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#CONTENTS
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**­¡¶õ¤­´Ì¤ò¥³¡¼¥¹¾å¤ËÌᤷ¤ÆºÆ¤Ó¥³¡¼¥¹¤ËÌá¤Ã¤Æ¿Ê¤à(K.H) [#k711c3ab]
 #define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t)               //tÉÃÁ°¿Ê
 #define turn_right(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t)         //tÉñ¦¤ËÀû²ó
 #define turn_left(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t)          //tÉú¸¤ËÀû²ó
 #define fleeze_there(t) Off(OUT_A+OUT_C);Wait(t)                //tÉÃÀÅ»ß
 #define limit 40                                                //ïçÃÍ
 #define away_can OnFwd(OUT_B);Wait(100);OnFwd(OUT_A+OUT_C);Wait(50);
                  OnRev(OUT_A);OnFwd(OUT_C);Wait(180);OnRev(OUT_B);Wait(100);
                  OnRev(OUT_A+OUTC);Wait(50);OnFwd(OUT_A);OnRev(OUT_C);Wait(180);
                  OnRev(OUT_A+OUT_C);Wait(80)                    //´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤­¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
 task main()
 {
  SetSensor(SENSOR_2,SENSOR_TOUCH);                              //¥»¥ó¥µ¡¼£²¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ç¤¹
    start follow_line;                                           //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
    until (SENSOR_1 == 1);                                       //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
    stop follow_line;                                            //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥àÄä»ß
    fleeze_there(100);                                           //£±ÉÃÀÅ»ß
    away_can;  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤­¿Ê¹ÔÊý¸þ¤Ë¸þ¤­Ä¾¤ë
    start follow_line;                                           //ºÆ¤Ó¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
 }
 task follow_line()
 {
  SetSensor(SENSOR_1, SENSOR_LIGHT);                             //¥»¥ó¥µ¡¼£±¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
  SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡                           //¥»¥ó¥µ¡¼£³¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
  int i=0;¡¡                                                     //ÊÑ¿ôi¤òÄêµÁ¤·¤½¤Î½é´üÃͤò£°¤È¤¹¤ë
    while (i<9){                                                 //i¤¬£¹Ì¤Ëþ¤Î¤È¤­°Ê²¼¤Î¹ÔÆ°¤ò¤¹¤ë
          if ((SENSOR_1 < limit) && (SENSOR_3 < limit))          //¤â¤·¤É¤Á¤é¤Î¥»¥ó¥µ¡¼¤â̵ȿ±þ¤Ê¤é
           {go_straight(5);}¡¡                                   //ľ¿Ê
     else if ((SENSOR_1 > limit) && (SENSOR_3 < limit))          //±¦¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
           {turn_right(5);}                                      //±¦¤ËÀû²ó
     else if ((SENSOR_1 < limit) && (SENSOR_3 > limit))          //º¸¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
           {turn_left(5);}                                       //º¸¤ËÀû²ó
     else if ((SENSOR_1 > limit) && (SENSOR_3 > limit))          //ξÊý¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é¸òº¹ÅÀ¤Ê¤Î¤Ç
           {fleeze_there(200);                                   //£²ÉÃÄä»ß
            i++;                                                 //i¤Ë+1¤¹¤ë
            go_straight(10);}                                    //¸òº¹ÅÀ¤òÁ°¿Ê¤·±Û¤¨¤ë
               }
 Off(OUT_A+OUT_B+OUT_C)                                          //¥â¡¼¥¿¡¼ABC¤òÄä»ß
 }
**­¢¶õ¤­´Ì¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ó¤Ç¹Ô¤­¡¢¤½¤Î¸òº¹ÅÀ¤Ë¶õ¤­´Ì¤ò»Ä¤·¤Æ¤µ¤é¤Ë¥³¡¼¥¹¤Ë±è¤Ã¤Æ¿Ê¤à(D.Y) [#ab26dd6c]

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#COMMENT



*ÊÔ½¸ÅÓÃæ¥á¥â [#f6657299]
FastTimer(0)
FastTimer(1)
FastTimer(2)
FastTimer(3)¤ò»È¤¦
ClearTimer(0);           /¥¿¥¤¥Þ¡¼0¤ò¥ê¥»¥Ã¥È¤·¤Æ¥¹¥¿¡¼¥È¤µ¤»¤ë

t1=FastTimer(0)
t2=FirstTimer(0)




°Ê²¼»ñÎÁ¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹¸¶°Æby¤Æ¤é¤¹¤£¡¼
 
 #define THRESHOLD 40                                          // ïçÃÍ
 task follow_line()
 {
 SetSensor(SENSOR_1, SENSOR_LIGHT);                            //±¦¸÷¥»¥ó¥µ¡¼
 SetSensor(SENSOR_3, SENSOR_LIGHT);                            //º¸¸÷¥»¥ó¥µ¡¼
  while (true) {
   if ((SENSOR_1 < THRESHOLD) && (SENSOR_3 < THRESHOLD))       //º¸±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬ïçÃͰʲ¼¤Î¤È¤­
            {OnFwd(OUT_A+OUT_C);}                              //ľ¿Ê
   else if ((SENSOR_1 > THRESHOLD) && (SENSOR_3 < THRESHOLD))  //±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤È¤­
            {OnRev(OUT_A);OnFwd(OUT_C);}                       //±¦ÀÞ
   else if ((SENSOR_1 < THRESHOLD) && (SENSOR_3 > THRESHOLD))  //º¸¤Î¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤È¤­
            {OnFwd(OUT_A);OnRev(OUT_C);}                       //º¸ÀÞ
               }
 }

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