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***µíÆý¥Ñ¥Ã¥¯¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤Ö¥×¥í¥°¥é¥à [#h854a0b5]


***µíÆý¥Ñ¥Ã¥¯¤òÈò¤±¤Æ¿Ê¤à¥×¥í¥°¥é¥à [#w40a17eb]
 #define THRESHOLD 40

 task main()
 {
 SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£±¤Ï¸÷¥»¥ó¥µ¡¼
 SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£³¤Ï¸÷¥»¥ó¥µ¡¼
 SetSensor(SENSOR_2,SENSOR_TOUCH);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡Ý£²¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼

 while (true) 
 {
  if ((SENSOR_1>THRESHOLD) && (SENSOR_3>THRESHOLD)){
 OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£²¤Ä¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ê¤éľ¿Ê
 until((SENSOR_1 < THRESHOLD) || (SENSOR_3 < THRESHOLD));
 }
 
 { 
   if ((SENSOR_1<THRESHOLD) && (SENSOR_3<THRESHOLD)){
 OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£²¤Ä¤Î¥»¥ó¥µ¡¼¤¬¹õ¤Ê¤éľ¿Ê
 until((SENSOR_1 < THRESHOLD) || (SENSOR_3 < THRESHOLD));
 }
   
  
  if (SENSOR_1<THRESHOLD){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬¹õ¤Î»þ¤Ïº¸¤Ë½¤Àµ
 OnFwd(OUT_C);
 Off(OUT_A);
 Wait(1); 
 }
 
  if (SENSOR_3<THRESHOLD){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬¹õ¤Î»þ¤Ï±¦¤Ë½¤Àµ
 OnFwd(OUT_A);
 Off(OUT_C); 
 Wait(1);
 }
 
 

 if (SENSOR_2==1) {    ¡¡¡¡¡¡¡¡//¾ã³²Êª¤Ë¤¢¤¿¤Ã¤¿¤é±ª²ó¤·¤Æ¾ã³²Êª¤òÈò¤±¤ë
 OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ð¥Ã¥¯¤·¤Þ¤¹
 Wait(200);

 OnFwd(OUT_A);OnRev(OUT_C);    //Êý¸þž´¹¤·¤Þ¤¹
 Wait(100);
 OnFwd(OUT_A+OUT_C);
 Wait(150);

 OnFwd(OUT_C);OnRev(OUT_A);    ¡¡¡¡¡¡¡¡¡¡//Êý¸þž´¹¤·¤Þ¤¹
 Wait(100);
 OnFwd(OUT_A+OUT_C);
 Wait(200);

 OnFwd(OUT_C);OnRev(OUT_A);    ¡¡¡¡¡¡¡¡//Êý¸þž´¹¤·¤Þ¤¹
 Wait(100);
 OnFwd(OUT_A+OUT_C);
 Wait(150);

 OnFwd(OUT_A);OnRev(OUT_C);   ¡¡¡¡¡¡¡¡
 Wait(100);¡¡¡¡¡¡¡¡
 }
 }
 }
 }

***¸òº¹ÅÀ¤´¤È¤Ë±¦º¸ÀÞ¤òÊѤ¨¤ë¥×¥í¥°¥é¥à [#fe2e9077]
 #define RUN_TIME 1200
   
 task main()
 {
    SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡¡¡ //¥»¥ó¥µ¡Ý£±¤Ï¥é¥¤¥È
    SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡¡¡ //¥»¥ó¥µ¡Ý£³¤â¥é¥¤¥È
    SetSensor(SENSOR_2,SENSOR_TOUCH);¡¡¡¡ //¥»¥ó¥µ¡¼£²¤Ï¥¿¥Ã¥Á
    
    while(true)¡¡¡¡¡¡//¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à
    {
        start follow_line;
        until((SENSOR_1>=£´0)&&(SENSOR_3<=30))
        stop follow_line;
        start turn_right;
        stop turn_right;
        start follow_line;
        until((SENSOR_1<=30)&&(SENSOR_3>=40))
        start turn_left;
        stop turn_left;
    }
    
 }

 task follow_line()¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à
 {
    while(true)
    {
    if((SENSOR_1>=40)&&(SENSOR_3>=40))¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¡¢£³¤¬Çò¤Ê¤éÁ°¿Ê
        {
        OnFwd(OUT_A+OUT_C);
        }
    else if((SENSOR_1>=40)&&(SENSOR_3<=30))¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬¹õ¤Ê¤é±¦¤Ø
        {
        OnFwd(OUT_A); OnRev(OUT_C);
        }
    else if((SENSOR_1<=30)&&(SENSOR_3>=40))¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬¹õ¤Ê¤éº¸¤Ø
        {
        OnRev(OUT_A); OnFwd(OUT_C);
        }
        Wait(1);
    }                
 } 

 task turn_right()¡¡¡¡¡¡//±¦²ó¤ê¤Î¥×¥í¥°¥é¥à
 {
    OnFwd(OUT_A);
    OnRev(OUT_C);
    Wait(60);
 Wait(1);    
 } 

 task turn_left()¡¡¡¡¡¡//º¸²ó¤ê¤Î¥×¥í¥°¥é¥à
 {
    OnFwd(OUT_C);
    OnRev(OUT_A);
    Wait(60);
 Wait(1);
 }

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