¡¡¡¡¡//¸÷´¶ÃΤΤ¿¤á¤Î¿ôÃͤǤ¹
 #define return_time 50¡¡¡¡¡¡¡¡¡¡//£µÉÃÌá¤ë¤¿¤á¤Î¿ôÃͤǤ¹
 int x,y=0;
 sub hurimuki(){                              //£µÉÃÌá¤ë¤È¤­¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤¹
 	until (SENSOR_3<THRESHOLD);
	ClearTimer(0);
	while(Timer(0)<return_time){
	OnFwd(OUT_A);
	OnFwd(OUT_C);
	until(SENSOR_1<THRESHOLD|| SENSOR_3< THRESHOLD );
	if(SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD){
 	Off(OUT_A);
 	OnFwd(OUT_C);
                                                                                       
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD));
	}else if(SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD){
	 OnFwd(OUT_A);
	 Off(OUT_C);
                                                                                        
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD));
 	}else if(SENSOR_3< THRESHOLD&&SENSOR_1< THRESHOLD){
 	Off(OUT_A+OUT_C);
 	Wait(200);
 	OnFwd(OUT_A+OUT_C);
	x=0;
 	while(x<3){
 	if(SENSOR_2==1){
 	break;
 	}
 	if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){
        until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD));
 	          x++;
 	}else if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){
          until((SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD));
 	}else if(SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD){
            Off(OUT_A);
	OnFwd(OUT_C); 
            
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD));
	 	x--;
		}else if(SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD){
		OnFwd(OUT_A);
		Off(OUT_C);
            until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD));
 		x--;
 			}
 			}
 		}
 	}
  }
 void atattara(){¡¡¡¡¡¡//¥Ð¥ó¥Ñ¡¼¤Ë¤¢¤¿¤Ã¤¿¤é²¿¤ò¤¹¤ë¤«¤Ç¤¹¡£°ì¼þ¤´¤È¤Ë»Å»ö¤¬°ã¤¤¤Þ¤¹¡£
	if(y<=2){
 	Off(OUT_A+OUT_C);
 	Wait(300);
 	}else if(y>2&&y<=4){
 	OnFwd(OUT_A);
 	OnRev(OUT_C);
 	if(SENSOR_3<THRESHOLD){
	until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD);
 		}
 	until(SENSOR_3<THRESHOLD);
 	until(SENSOR_3>THRESHOLD);
 	until(SENSOR_3<THRESHOLD);
 	}else {
 	OnFwd(OUT_A);
 	OnRev(OUT_C);
 	if(SENSOR_3<THRESHOLD){
	until(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD);
 		}
	hurimuki();
		OnFwd(OUT_A);
	 	OnRev(OUT_C);
 		until (SENSOR_3<THRESHOLD);
 	}
  }
 task main(){
      SetPower(OUT_A,7);
      SetPower(OUT_C,4);
 	SetSensor (SENSOR_1,SENSOR_LIGHT);
 	SetSensor (SENSOR_3,SENSOR_LIGHT);
 	SetSensor(SENSOR_2,SENSOR_TOUCH);
 while(true){
 		if(SENSOR_2==1){¡¡¡¡¡¡//¥Ð¥ó¥Ñ¡¼¤¬´¶ÃΤ¹¤ë¤ÈºîÆ°¤·¤Þ¤¹¡£¤¤¤Ä¤Ç¤âºîÆ°¤·¤Þ¤¹
 		atattara();
 		}
	 	OnFwd(OUT_A);
	        OnFwd(OUT_C);
 ¡¡until((SENSOR_1<THRESHOLD|| SENSOR_3< THRESHOLD )||(SENSOR_2==1));//¤É¤Á¤é¤«¤Î¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤ÇÁö¤ê¤Þ¤¹
	 if(SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD){
	 Off(OUT_A);
         OnFwd(OUT_C);
                
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1));
	 }else if(SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD){
	 OnFwd(OUT_A);
	 Off(OUT_C);
                 
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1));
 		}else if(SENSOR_3< THRESHOLD&&SENSOR_1< THRESHOLD){
 	Off(OUT_A+OUT_C);
 	Wait(200);
 	OnFwd(OUT_A+OUT_C);
 	x=0;
 	while(x<3){
 	if(SENSOR_2==1){          //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬´¶ÃΤ·¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±½Ð¤·¤Þ¤¹
 	break;
 	}
 ¡¡if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){  ¡¡¡¡¡¡¡¡¡¡  //¹õ¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
        until((SENSOR_1<THRESHOLD||SENSOR_3<THRESHOLD)||(SENSOR_2==1));
 	x++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò¤ò´¶ÃΤ·¤¿²ó¿ô¤ò¿ô¤¨¤Þ¤¹
 ¡¡}else if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){¡¡¡¡//Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
 	if(x<2){
 	until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));
 	}else{
 	until((SENSOR_1>THRESHOLD||SENSOR_3>THRESHOLD)||(SENSOR_2==1));
 	x++;
 	}
 	}else if((SENSOR_1<THRESHOLD&&SENSOR_3> THRESHOLD)&&(x==2)){¡¡¡¡//º¸¤¬´¶ÃΤ·¤¿¤éº¸¤Ë¶Ê¤¬¤ê¤Þ¤¹
	Off(OUT_A);
	OnFwd(OUT_C);
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1));//ξÊý¤¬Çò¤ò´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
	 if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){
	 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));
			}
	x=3;
	 }else if((SENSOR_1>THRESHOLD&&SENSOR_3<THRESHOLD)&&(x==2)){¡¡
	 OnFwd(OUT_A);
 	 Off(OUT_C);
 until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD)||(SENSOR_2==1));
	 if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){
	until((SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD)||(SENSOR_2==1));¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ξÊý¤¬´¶ÃΤ¹¤ë¤Þ¤Ç¿Ê¤ß¤Þ¤¹
		}
	x=3;
 	}
 ¡¡if(x==2){
 	y++;
 	¡¡}
         }
	}
 ¡¡}
 }
¤³¤Î¥×¥í¥°¥é¥à¤Ï£±½µ¤¹¤ë¤´¤È¤Ë¥¢¡¼¥à¥»¥ó¥µ¤ÎÈ¿±þ¤¹¤ëÆâÍƤ¬°ã¤¤¤Þ¤¹¡££±½µÌܤϣ³Éûߤޤ롣£²½µÌܤϣ±²óž¡££³½µÌܤϣ±£¸£°ÅÙ²óž¸å¡¢£µÉôֵÕÁö¤·ºÆ¤Ó¸µ¤ËÌá¤ê¤Þ¤¹¡£&#9312;&#9313;&#9314;¤ò³Ý¤±¹ç¤ï¤»¤¿Áö¤ê¤ò¤·¤Þ¤¹
*·ë²Ì [#d047c3d0]
~ &ref(2007b/A5/²ÝÂꣲ±¦/071210_2351~01.jpg);  &ref(2007b/A5/²ÝÂꣲ±¦/071210_2351~02.jpg);
&ref(2007b/A5/²ÝÂꣲ±¦/071210_2352~01.jpg);
~¾ÈɤΥí¥Ü¥Ã¥È¤ÈÁö¹Ô¤µ¤»¤¿¤È¤³¤í¥Ð¥ó¥Ñ¡¼¤¬¹â¤¹¤®¡¢²£¤ÎÈϰϤ¬¶¹¤¹¤®¤¿¡£¤³¤ì¤À¤ÈÁê¼ê¤Î¥Ð¥ó¥Ñ¡¼¤¬Ä㤹¤®¤ë¤ÈÈ¿±þ¤Ç¤­¤º¾×Æͤ·¡¢²£¤Ë¤âÈ¿±þ¤Ç¤­¤ºÈô¤Ð¤µ¤ì¤Æ¤·¤Þ¤¤¡¢¥³¡¼¥¹¤«¤é¤Ï¤º¤ì¤Æ¤·¤Þ¤¦¡£¤½¤³¤Ç¥Ð¥ó¥Ñ¡¼¤ÎÈϰϤò¹­¤¯¤·¡¢¥Ð¥ó¥Ñ¡¼¤Î¹â¤µ¤òÄ㤯¤·¤¿¡£
~&ref(2007b/A5/²ÝÂꣲ±¦/¤Û¡¼¤¹.jpg);
~¥Ð¥ó¥Ñ¡¼¼«ÂΤΰÌÃÖ¤òÄ㤯¤·¡¢²¼¤Ë¥Û¡¼¥¹¤ò¤¿¤é¤¹»ö¤Ç²¼¤ÎÈϰϤò³ÈÂç¡£²£¤Ë¤â¥Ð¥ó¥Ñ¡¼¤ÎÈϰϤò¹­¤¯¤¹¤ë»ö¤Ç¾×ÆÍ»þ¤ËÈô¤Ð¤µ¤ì¤ë»ö¤òËɤ¤¤À¡£
*¤Þ¤È¤á [#c1c725bd]
**¹©Éפ·¤¿¤È¤³¤í [#c394cd7d]

~»°ÎضîÆ°¤Ë¤¹¤ë¤³¤È¤Ç¶Ê¤¬¤ê¤ä¤¹¤¯¤·¤¿¤È¤³¤í
~¾®²ó¤ê¤Î¤­¤¯Éý¤Ë¤·¤¿¤È¤³¤í
~¸òº¹ÅÀ¤Ç¶Ê¤¬¤Ã¤Æ¤âÌá¤ë¤è¤¦¤Ë¤·¤¿¤È¤³¤í
~¾×ÆÍ»þ¤ÎÈ¿±þ¤¬£±½µ¤´¤È¤Ë°Û¤Ê¤ë¤³¤È
~¥Ð¥ó¥Ñ¡¼¤ÎÈϰϤò¹­¤¯¤·¡¢¤«¤Ä²£¤ò¸Â¤ê¤Ê¤¯¥¹¥ê¥à¤Ë¤¹¤ë»ö¤ÇÁö¹ÔÃ桢̵Â̤˾¤Î¥í¥Ü¤È¾×Æͤ·¤Ê¤¯¤Ê¤Ã¤¿¡£
**¶ìÏ«¤·¤¿¤È¤³¤í [#u2355ff6]
¸òº¹ÅÀ¤Ç¤º¤ì¤Æ¤â½¤Àµ¤¹¤ë¥×¥í¥°¥é¥à¤ò¹Í¤¨¤ë¤Î¤¬¤Ä¤é¤«¤Ã¤¿
~¥³¡¼¥¹¤¬¥«¡¼¥Ö¤À¤é¤±¤Ê¤Î¤ÇÄ´À°¤¬ÂçÊѤǤ·¤¿
**º£¸å¤Î²ÝÂê [#c1cda8f6]
¸òº¹ÅÀ¤ÈSÏ©¥«¡¼¥Ö¤Ç¾×Æͤ·¤Æ¤·¤Þ¤¦¤È¡¢½¤Àµ¥×¥í¥°¥é¥à¤ò¶î»È¤·¤Æ¤â¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤¦¡£¤½¤Î³ÎΨ£±£°£°¡ó¡£¤³¤ÎÌäÂê¤ò¥¯¥ê¥¢¤Ç¤­¤¿¤é´°àú¤Ê¸òḀ̈롼¥ë¤ò¼é¤ë¥í¥Ü¥Ã¥È¤Ë¤Ê¤ë¤À¤í¤¦¡£



*´¶ÁÛ [#y34db20c]
¥³¡¼¥¹ºî¤ê¤Î¤È¤­¤â¤Ã¤È·×²èŪ¤Ëºî¤ì¤Ð¤è¤«¤Ã¤¿¤È¿¼¤¯È¿¾Ê¤¹¤ë¡£¤ª¤«¤²¤Ç¥×¥í¥°¥é¥àÀ½ºî¤¬ÂçÊѤÀ¤Ã¤¿¡£
¥Ð¥ó¥Ñ¡¼¤ÎÈ¿±þ¤¬£±½µ¤´¤È¤Ë°Û¤Ê¤ëÆ°ºî¤ò¤¹¤ë¡£¤³¤³¤¬£±È֤ξÈɤΤȤΰ㤤¤À¤È¼«É餹¤ë¡£¤½¤ì¤È²ÝÂêȯɽ¸å¿·¤¿¤ÊÌäÂ꤬ȯÀ¸¤·¤¿¡£Â¾¤Î¥í¥Ü¥Ã¥È¤È¾×Æͤ·¤¿¤È¤­¤Ë¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤¦¡£Ëͤé¤ÎÈɤϡ¢Â¾¤ÎÈɤȰ㤤¥í¥Ü¥Ã¥È¤¬£²Âæ¤â¤Ê¤¤¡£Åö½é´°àú¤À¤È»×¤Ã¤Æ¤¤¤¿¤³¤Î¥í¥Ü¥Ã¥È¤âÌäÂê¤À¤é¤±¤À¤È¤¤¤¦»ö¤¬¤ï¤«¤Ã¤¿¡£¶µ·±¤È¤·¤Æ¼ÂºÝ¤ËÆ°¤«¤·¤Æ¤ß¤ë¤Þ¤Ç¡¢¤ï¤«¤é¤Ê¤¤¡¢²¿»ö¤â²á¿®¤·¤Æ¤Ï¤Ê¤é¤Ê¤¤¤È¤¤¤¦»ö¤ò³Ø¤ó¤À¡£¤ª¤«¤²¤Ç¥Þ¥·¥ó¤Î´°À®ÅÙ¤â¾å¤¬¤ë¤³¤È¤â¤Ç¤­¤¿¡£¼¡¤Î²ÝÂê¤Ï²á¿®¤¹¤ë»ö¤Ê¤¯¡¢ìÅÍߤËÎɤ¤¤â¤Î¤òÁϤë¤È¤¤¤¦µ¤»ý¤Á¤ò˺¤ì¤Ê¤¤¤Ç¤¤¤­¤¿¤¤¡£¡¡

*¥³¥á¥ó¥È¤ò¤É¤¦¤¾ [#y073999a]
-¸òº¹ÅÀ¤ò¤É¤Î¤è¤¦¤ËÅÏ¤í¤¦¤È¤·¤Æ¤¤¤ë¤Î¤«¡¢£²¤ÎÌäÂê²ò·è¤À¤±¤«¤é¤Ï¤ï¤«¤ê¤Å¤é¤¤¡£Çò¤Î´¶Ãβó¿ô¤ò¸µ¤Ë¤·¤Æ¤¤¤ë¤è¤¦¤Ç¤¹¤¬¡Ä¤Ê¤¼¤½¤ì¤Ç¸òº¹ÅÀ¤òÄ̲á¤Ç¤­¤ë¤Î¤«¤ò¡¢¤­¤Á¤ó¤È²òÀ⤷¤Æ¤¯¤À¤µ¤¤¡£¡¡¼¡¤Ë¡¢¥¢¡¼¥à¥»¥ó¥µ¤¬È¿±þ¤·¤¿¤È¤­¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ½ñ¤«¤ì¤Æ¤¤¤Þ¤¹¤¬¡¢¤Þ¤º¥¢¡¼¥à¥»¥ó¥µ(¥¿¥Ã¥Á¥»¥ó¥µ¡©)¤Ë¤Ä¤¤¤Æ¡¢¤É¤Î¤è¤¦¤Ë¤É¤³¤Ë¼è¤êÉÕ¤±¤é¤ì¤Æ¤¤¤ë¤Î¤«¤¬»öÁ°¤Ë½Ò¤Ù¤é¤ì¤Æ¤ª¤é¤º¡¢¤ï¤«¤ê¤Å¤é¤¤¤Ç¤¹¡£¤Þ¤¿¡¢¥×¥í¥°¥é¥à­¢¤È­£¤¬¤É¤Î¤è¤¦¤ÊÆ°ºî¤ò¤¹¤ë¤Î¤«¤¬¤è¤¯¤ï¤«¤é¤Ê¤¤¤Î¤Ç¤¹¤¬¡¢¤â¤¦¾¯¤·²òÀâ¤òÉÕ¤±²Ã¤¨¤Æ¤¯¤À¤µ¤¤¡£ -- [[¤Þ¤¤¤±¤ë(TA)]] &new{2007-12-14 (¶â) 08:12:18};
-½é¤á¤Æ¸«¤¿¿Í¤Ë¤â¤ï¤«¤ë¤è¤¦¤Ë¡¢¤½¤Î¥Ð¥ó¥Ñ¡¼¤Îµ¡¹½¤Ç¤É¤Î¤è¤¦¤ËÀÜ¿¨¥»¥ó¥µ¡¼¤ò²¡¤·¤Æ¤¤¤ë¤«¤ÎÀâÌÀ¤¬¤Û¤·¤¤¤Ç¤¹¡£ -- [[¥¯¥Î]] &new{2007-12-15 (ÅÚ) 20:27:15};

#comment



¥È¥Ã¥×   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS