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 #define GO OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡              //¡¡Á°¿Ê¤¹¤ë
 #define STOP Off(OUT_A);                          //¡¡Ää»ß¤¹¤ë
 #define CIR OnRev(OUT_A);                         //¡¡±¦ÀÞ¤¹¤ë
 #define DOWNF OnFwd(OUT_B);Wait(35);Off(OUT_B);   //¡¡º¸Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
 #define DOWNS OnRev(OUT_C);Wait(35);Off(OUT_C);   //¡¡±¦Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
 #define pika SENSOR_2                             //¡¡¥»¥ó¥µ¡¼2¤ò¡Øpika¡Ù¤È̾ÉÕ¤±¤ë
 #define time 775                                  //  ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯(±¦²ó¤ê)»þ´Ö¤òÄêµÁ
 #define FSTOP  Float(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ³ê¤é¤«¤ËÄä»ß¤¹¤ë 
¡¡¡¡¾å¤ÇÄêµÁ¤·¤¿ÃͤòÍѤ¤¤Æ¥×¥í¥°¥é¥à¤ò½ñ¤­¤Þ¤·¤¿¡£

 task main(){   
               int l_o = 0;                     ¡¡ //  ¸÷¤ÎºÇÂçÃͤòµ­Ï¿¤¹¤ëÊÑ¿ô
               int t_o = 0;                     ¡¡ //  »þ´Ö¤òµ­Ï¿¤¹¤ëÊÑ¿ô
 
               SetSensor(pika,SENSOR_LIGHT);       //  ¥»¥ó¥µ¡Øpika¡Ù¤ò¸÷¡¦¥»¥ó¥µ¤Ë
 
               ClearTimer(0);                      //  Timer(0)¤ò¥ê¥»¥Ã¥È¤¹¤ë
               while(FastTimer(0) <= time){
               CIR;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯¤Þ¤Ç±¦²ó¤ê
               if(pika > l_o){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡ //  ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
               l_o = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
               t_o = FastTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤½¤Î»þ¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë
                               }
                                          }
               CIR;
               Wait(t_o);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ºÆÅÙ±¦²ó¤ê¤Ë²óž¤¹¤ë(Àè¤Û¤Éµ­Ï¿¤·¤¿t_o¤Þ¤Ç)
               STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   //  Ää»ß¤¹¤ë
               if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
               GO;                                 //  Á°¿Ê¤¹¤ë
                             } else {¡¡¡¡¡¡¡¡¡¡¡¡  //  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30­Ñ¤Ç¤¢¤ë¤Ê¤é
               STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   //  Ää»ß¤¹¤ë
               DOWNS;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ±¦Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
                                    }
               STOP;                               //¡¡Ää»ß¤¹¤ë
 
               while(FastTimer(0) <= time){
               CIR;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯¤Þ¤Ç±¦²ó¤ê
               if(pika > l_o){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
               l_o = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
               t_o = FastTimer(0);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤½¤Î»þ¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë
                               }
                                          }
               CIR;
               Wait(t_o);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡ //  ºÆÅÙ±¦²ó¤ê¤Ë²óž¤¹¤ë(Àè¤Û¤Éµ­Ï¿¤·¤¿t_o¤Þ¤Ç)
               STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   //  Ää»ß¤¹¤ë
               if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
               GO;                                 //  Á°¿Ê¤¹¤ë
                             } else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡//  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30­Ñ¤Ç¤¢¤ë¤Ê¤é
               STOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   //  Ää»ß¤¹¤ë
               DOWNF;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  º¸Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
         ¡¡¡¡¡¡¡¡¡¡¡¡               }
               FSTOP;                              //  ³ê¤é¤«¤ËÄä»ß¤¹¤ë
          }
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**­¶¡¢¥Þ¥³¥È¤Î¥×¥í¥°¥é¥à [#f6be9553]

 #define TURN_TIME 400¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //°ì¼þ¤¹¤ë»þ´Ö
 
 task main(){
 SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ
 int light_max=0;//¸÷¤ÎºÇÂçÃÍ
 int t_max=0;//¸÷¤ÎºÇÂçÃͤλþ´Ö
 ClearTimer(0);
 OnFwd(OUT_B);Wait(TURN_TIME);       //°ì¼þ¤¹¤ë
 
 while(FastTimer(0)<TURN_TIME){      //²ó¤Ã¤Æ¤¤¤ë´Ö
 if(SENSOR_1>light_max)              //ºÇÂçÃͤθ÷¤ò¸«¤Ä¤±¤¿¤é
 {
 light_max=SENSOR_1;                 //ºÇÂçÃͤθ÷¤ÈÀßÄê
 t_max=FastTimer(0);                 //¥¿¥¤¥Þ¡¼¤òÆþ¤ì¤ë
 }
 }
 

 OnFwd(OUT_B);                       //¸÷¤ÎºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
 Wait(t_max);//
 Off(OUT_B);//
 OnFwd(OUT_A);                       //º¸¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
 Wait(10);//
 Off(OUT_A);//
 Wait(50);//
 OnRev(OUT_C);                       //±¦¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
 Wait(10);//
 Off(OUT_C);//
 }
 

 

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 #define turn_time 400     //¥í¥Ü¥Ã¥È¤¬1¼þ¤¹¤ë»þ´Ö
 task main()
 {

   int light_max=0;                       //ºÇÂçÃÍ
   int t_max=0;                           //ºÇÂçÃͤò¼Â¸½¤¹¤ë»þ¹ï
   SetSensor(SENSOR_2,SENSOR_LIGHT);      //¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼
   ClearTimer(0);                         //»þ´Ö¤ò0¤È¤¹¤ë
   OnFwd(OUT_B);                          //°ì¼þ¤¹¤ë
   while(Timer(0)<turn_time){
   if(SENSOR_2>light_max){                //²ó¤Ã¤Æ¤¤¤ë´Ö
   light_max=SENSOR_2;                    //ºÇÂçÃͤò¥»¥ó¥µ¡¼2¤È¤¹¤ë
   t_max=Timer(0);                        //¥¿¥¤¥Þ¡¼¤òÆþ¤ì¤ë
 }
 }
   Off(OUT_B);        //°ìö»ß¤á¤Æ
   Wait(100);
   OnFwd(OUT_B);      //ºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
   Wait(t_max)
   Off(OUT_B);        //»ß¤Þ¤ë
   Wait(50);
   OnRev(OUT_B);      //¸÷¤Ë¸þ¤«¤Ã¤ÆÁ°¿Ê 
   Wait(50);
   Off(OUT_B);  
   OnFwd(OUT_A);      //º¸¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
   Wait(20);
   Off(OUT_A);
   OnFwd(OUT_C);      //±¦¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
   Wait(20);
   Off(OUT_C);        //´°Î»
 }

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- ¥í¥Ü¥Ã¥È¤Î¾Ò²ð¤Ï¤Ç¤­¤Æ¤¤¤Þ¤¹¡£¥×¥í¥°¥é¥à¤Î½¤Àµ¤ò¤ª´ê¤¤¤·¤Þ¤¹ -- [[TAKA]] &new{2010-07-30 (¶â) 17:36:35};

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