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#contents
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 int max ;
 int time ;
 int stop_time ;
 task main()
   {
    SetSensor(SENSOR_2,SENSOR_LIGHT);   //¥»¥ó¥µ¡¼¤òÀßÄê
    max = 0 ;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ºÇÂçÃͤòµ­Ï¿¤·¤Æ¤ª¤¯ÊÑ¿ô¤òÀßÃÖ
    ClearTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼¤ò½é´ü²½
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    max = 0 ;
    ClearTimer(0);
    
  while(Timer(0) <= 500){¡¡¡¡¡¡¡¡¡¡¡¡//°ì¼þ¤¹¤ë¤Þ¤Ç³¤±¤ë
  OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦²óž¤ò¤¹¤ë
  if(max < SENSOR_2)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤ÎÃͤ¬max¤è¤êÂ礭¤¤¡ÊÌÀ¤ë¤¤¡Ë¤È¤­
  while(Timer(0) <= 39){   ¡¡¡¡¡¡¡¡¡¡¡¡//¥í¥Ü¥Ã¥È¤ò±¦²óž¤Ç°ì¼þ¤µ¤»¤ë
  OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
  if(max > SENSOR_2)
  {
    max = SENSOR_2 ;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//max¤ÎÃͤò¹¹¿·¤¹¤ë
    time = Timer(0) * 10 ;    } }  //¤½¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë
  OnRev(OUT_A);
  Wait(500-time);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//È¿Âвó¤ê¤Ëµ­Ï¿¤·¤¿»þ´Ö¤Þ¤Ç²ó¤ë
    max = SENSOR_2 ;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤ÎÃͤκÇÂçÃͤò¬¤ë
    stop_time = Timer(0) * 10 ;  } }       //ºÇÂçÃͤò¹¹¿·¤·¤¿¤é¤½¤ÎÉÿô¤òµ­Ï¿¤¹¤ë
  OnFwd(OUT_A);
  Wait(stop_time);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ­Ï¿¤·¤¿Éÿô¤À¤±²óž¤¹¤ë
  Off(OUT_A);
  OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
  Wait(30);

  OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
  Wait(20);
  Off(OUT_C);
 }
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 int Stop ;
 int change ;
 task main()
 {
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 Stop = 0 ;
 change = SENSOR_2;
 Wait(100);
 Wait(300);
 while(Stop <= 0)
 {
 if(SENSOR_1<change-1){     //µ­Ï¿¤·¤¿Ãͤè¤ê°Å¤¤»þ

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 if(SENSOR_2<change){
 repeat(5){
 OnFwd(OUT_A);
 Wait(10);
 Wait(20);
 OnRev(OUT_A);
 Wait(10);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤¹¤ë
 Wait(20);
 Off(OUT_A);}
 change = SENSOR_2 ;
 Wait(50);
 }
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 if(SENSOR_2>change){
 Off(OUT_A);
 change = SENSOR_1 ;    //¸÷¥»¥ó¥µ¡¼¤ÎÃͤòµ­Ï¿¤¹¤ë
 Wait(30);  }¡¡¡¡      //¾¯¤·ÂÔ¤Ä
 if(SENSOR_1>change+1){¡¡//µ­Ï¿¤·¤¿Ãͤè¤êÌÀ¤ë¤¤»þ
 Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤Î¾ì¤ÇÂÔµ¡
 change = SENSOR_1 ;}
 change = SENSOR_2 ;
 Wait(50);
 }
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 if(change == SENSOR_2) {
 OnRev(OUT_C);
 Wait(30);
 if((change-1)<=SENSOR_1<=(change+1)) {¡¡//Ãͤ¬Á°¤ÈƱ¤¸»þ
 OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
 Off(OUT_C);
 Stop = 1 ; }
 }
 }
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 int Stop ;
 int change ;
 task main()
 {
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 SetSensor(SENSOR_1,SENSOR_TOUCH);
 Stop = 0 ;
 change = SENSOR_2;
 Wait(300);
 while(Stop <= 0)
 {
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 if(SENSOR_1==1)
 {Wait(300);}

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 if(SENSOR_2<change){
 repeat(5){
 OnFwd(OUT_A);
 Wait(20);
 OnRev(OUT_A);
 Wait(20);
 Off(OUT_A);}
 change = SENSOR_2 ;
 Wait(50);
 }
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 if(SENSOR_2>change){
 Off(OUT_A);
 change = SENSOR_2 ;
 Wait(50);
 }
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 if(change == SENSOR_2) {
 Whil(SENSOR1==0)
 {OnFwd(OUT_A);
 Wait(20);
 OnRev(OUT_A);
 Wait(20);
 Off(OUT_A);}

 OnRev(OUT_C);
 Wait(30);
 Off(OUT_C);
 Stop = 1 ; }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//while¤Î·«¤êÊÖ¤·¤ò½ª¤ï¤é¤»¤ë
 Stop = 1 ; }
 }
 }
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#comment
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