[[2010b]]

#contents

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 #define THRESHOLD 45   // ïçÃÍ
 #define RUN_TIME 200   // ¥È¥ì¡¼¥¹¤¹¤ë»þ´Ö(ñ°Ì 1/10 ÉÃ) 
 int i;


 task main ()
 {
     SetSensor(SENSOR_1, SENSOR_LIGHT);
     SetSensor(SENSOR_3, SENSOR_LIGHT);
     SetPower(OUT_A,2);
     SetPower(OUT_C,2);
     ClearTimer(0);
     i=0;
     while (i!=100) { 
         if(SENSOR_1>THRESHOLD) { //¥»¥ó¥µ¡¼1¤¬Çò¤òǧÃÎ
                     if(SENSOR_3>THRESHOLD) { //¥»¥ó¥µ¡¼3¤âÇò¤òǧÃÎ
                                         OnFwd(OUT_A+OUT_C); Wait(1);
                                            }
                     else { //¥»¥ó¥µ¡¼3¤Ï¹õ¤òǧÃÎ
                              if(i==10) {
                                         Off(OUT_C); OnFwd(OUT_A); Wait(90);
                                         PlaySound(SOUND_CLICK); Wait(10);
                                         i=i+1;  
                                        }
                              else {
                                         Off(OUT_C); OnFwd(OUT_A); Wait(15);
                                         PlaySound(SOUND_CLICK); Wait(10);
                                         i=i+1;
                                    }
                          }
                                           }
         else { //¥»¥ó¥µ¡¼1¤¬¹õ¤òǧÃÎ
                     if(SENSOR_3>THRESHOLD) { //¥»¥ó¥µ¡¼3¤ÏÇò¤òǧÃÎ
                              if(i==14) {
                                         Off(OUT_A); OnFwd(OUT_C); Wait(90);
                                         PlaySound(SOUND_CLICK); Wait(10);
                                         i=i+1;
                                        }
                              else {
                                         Off(OUT_A); OnFwd(OUT_C); Wait(15);
                                         PlaySound(SOUND_CLICK); Wait(10);
                                         i=i+1;
                                   }
                                                      }
                      else { //¥»¥ó¥µ¡¼3¤â¹õ¤òǧÃÎ
                                         Off(OUT_A+OUT_C); Wait(1);
                                         OnFwd(OUT_A+OUT_C); Wait(1);
                                         PlaySound(SOUND_CLICK); Wait(10);
                                         i=i+1;
                           }
               }
                                }
    while(Timer(0)<=RUN_TIME) {
            if(SENSOR_1>THRESHOLD) { //¥»¥ó¥µ¡¼1¤¬Çò¤òǧÃÎ
                        if(SENSOR_3>THRESHOLD) { //¥»¥ó¥µ¡¼3¤âÇò¤òǧÃÎ
                                         OnRev(OUT_A+OUT_C); Wait(1);
                                               }
                        else { //¥»¥ó¥µ¡¼3¤Ï¹õ¤òǧÃÎ
                                         OnRev(OUT_A); Off(OUT_C); Wait(15);
                             }
                                   }
            else { //¥»¥ó¥µ¡¼1¤¬¹õ¤òǧÃÎ
                        if(SENSOR_3>THRESHOLD) { //¥»¥ó¥µ¡¼3¤ÏÇò¤òǧÃÎ
                                  OnRev(OUT_C); Off(OUT_A); Wait(15);
                                               }
                 }
                              }
                        
 }
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