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**ÌäÂê [#re7e363d]
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 2 ¸òº¹ÅÀ¤òÄ̤뤿¤á¤Î¥×¥í¥°¥é¥à¤Ï¤É¤¦¤¹¤ë¤«¡©
 3 ¤Þ¤Ã¤¹¤°¤Ë¿Ê¤Þ¤Ê¤¤¥Þ¥·¥ó
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**£±¤ÎÌäÂê²ò·è [#z058dc73]
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**£²¤ÎÌäÂê ²ò·è[#of1d254b]
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***¸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);
      SetPower(OUT_C,4);



*¥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¿¿
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*¥×¥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);
**&#9313;¤½¤Î¾ì¤Ç£±²óž¤À¤±£³£¶£°ÅÙÀû²ó¤¹¤ë [#r276ca44]
 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);
**&#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);
 	}

**­¡­¢­£¤ÎÊ£¹ç¥×¥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){
 					break;
 				}
 				if(SENSOR_1>THRESHOLD&&SENSOR_3>THRESHOLD){
	 			until((SENSOR_1<THRESHOLD||SENSOR_3<THRESHOLD)||(SENSOR_2==1));
 					x++;
 				}else if(SENSOR_1<THRESHOLD&&SENSOR_3<THRESHOLD){
 					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)){
	 			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){
	 			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));
	 				}
			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¡£
*¤Þ¤È¤á [#c1c725bd]
**¹©Éפ·¤¿¤È¤³¤í [#c394cd7d]

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¸òº¹ÅÀ¤Ç¤º¤ì¤Æ¤â½¤Àµ¤¹¤ë¥×¥í¥°¥é¥à¤ò¹Í¤¨¤ë¤Î¤¬¤Ä¤é¤«¤Ã¤¿

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