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 task main(){
 #define close(t) OnFwd(OUT_A); Wait(t); Off(OUT_A);
 #define open OnRev(OUT_A); Wait(80); Off(OUT_A);
 #define push OnFwd(OUT_C); Wait(30); Off(OUT_C);
 
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 Wait(2200);          //´Ì¤ÎÁ°¤Þ¤Ç°ÜÆ°¤¹¤ë¤Î¤òÂԤġ£
 
 close(3500);          //­¥¤ÎÆ°ºî¡Ê¤½¤Î¸å¤Î°ÜÆ°Ãæ¤âÄϤß³¤±¤ë¡£¡Ë
 
 
 //ËÜÂΰÜÆ°Ãæ
 
 
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 }


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 #define back(t) OnRev(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C);
 #define right(t) OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_A+OUT_C); 
 #define left(t) OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_A+OUT_C);
 #define straight(t) OnFwd(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C);
 
 //¾å¤«¤é½ç¤ËÁ°¿Ê¡¢±¦ÀÞ¡¢º¸ÀÞ¡¢¸åÂà¡£
 
 task main(){
 SetSensor(SENSOR_2,SENSOR_TOUCH);
 SetSensor(SENSOR_1,SENSOR_LIGHT);
 SetSensor(SENSOR_3,SENSOR_LIGHT);
 
 
 straight(100);
 
 
 while((SENSOR_1>=40)&&(SENSOR_3>=40)){
 straight(10);
 }          //¤³¤³¤Þ¤Ç­¡¤ÎÆ°ºî
 
 straight(10);
 right(55);          //¹õÀþ¤Ë¾è¤ë
 
 
 while(SENSOR_2 != 1){
   if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
     right(20);
   }
   if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
     left(20);
   }
   else{
     OnFwd(OUT_A+OUT_C);
   }
 }          //¤³¤³¤Þ¤Ç­¢¤ÎÆ°ºî
 
 
 back(20);
 
 left(55);          //ÊɤÈÊ¿¹Ô¤Î¸þ¤­¤Ë¤¹¤ë
 
 
 while(SENSOR_2 != 1){
   straight(10);
 }          //­£¤ÎÆ°ºî
 
 
 OnRev(OUT_C);
 Wait(20);
 Off(OUT_C);          //´Ì¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
 
 back(150);          //­¤¤ÎÆ°ºî
 
 
 Wait(500);          //¥¢¡¼¥àôÅö¤ÎNQC¤ÎÆ°¤­(­¥¤ÎÆ°ºî)¤òÂÔ¤Ä
 
 right(10);
 
 back(150);
 
 while((SENSOR_1>=40)&&(SENSOR_3>=40)){
   if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
     right(20);
   }
   if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
     left(20);
   }
   else{
     OnRev(OUT_A+OUT_C);
   }
 }          //­¦¤ÎÆ°ºî
 
 left(55);          //¹õÀþ¤Ë¾è¤ë
 
 while(SENSOR_2 != 1){
   if((SENSOR_1 > 40)&&(SENSOR_3 < 40)){
     right(20);
   }
   if((SENSOR_1 < 40)&&(SENSOR_3 > 40)){
     left(20);
   }
   else{
     OnFwd(OUT_A+OUT_C);
   }
 }          //­§¤ÎÆ°ºî
 
 right(55);          //´Ì¤ÎÊý¤Ë¥¢¡¼¥à¤ò¸þ¤±¤ë
 
 back(80);          //­¨¤ÎÆ°ºî
 
 
 //¤³¤Á¤é¤ÎNQC¤ÎÆ°ºî¤Ï½ªÎ»¡£¸å¤Ï¥¢¡¼¥àôÅö¤ÎNQC¤¬¥¢¡¼¥à¤ò³«¤­¡¢´Ì¤ò²¡¤·½Ð¤¹¤Î¤òÂԤġ£
 }
 



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