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*ÇϾì¤Î¥×¥í¥°¥é¥à [#z26896bd]
 #define time 400                                                     //1¼þ¤¹¤ë»þ´Ö¤òÄêµÁ
 #define right_turn OnFwd(OUT_C);OnRev(OUT_A);                        //±¦²ó¤ê¤Ç²óž
 #define arm OnFwd(OUT_B);Wait(80);OnRev(OUT_B);Wait(80);Off(OUT_B);  //¥¢¡¼¥à¤òÆ°¤«¤·¡¢¥Û¥¤¡¼¥ë¤òÅꤲ¤ë

 task main ()
 {
  SetSensor(SENSOR_1,SENSOR_LIGHT);                                   //¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼¤Ë
  SetSensor(SENSOR_3,SENSOR_LIGHT);                                   //¥»¥ó¥µ¡¼3¤â¸÷¥»¥ó¥µ¡¼¤Ë¡£¤¿¤À¤·¤³¤Î¥×¥í¥°¥é¥à¤Ç¤Ï»ÈÍѤ·¤Ê¤¤.
  repeat(2){                                                          //Ʊ¤¸Æ°ºî¤ò2²ó·«¤êÊÖ¤¹
  ClearTimer(0);
  int light_max;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¤ÎÌÀ¤ë¤µ¤ÎºÇÂçÃͤòÄêµÁ
  light_max=0;
    
  while(FastTimer(0)<time)                                          //»þ´Ö¤¬time°ÊÆâ¤Ê¤é°Ê²¼¤ÎÆ°ºî¤ò¹Ô¤¦
        {right_turn                                                 //±¦²ó¤ê¤Ç¤Ë²óž
           if(SENSOR_1>light_max)
             {light_max=SENSOR_1;}                                  //¸÷¥»¥ó¥µ¡¼1¤ÇÌÀ¤ë¤µ¤ÎºÇÂçÃͤò¹¹¿·
         }
  right_turn
  until(SENSOR_1>=light_max);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤â¤Ã¤È¤âÌÀ¤ë¤¤¾ì½ê¤Ë¸þ¤±²óž
  Float(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥í¥Ü¥Ã¥È¤òÄä»ß
  arm Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡//¥¢¡¼¥à¤òÆ°¤«¤·¥Û¥¤¡¼¥ë¤òÅꤲ¤ë
 }}
*³ùÁÒ¤Î¥×¥í¥°¥é¥à [#ydf991de]
 Task main(){
 SetSensor(SENSOR_1,SENSOR_LIGHT_MODE_RAW); SetSensor(SENSOR_3,SENSOR_LIGHT_MODE_RAW);
¹â´¶Å٤θ÷¥»¥ó¥µ¡¼¤ò£±¡¢£³¤ËÄêµÁ¡¢

 Int light_max;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 
 Int time_max;
¤³¤³¤¬º£²ó¤Î¥­¥â¤Ç¤¢¤ë¡£¸÷¤Î°ìÈÖ¶¯¤¤¤È¤³¤í¤ò²óž¤·¤Ê¤¬¤éõ¤¹¤Î¤À¡£
 
 ClearTimer(0);

 while(FastTimer(0)<250){ OnRev(OUT_A); OnFwd(OUT_C);
          if(SENSOR_1>light_max) {

                                   light_max =SENSOR_1;
                                   time_max=FastTimer(0);      }
                         OnRev(OUT_A);OnFwd(OUT_C);
                               Wait(252 ¡Ý¡¡time_max);}
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¡¡

¡¡¡¡if(SENSOR_1>=light_max ¡Ý10 &&SENSOR_3>=light_max¡¡¡Ý10){
                          ClearTimer(0);
                          OnFwd(OUT_A+OUT_C);Wait(10);
                         
¤â¤·¥»¥ó¥µ¡¼£±¤¬ºÇÂçÃͤè¤ê£±£°Ä㤯¤Æ¤«¤Ä¥»¥ó¥µ¡¼£³¤¬Æ±¤¸Ãͤˤ¢¤ë¤Ê¤é¤Ð¡¢¸÷¤ËÂФ·¤Æ¿¿ÀµÌ̤ˤ¢¤ë¤È¤¤¤¦¤³¤È¡£¤³¤Î¤È¤­¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¡¢¥¹¥¿¡¼¥È¡ª 

¡¡If(FastTimer(0)>300){
¡¡Off(OUT_A+OUT_C);
 OnFwd(OUT_B);Wait(75);
 Off(OUT_B);Wait(10);
 OnRev(OUT_B);Wait(75);}
 Off(OUT_A+OUT_C);
 }
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¡¡ else if(SENSOR_1<light_max ¡Ý10 &&SENSOR_3>=light_max¡¡¡Ý10){
                             OnFwd(OUT_A);Wait(10);}
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¡¡else if(SENSOR_1>=light_max ¡Ý10 &&SENSOR_3<light_max¡¡¡Ý10){
                             OnFwd(OUT_A);Wait(10);}
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