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  #define THRESHOLD 40¡¡//ïçÃÍ
  #define ahead OnRev(OUT_A+OUT_C); //¤â¤È¤â¤È¤Ï¸åÂà¤À¤±¤É¡¢¤³¤³¤ÏÁ°¿Ê
  #define back OnFwd(OUT_A+OUT_C); //¤â¤È¤â¤È¤ÏÁ°¿Ê¤À¤±¤É¡¢¤³¤³¤Ï¸åÂà
  #define right OnFwd(OUT_A); OnRev(OUT_C); //±¦¤Ë¶Ê¤¬¤ë
  #define left OnFwd(OUT_C); OnRev(OUT_A); //º¸¤Ë¶Ê¤¬¤ë
  #define SIGNALON 11¡¡//ÄÌ¿®µ¡Ç½±þÍѤÎÊý°Æ¤Ç»È¤¦¤â¤Î
  int CC //¸òº¹ÅÀ¤ò¿ô¤¨¤ë¤¿¤á¤ÎÊÑ¿ô


ÂèÆóµéÄêµÁ

  #define right90 OnFwd(OUT_A); OnRev(OUT_C); Wait(90); //±¦¤Ë£¹£°Åٶʤ¬¤ë
  #define left90 OnFwd(OUT_C); OnRev(OUT_A); Wait(90); //º¸¤Ë£¹£°Åٶʤ¬¤ë
  #define no_line (SENSOR_1>=THRESHOLD)&&(SENSOR_3>=THRESHOLD) //¸÷¥»¥ó¥µ¡¼Î¾Êý¤È¤âÈ¿±þ¤·¤Ê¤¤
  #define left_line (SENSOR_1>=THRESHOLD)&&(SENSOR_3<THRESHOLD) //º¸¤Î¸÷¥»¥ó¥µ¡¼¤·¤«È¿±þ¤·¤Ê¤¤
  #define right_line (SENSOR_1<THRESHOLD)&&(SENSOR_3>=THRESHOLD) //±¦¤Î¸÷¥»¥ó¥µ¡¼¤·¤«È¿±þ¤·¤Ê¤¤
  #define touch_line (SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD) //¸÷¥»¥ó¥µ¡¼Î¾ÊýÈ¿±þ¤¹¤ë¡¢¤Ä¤Þ¤êÀþ/¸òº¹ÅÀ¤Ë¥¿¥Ã¥Á¤¹¤ë¤³¤È
  #define touch SENSOR_2=1 //¥¿¥Ã¥Á¥»¥ó¥µÈ¿±þ¤¹¤ë

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  #define 0_0 if(no_line){ahead} //¸÷¥»¥ó¥µ¡¼Î¾Êý¤È¤âÈ¿±þ¤·¤Ê¤¤¤È¤­¡¢Á°¿Ê
  #define 1_0 if(left_line){left} //º¸¤Î¸÷¥»¥ó¥µ¡¼¤·¤«È¿±þ¤·¤Ê¤¤¤È¤­¡¢º¸¤Ë¶Ê¤¬¤ë
  #define 0_1 if(right_line){right} //±¦¤Î¸÷¥»¥ó¥µ¡¼¤·¤«È¿±þ¤·¤Ê¤¤¤È¤­¡¢±¦¤Ë¶Ê¤¬¤ë
  #define 1_0_2 if(left_line){right} //º¸¤Î¸÷¥»¥ó¥µ¡¼¤·¤«È¿±þ¤·¤Ê¤¤¤È¤­¡¢±¦¤Ë¶Ê¤¬¤ë
  #define 0_1_2 if(right_line){left} //±¦¤Î¸÷¥»¥ó¥µ¡¼¤·¤«È¿±þ¤·¤Ê¤¤¤È¤­¡¢º¸¤Ë¶Ê¤¬¤ë
  #define co1 if(touch){Off(OUT_A+OUT_C); OnFwd(OUT_B); Wait(50); start keep;}¡¡//²ó¼ýºî¶È£±
  #define co2 if(touch){Off(OUT_A+OUT_C); stop keep; OnRev(OUT_B); Wait(80);} //²ó¼ýºî¶È£²

Âè»ÍµéÄêµÁ

  #define go_ahead 0_0; 1_0; 0_1; //Àþ¤Ë±è¤Ã¤ÆÁ°¿Ê
  #define go_back 0_0; 1_0_2; 0_1_2; //Àþ¤Ë±è¤Ã¤Æ¸åÂà

Ê£¿ô¥¿¥¹¥¯¡¢µíÆý¥Ñ¥Ã¥¯¤òÍî¤È¤µ¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤ÎÌ¿Îá

  task keep()
  {
  repeat(1000)
  OnFwd(OUT_B); Wait(5);
  Off(OUT_B); Wait(5);
  }

¥á¥¤¥ó¥¿¥¹¥¯
  task main()
  {
  CC=0;
  SetSensor(SENSOR_1, SENSOR_LIGHT);
  SetSensor(SENSOR_2, SENSOR_TOUCH);
  SetSensor(SENSOR_3, SENSOR_LIGHT);
  ClearMessage(); //¤³¤³¤Þ¤Ç¤Ï´ðËÜ¥»¥Ã¥È
  
  while (true) {
  until (Message() == SIGNALON); //¿®¹æ¤ò¼õ¤±¤ë¤Þ¤ÇÂÔ¤Ä
  ahead; //¤³¤³¤«¤é¤ÏÀÖ¤¤ÀþÏ©
  if(touch_line){Off(OUT_A+OUT_C); left90;}
  go_ahead;
  if(touch_line){Off(OUT_A+OUT_C); left90;}
  go_ahead;
  co1; //µíÆý¥Ñ¥Ã¥¯²ó¼ý
  go_back;
  if(touch_line){Off(OUT_A+OUT_C); OnFwd(OUT_A); OnRev(OUT_C); Wait(180);}
  go_ahead;
  co2; //²ó¼ý´°Î»¡¦ÀÖ¤¤Àþ¤ÎÉôʬ´°Î»

  go_back; //ÀĤ¤Àþ¤ÎÉôʬ³«»Ï
  if(touch_line){Off(OUT_A+OUT_C); left90;}
  go_ahead;
  if(touch_line){Off(OUT_A+OUT_C); left90;}
  go_ahead;
  co1;
  go_back;
  if(touch_line){Off(OUT_A+OUT_C); left90;}
  go_ahead;
  if(touch_line){ahead; Wait(20); CC=CC+1; go_ahead}
  until(CC=2) //¡ÖÆóÈÖÌܤθòº¹ÅÀ¤Þ¤Ç¡×¤Î°ÕÌ£
  CC=0;
  Off(OUT_A+OUT_C); left90;
  go_ahead;
  co2; //ÀĤ¤Àþ¤ÎÉôʬ´°Î»

  go_back; //ÎФÎÀþ¤ÎÉôʬ³«»Ï
  if(touch_line){Off(OUT_A+OUT_C); left90;}
  go_ahead;
  if(touch_line){ahead; Wait(20); CC=CC+1; go_ahead}
  until(CC=3)
  CC=0;
  Off(OUT_A+OUT_C); left90;
  go_ahead;
  co1;
  go_back;
  if(touch_line){Off(OUT_A+OUT_C); left90;}
  go_ahead;
  if(touch_line){ahead; Wait(20); CC=CC+1; go_ahead}
  until(CC=2)
  CC=0;
  Off(OUT_A+OUT_C); left90;
  go_ahead;
  co2; //ÎФÎÀþ¤ÎÉôʬ´°Î»

  go_back; //»ç¤ÎÀþ¤ÎÉôʬ³«»Ï
  if(touch_line){Off(OUT_A+OUT_C); right90;}
  go_ahead;
  if(touch_line){Off(OUT_A+OUT_C); right90;}
  go_ahead;
  co1;
  go_back;
  if(touch_line){Off(OUT_A+OUT_C); OnFwd(OUT_A); OnRev(OUT_C); Wait(180);}
  go_ahead;
  co2; //»ç¤ÎÀþÉôʬ´°Î»

  go_back; //²«¿§¤ÎÀþ¤ÎÉôʬ³«»Ï
  if(touch_line){Off(OUT_A+OUT_C); right90;}
  go_ahead;
  if(touch_line){Off(OUT_A+OUT_C); right90;}
  go_ahead;
  co1;
  go_back;
  if(touch_line){Off(OUT_A+OUT_C); right90;}
  go_ahead;
  if(touch_line){ahead; Wait(20); CC=CC+1; go_ahead}
  until(CC=2)
  CC=0;
  Off(OUT_A+OUT_C); right90;
  go_ahead;
  co2; //²«¿§¤ÎÀþ¤ÎÉôʬ´°Î»

  go_back;¡¡//¹õ¤¤Àþ¤ÎÉôʬ³«»Ï
  if(touch_line){Off(OUT_A+OUT_C); right90;}
  go_ahead;
  if(touch_line){ahead; Wait(20); CC=CC+1; go_ahead}
  until(CC=3)
  CC=0;
  Off(OUT_A+OUT_C); right90;
  go_ahead;
  co1;
  if(touch_line){Off(OUT_A+OUT_C); right90;}
  go_ahead;
  if(touch_line){ahead; Wait(20); CC=CC+1; go_ahead}
  until(CC=2)
  CC=0;
  Off(OUT_A+OUT_C); right90;
  go_ahead;
  co2;¡¡//¹õ¤¤Àþ¤ÎÉôʬ´°Î»¡¦¤¹¤Ù¤Æ´°Î»
  }
  }


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