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 #define GO OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡              //¡¡Á°¿Ê¤¹¤ë
 #define CIR OnRev(OUT_A);                         //¡¡º¸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 180                                  //  ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯(±¦²ó¤ê)»þ´Ö¤òÄêµÁ
 #define FSTOP  Float(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ³ê¤é¤«¤ËÄä»ß¤¹¤ë 
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 task main(){   
               int l_o = 0;                     ¡¡ //  ¸÷¤ÎºÇÂçÃͤòµ­Ï¿¤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¤Çº¸²ó¤ê
               if(pika > l_o){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡ //  ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
               l_o = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
                               }
                                          }
               CIR;
               until (pika == l_o);¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ºÆÅÙº¸²ó¤ê¤Ë²óž¤¹¤ë(Àè¤Û¤Éµ­Ï¿¤·¤¿ÃÍl_o¤ò¸÷¡¦¥»¥ó¥µ¤¬´¶ÃΤ¹¤ë¤Þ¤Ç)
               FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ³ê¤é¤«¤ËÄä»ß¤¹¤ë
               if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
               GO;                                 //  ÄÉÀפ¹¤ë¤¿¤á¤ËÁ°¿Ê¤¹¤ë
                             } else {¡¡¡¡¡¡¡¡¡¡¡¡  //  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30­Ñ¤Ç¤¢¤ë¤Ê¤é
               FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ³ê¤é¤«¤ËÄä»ß¤¹¤ë
               DOWNS;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ±¦Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
                                    }
               FSTOP;                              //¡¡³ê¤é¤«¤ËÄä»ß¤¹¤ë
 
               while(FastTimer(0) <= time){
               CIR;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯¤Þ¤Çº¸²ó¤ê
               if(pika > l_o){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
               l_o = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
                               }
                                          }
               CIR;
               until (pika == l_o);¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ºÆÅÙº¸²ó¤ê¤Ë²óž¤¹¤ë(Àè¤Û¤Éµ­Ï¿¤·¤¿ÃÍl_o¤ò¸÷¡¦¥»¥ó¥µ¤¬´¶ÃΤ¹¤ë¤Þ¤Ç)
               FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ³ê¤é¤«¤ËÄä»ß¤¹¤ë
               if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
               GO;                                 //  ÄÉÀפ¹¤ë¤¿¤á¤ËÁ°¿Ê¤¹¤ë
                             } else {¡¡¡¡¡¡¡¡¡¡¡¡  //  ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30­Ñ¤Ç¤¢¤ë¤Ê¤é
               FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //  ³ê¤é¤«¤ËÄä»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]
¡¡»ä¤Ï¡¢¡Ö1. Á´Êý¸þ¤«¤é2¤Ä¤Î²ûÃæÅÅÅô¤ÎÊý¸þ¤òõ¤·¤À¤·¡¢²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Û¥¤¡¼¥ë¤òÅꤲ¤ë¡£²Äǽ¤Ê¸Â¤êÀµ³Î¤ÊÊý¸þ¤ËÅꤲ¤ë¤³¤È¡£¡×¤òÁª¤Ó¤Þ¤·¤¿¡£
 #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);
 OnRev(OUT_A);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
 }
 }
 
 OnRev(OUT_A);                       //¸÷¤ÎºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
 Wait(t_max);                        //
 Off(OUT_A);                         //
 OnFwd(OUT_B);                       //º¸¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
 Wait(10);                           //
 Off(OUT_B);                         //
 Wait(50);                           //
 OnRev(OUT_C);                       //±¦¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
 Wait(10);                           //
 Off(OUT_C);                         //½ªÎ»
 }
 

 

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 #define turn_time 400                    //¥í¥Ü¥Ã¥È¤¬1¼þ¤¹¤ë»þ´Ö
 #define THRESHOLD 85
 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
   OnRev(OUT_A);                          //°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_A);                            //°ìö»ß¤á¤Æ
   Wait(100);
   OnFwd(OUT_A);                          //ºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
   Wait(t_max)
   Off(OUT_A);                            //»ß¤Þ¤ë
   Wait(50);
   while (SENSOR_1 <= THRESHOLD){OnFwd(OUT_A);} //40cm¤Î½ê¤Þ¤Ç¿Ê¤à             
   Off(OUT_A);                            //»ß¤Þ¤ë
   OnFwd(OUT_B);                          //º¸¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
   Wait(20);
   Off(OUT_B);
   OnRev(OUT_C);                          //±¦¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
   Wait(20);
   Off(OUT_C);                            //´°Î»
 }

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