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 #define LITTLE_TIME1_1 12        //Àû²ó»þ´ÖÄ´À°(1)¤ò»ØÄê
 #define LITTLE_TIME2 1           //Àû²ó»þ´ÖÄ´À°(2)¤ò»ØÄê
 #define LITTLE_TIME1_2 4         //Àû²ó»þ´ÖÄ´À°(3)¤ò»ØÄê
 #define THRESHOLD 50             //¥»¥ó¥µ¡¼¤ÎïçÃͤò»ØÄê
 #define BACK_TIME 5              //¸åÂà¤Î»þ´Ö¤ò»ØÄê	
 #define HAIRPIN 120              //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¥â¡¼¥É(1²óÌÜ)¤Ø¤Î°Ü¹Ô»þ´Ö¤ò»ØÄê
 #define CROSS 250                //2²óÌܤθòº¹ÅÀ¤Ç¤Î¥â¡¼¥ÉÊѹ¹¤Î»þ¤Î»þ´Ö¤ò»ØÄê
 #define ROTARY_IN_1 40           //¥í¡¼¥¿¥ê¡¼¥â¡¼¥É(1²óÌÜ)¤Ø¤Î°Ü¹Ô¤Î»þ´Ö¤ò»ØÄê
 #define ROTARY_RIGHT 140         //¥í¡¼¥¿¥ê¡¼Æþ¸ý¤È½Ð¸ý¤Î¡¢±¦¥»¥ó¥µ¤Î¤ßÍ­¸ú¤Ê»þ´Ö¤ò»ØÄê
 #define ROTARY_LEFT 80           //¥í¡¼¥¿¥ê¡¼¿Ê¹ÔÃæ¤Î¡¢º¸¥»¥ó¥µ¤Î¤ßÍ­¸ú¤Ê»þ´Ö¤ò»ØÄê
 #define RIGHT_ANGLE 80           //ľ³Ñ¥«¡¼¥ÖÁ°¤Î¡¢¶áÆ»¤ò̵»ë¤¹¤ë»þ¤Î»þ´Ö¤ò»ØÄê
 #define RIGHT_ANGLE_2 170        //ľ³Ñ¤ò¶Ê¤¬¤ë»þ¤È¡¢¶áÆ»½ª¤ï¤ê¤ò̵»ë¤¹¤ë»þ¤Î»þ´Ö¤ò»ØÄê
 #define END 25                   //½ª¤ï¤ê¤Î¥é¥¤¥ó¤ò±Û¤¨¤Æ¡¢¥¹¥¿¡¼¥È¥é¥¤¥ó¤ËÌá¤ë»þ¤Î»þ´Ö¤ò»ØÄê
 
 #define SE_L SENSOR_1            //û½Ì¤Î¤¿¤á¡¢¥»¥ó¥µ¡¼1(SENSOR_1)¤ò¥»¥ó¥µ¡¼¥ì¥Õ¥È(SE_L)¤Ë
 #define SE_R SENSOR_3            //Ʊ¾å
-Æ°ºîÄêµÁ¤ÎÉôʬ
 int x = 0;                                                  //¥â¡¼¥ÉÀßÄêÍѤÎÊÑ¿ô¤òÄêµÁ
 int y = 0;                                                  //¥«¥¦¥ó¥ÈÍѤÎÊÑ¿ô¤òÄêµÁ
 
 void go_straight()                                          //ľ¿Ê¤òÄêµÁ
 {
	OnFwd(OUT_AC);
 }
 
 void back()                                                 //¸åÂà(¾®)¤òÄêµÁ
 {
	OnRev(OUT_AC);
	Wait(WAIT_TIME);
 }
 
 void back_2()                                               //¸åÂà(Âç)¤òÄêµÁ
 {
	back();
	Wait(WAIT_TIME);
	Wait(WAIT_TIME);
 }
 
 void turn_right_little()                                    //´Ë¤á¤Î±¦Àû²ó¤òÄêµÁ
 {
	OnFwd(OUT_A);OnRev(OUT_C);                                //º¸¥¿¥¤¥ä¤òľ¿Ê¤µ¤»¤Ê¤¬¤é¡¢±¦¥¿¥¤¥ä¤ò¼¡¤Î¾ì¹çʬ¤±¤Ë½¾¤¤¸åÂà
	if((x == 0)||(x == 1)||(x == 8)){                         //¥Ø¥¢¥Ô¥óÁ°¡¢¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¡¢Ä¾³Ñ¥«¡¼¥Ö¤Î»þ¤Ï
		Wait(LITTLE_TIME1_1);                             //Â礭¤¯¸åÂà
	}else{	                                                  //¤½¤Î¾¤Î¾ì¹ç¤Ï
		Wait(LITTLE_TIME1_2);                             //¾®¤µ¤¯¸åÂà
	}
	Off(OUT_C);Wait(LITTLE_TIME2);                            //±¦¥¿¥¤¥ä¤òÀû²ó»þ´Ö(2)ÉÃÄä»ß¤µ¤»¤ë
 }
 
 void turn_left_little()                                     //´Ë¤á¤Îº¸Àû²ó¤òÄêµÁ(ÆâÍƤϱ¦Àû²ó¤Îº¸±¦È¿ÂÐ)
 {
	OnFwd(OUT_C);OnRev(OUT_A);
	if((x == 0)||(x == 1)||(x == 8)){
		Wait(LITTLE_TIME1_1);
	}else{
		Wait(LITTLE_TIME1_2);
	}
	Off(OUT_A);Wait(LITTLE_TIME2);
 }
 
 void turn_hairpin()                                         //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¶Ê¤¬¤êÊý¤òÄêµÁ	
 {
	back();                                                   //°ÌÃÖÄ´À°¤Î¤¿¤á¤ä¤ä²¼¤¬¤ë
	while(FastTimer(0) < HAIRPIN){                            //¥Ø¥¢¥Ô¥ó¤ò¶Ê¤¬¤ë¤Þ¤Ç¤Î´Ö¡¢
		if(SE_R >= THRESHOLD){                            //±¦¥»¥ó¥µ¤¬Çò¤Ê¤é¿Ê¤à
			go_straight();
		}else{                                            //±¦¥»¥ó¥µ¤¬¹õ¤Ê¤é±¦Àû²ó
			turn_right_little();
		}		
	}
	PlaySound(SOUND_FAST_UP); x++;                            //x¤ò+1¤¹¤ë
 }
 
 void line_trace()                                           //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÊýË¡¤òÄêµÁ
 {
	if((SE_L >= THRESHOLD)&&(SE_R < THRESHOLD)){              //±¦¥»¥ó¥µ¤¬¹õ¤Çº¸¥»¥ó¥µ¤¬Çò¤Ê¤é¡¢
		turn_right_little();                              //±¦Àû²ó
	}else if((SE_L < THRESHOLD)&&(SE_R >= THRESHOLD)){        //±¦¥»¥ó¥µ¤¬Çò¤Çº¸¥»¥ó¥µ¤¬¹õ¤Ê¤é¡¢
		turn_left_little();                               //º¸Àû²ó
	}else{                                                    //¤½¤ì°Ê³°(ξÊýÇò¤Þ¤¿¤ÏξÊý¹õ)¤Ê¤é¡¢
		go_straight();                                    //ľ¿Ê
	}
 }
 
 void line_trace_2()                                         //¸òº¹ÅÀ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÊýË¡¤òÄêµÁ
 {
	if((SE_L >= THRESHOLD)&&(SE_R < THRESHOLD)){              //±¦¥»¥ó¥µ¤¬¹õ¤Çº¸¥»¥ó¥µ¤¬Çò¤Ê¤é¡¢
		turn_right_little();                              //±¦Àû²ó
	}else if((SE_L < THRESHOLD)&&(SE_R >= THRESHOLD)){        //±¦¥»¥ó¥µ¤¬Çò¤Çº¸¥»¥ó¥µ¤¬¹õ¤Ê¤é¡¢
		turn_left_little();                               //º¸Àû²ó
	}else if((SE_L < THRESHOLD)&&(SE_R < THRESHOLD)){         //ξÊý¹õ¤Ê¤é¡¢
		go_straight();                                    //¤É¤Á¤é¤«¤¬Çò¤Ë¤Ê¤ë¤Þ¤Çľ¿Ê¤·¤Æ¡¢°Ê²¼¤Î¾ì¹çʬ¤±¤Ë½¾¤¦
		until((SE_L >= THRESHOLD)||(SE_R >= THRESHOLD));
		if(SE_L < THRESHOLD){                                  //º¸¤¬¹õ(±¦¤¬Çò)¤Ê¤é¡¢
			Off(OUT_C);OnFwd(OUT_A);                       //º¸¤¬Çò¤Ë¤Ê¤ë¤Þ¤Ç¡¢±¦¥¿¥¤¥ä¤À¤±Á°¿Ê
			until(SE_L >= THRESHOLD);
		}else{                                                 //¤½¤ì°Ê³°(µÕ¤Ë±¦¤¬¹õ¤Çº¸¤¬Çò)¤Ê¤é¡¢
			Off(OUT_A);OnFwd(OUT_C);                       //±¦¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç¡¢º¸¥¿¥¤¥ä¤À¤±Á°¿Ê
			until(SE_R >= THRESHOLD);	
		}
		y++; PlaySound(SOUND_CLICK);                      //y¤ò+1¤¹¤ë
	}else{                                                    //¤½¤ì°Ê³°¡ÊξÊýÇò¡Ë¤Ê¤é¡¢
		go_straight();                                    //ľ¿Ê
	}
 }
 
 void rotary_right()                                         //¥í¡¼¥¿¥ê¡¼Æþ¤ê¸ý¤Ç¤Î±¦ÀÞ¤ÎÊýË¡¤òÄêµÁ
 {
	while(FastTimer(0) < ROTARY_RIGHT){                       //±¦ÀÞ´°Î»¤¹¤ë¤Þ¤Ç¤Î´Ö¡¢
		if((SE_R < THRESHOLD)){                           //±¦¥»¥ó¥µ¤¬¹õ¤Ê¤é±¦Àû²ó
			turn_right_little();
		}else{                                            //¤½¤Î¾(±¦¥»¥ó¥µ¤¬Çò)¤Ê¤éľ¿Ê
			go_straight();
		}
	}
 }
 
 void rotary_left_0()                                        //¥í¡¼¥¿¥ê¡¼¤Îº¸²ó¤ê¤Ç¤Î´ðÁÃÆ°ºî(°Ê²¼º¸´ðÁäÈɽµ­)¤òÄêµÁ
 {                                                                 //ÆâÍƤϾå¤Îº¸±¦È¿ÂÐ
	if((SE_L < THRESHOLD)){
		turn_left_little();
	}else{
		go_straight();
	}
 }
 
 void rotary_left()                                          //¥í¡¼¥¿¥ê¡¼¤Ç¤Îº¸²ó¤ê¤ÎÊýË¡¤òÄêµÁ
 {
	while(SE_R >= THRESHOLD){                                 //±¦¥»¥ó¥µ¤¬Çò¤Î´Ö(±¦¥»¥ó¥µ¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç)¡¢	
		rotary_left_0();                                  //º¸´ðÁÃ
	}
	y++; ClearTimer(0); PlaySound(SOUND_CLICK);               //y¤ò+1¤¹¤ë
	while(FastTimer(0) < ROTARY_LEFT){                        //±¦¥»¥ó¥µ¤¬¥é¥¤¥ó¤ò²£ÀÚ¤ë¤Þ¤Ç¡¢
		rotary_left_0();                                  //º¸´ðÁÃ
	}
	while(SE_R >= THRESHOLD){                                 //±¦¤¬Çò¤Î´Ö(±¦¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç)¡¢
		rotary_left_0();                                  //º¸´ðÁÃ
	}
	Off(OUT_AC);Wait(END);
	x++; ClearTimer(0); PlaySound(SOUND_FAST_UP);             //x¤ò+1¤¹¤ë
	back_2();                                                 //°ÌÃÖÄ´À°¤Î¤¿¤á¸åÂà
 }
 
 void right_angle()                                          //ľ³Ñ¥«¡¼¥ÖÁ°¤Î¶áÆ»¤Î̵»ë¤Î»ÅÊý¤òÄêµÁ
 {
	back_2();                                                 //°ÌÃÖÄ´À°¤Î¤¿¤á¸åÂà
	while(FastTimer(0) < RIGHT_ANGLE){                        //̵»ë¤·½ª¤¨¤ë¤Þ¤Ç¤Î´Ö¡¢
		if(SE_R < THRESHOLD){                             //±¦¥»¥ó¥µ¤¬¹õ¤Ê¤é±¦Àû²ó
			turn_right_little();
		}else{                                            //¤½¤Î¾(±¦¥»¥ó¥µ¤¬Çò)¤Ê¤éľ¿Ê
			go_straight();
		}
	}
 }
-¥á¥¤¥ó¤ÎÉôʬ
 task main()
 {
	SetPower(OUT_A,1);                                        //±¦¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤Î½ÐÎϤò1¤ËÀßÄê(®ÅÙÄ´Àá)
	SetPower(OUT_C,1);                                        //Ʊ¾å
	SetSensor(SE_L,SENSOR_LIGHT);                             //º¸¥»¥ó¥µ¤¬¸÷¥»¥ó¥µ¤Ç¤¢¤ë¤³¤È¤òÀë¸À
	SetSensor(SE_R,SENSOR_LIGHT);                             //Ʊ¾å
 
	int i;                                                    //for¥ë¡¼¥×¤Î¤¿¤á¤Î´Ø¿ôÀë¸À
	for(i=0;i<=1;i++){                                        //°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò2²ó¥ë¡¼¥×¤µ¤»¤ë
		x = 0;
		ClearTimer(0);
		while(x != 10){                                   //{}Æâ¤Î¥×¥í¥°¥é¥à¤òx=10¤Ç¤Ê¤¤´Ö(¥³¡¼¥¹¤ò1¼þ¤¹¤ë¤Þ¤Ç)¥ë¡¼¥×¤µ¤»¤ë
			if((FastTimer(0) >= HAIRPIN)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 0 && x == 0)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x++; y++; PlaySound(SOUND_FAST_UP);
                                                                        //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î»Ï¤Þ¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢x¤Èy¤ò+1¤¹¤ë
			}else if((y == 3)&&(x == 2)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x++; PlaySound(SOUND_FAST_UP);
                                                                        //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëľÁ°¤Ë¡¢x¤ò+1¤¹¤ë
			}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 3)&&(x == 3)){
				Off(OUT_AC);Wait(END);x++; PlaySound(SOUND_FAST_UP);
                                                                        //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤¿¸å¡¢x¤ò+1¤¹¤ë
			}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 4)&&(x == 5)){
				Off(OUT_AC);Wait(END);x++; PlaySound(SOUND_FAST_UP);
                                                                        //¥í¡¼¥¿¥ê¡¼¤ò½Ð¤¿¸å¤Ë¡¢x¤ò+1¤¹¤ë
			}else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 4 && x == 6)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x++; y++; PlaySound(SOUND_CLICK);
                                                                        //¶áÆ»¤Î»Ï¤Þ¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢x¤Èy¤ò+1¤¹¤ë
			}else if((FastTimer(0) >= RIGHT_ANGLE)&&(y == 5)&&(x == 7)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x++; PlaySound(SOUND_FAST_UP);
                                                                        //¶áÆ»¤ò̵»ë¤·¤¿¸å¡¢x¤ò+1¤¹¤ë
			}else if((FastTimer(0) >= RIGHT_ANGLE_2)&&(y == 5 && x == 8)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x = 6; PlaySound(SOUND_FAST_UP);
                                                                        //ľ³Ñ¤ò¶Ê¤¬¤Ã¤¿¸å¡¢x¤ò6(¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É)¤Ë¤¹¤ë
			}else if((FastTimer(0) >= RIGHT_ANGLE_2)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 5 && x == 6)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x = 3; PlaySound(SOUND_FAST_UP);
                                                                        //¥í¡¼¥¿¥ê¡¼¤ÎÆþ¤ê¸ý¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤é¡¢x¤ò3(¥í¡¼¥¿¥ê¡¼¥â¡¼¥É)¤Ë¤¹¤ë
			}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 5)&&(x == 3)){
				Off(OUT_AC);Wait(END);x++; PlaySound(SOUND_FAST_UP);
                                                                        //¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤¿¸å¡¢x¤ò+1¤¹¤ë
			}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 6)&&(x == 5)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x++; PlaySound(SOUND_FAST_UP);
                                                                        //¥í¡¼¥¿¥ê¡¼¤ò½Ð¤¿¸å¤Ë¡¢x¤ò+1¤¹¤ë
			}else if((FastTimer(0) >= CROSS)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 6)&&(x == 6)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x = 2;
                                                                        //2¤Ä¤á¤Î¸òº¹ÅÀ¤ò1²ó±Û¤¨¤¿¸å¡¢x¤ò2(¸òº¹ÅÀ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É)¤Ë¤¹¤ë
			}else if((FastTimer(0) >= CROSS)&&(y == 7)&&(x == 2)){
				Off(OUT_AC);Wait(END);x = 0; PlaySound(SOUND_FAST_UP);
                                                                        //2¤ÄÌܤθòº¹ÅÀ¤ò2²ó±Û¤¨¤¿¸å¡¢x¤ò0(¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö½àÈ÷¥â¡¼¥É)¤Ë¤¹¤ë
			}else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 7)&&(x == 0)){
				Off(OUT_AC);Wait(END);ClearTimer(0); x++; y++; PlaySound(SOUND_FAST_UP);
                                                                        //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î»Ï¤Þ¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢x¤Èy¤ò+1¤¹¤ë
			}else if((y == 8)&&(x == 2)){
				x = 6;
                                                                        //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤ò±Û¤¨¤¿¸å¡¢x¤ò6(¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É)¤Ë¤¹¤ë
			}else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 8)&&(x == 6)){
				Off(OUT_AC);Wait(END);ClearTimer(0); y++; PlaySound(SOUND_CLICK);
                                                                        //¥³¡¼¥¹¤Î½ª¤ï¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢y¤ò+1¤¹¤ë
			}else if((FastTimer(0) >= END)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 9)&&(x == 6)){
				x = 9; PlaySound(SOUND_FAST_UP);
                                                                        //¥³¡¼¥¹¤Î»Ï¤Þ¤ê¤ËÌá¤Ã¤¿¤È¤­¡¢x¤ò9(½ªÎ»¥â¡¼¥É)¤Ë¤¹¤ë	
			}
 
			if(x == 1){                                    //¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¥â¡¼¥É
				turn_hairpin();
			}else if((x == 0)||(x == 6||x == 8)){          //¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É
                                                                        //0¤È8¤Ï¤½¤ì¤¾¤ì¥Ø¥¢¥Ô¥ó½àÈ÷¥â¡¼¥É¤Èľ³Ñ¥«¡¼¥Ö¥â¡¼¥É¤Ç¡¢Àû²ó¤¬¤­¤Ä¤¯¤Ê¤Ã¤Æ¤¤¤ë
				line_trace();
			}else if(x == 2){                              //¸òº¹ÅÀ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¥â¡¼¥É
				line_trace_2();
			}else if((x == 3)||(x == 5)){                  //¥í¡¼¥¿¥ê¡¼½ÐÆþ¤ê¥â¡¼¥É
				rotary_right();
			}else if(x == 4){                              //¥í¡¼¥¿¥ê¡¼¿Ê¹Ô¥â¡¼¥É
				rotary_left();
			}else if(x == 7){                              //ľ³Ñ¥«¡¼¥Ö¥â¡¼¥É
				right_angle();
			}else{                                         //½ªÎ»¥â¡¼¥É(x¤¬10¤Ë¤Ê¤ê¡¢while¥ë¡¼¥×¤òÈ´¤±¤ë)
				Off(OUT_AC); y = 0; x++;
			}	
		}
	}
 }
**¾áñÄ¤Î¥×¥í¥°¥é¥à [#u84ae5cb]

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´ðËÜŪ¤Ë¡ÖÊÒ¦¤À¤±¤Î¥»¥ó¥µ¡¼¤À¤±¤Ç¥È¥ì¡¼¥¹¡õ¤â¤¦ÊÒÊý¤Ç¼¡¤Î¾õ¶·¤Ë¤¤¤Ä°Ü¤ë¤«¤ò·×¬¡×¤È¡ÖξÊý¤Î¥»¥ó¥µ¡¼¤ò»È¤Ã¤Æ¥È¥ì¡¼¥¹¡×¤Î2¼ïÎà¤Ç°ÜÆ°¤·¤Æ¤¤¤Þ¤¹¡£¤Á¤Ê¤ß¤Ë

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-°ÜÆ°¤¬ÃÙ¤¤
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-¥È¥ì¡¼¥¹¤¹¤ë¤È¤­¤Õ¤é¤Õ¤é¤¹¤ë¡£µ°Æ»¤¬Ëè²óÊѤï¤ë

¥í¡¼¥¿¥ê¡¼¤äÅÀÀþ¿ÊÆþ¤Ê¤ÉÌäÂ꤬¤ª¤­¤ä¤¹¤¤¤È¤³¤í¤Ï°ì¸Ä¤Î¸÷¥»¥ó¥µ¡¼¥È¥ì¡¼¥¹¤Ê¤Î¤Ç¡¢ºÇ½ªÅª¤Ë°ÂÄêŪ¤Ê·ë²Ì¤ò½Ð¤¹¤³¤È¤¬¤Ç¤­¤Þ¤·¤¿¡£¥»¥ó¥µ¡¼¤ÎÉý¤ò¤¢¤ëÄøÅÙÊѤ¨¤Æ¤âÌäÂê¤Ê¤¯¿Ê¹Ô¤Ç¤­¤Þ¤¹¡£

¤Á¤Ê¤ß¤Ë1½µ40Éö¯¤Ç°ÜÆ°¤·¤Þ¤¹¡ÊÅÅÃӤξÃÌ׶ñ¹ç¤Ë¤è¤Ã¤ÆÊѲ½¡Ë¡£

 #define value 45		//ÌÀ¤ë¤µ1
 #define Hvalue 50		//ÌÀ¤ë¤µ2
 #define seL SENSOR_1		//SENSOR_1¤ÏŤ¤¤Î¤Ç¥»¥ó¥µ¡¼º¸¤È¸À¤¦°ÕÌ£¤ò¹þ¤á¤Æά¤·¤Æ¤¤¤Þ¤¹
 #define seR SENSOR_3		//¾å»²¹Í
 int phase;			//¾õ¶·
 int count;			//¤¤¤í¤¤¤í¤Ê¥«¥¦¥ó¥È
 int cross;			//¸òº¹ÅÀ¤Ë¿¯Æþ¤·¤¿²ó¿ô¤ò·×¬¡§¸òº¹ÅÀ¤ò¤½¤Î¤Þ¤Þľ¿Ê¤¹¤ë²ó¿ô¤òľÁ°¤ÇÂåÆþ¤·¤Æ¤¤¤Þ¤¹
 
 void Rsen_trace(){								//±¦¥»¥ó¥µ¡¼¤Î¤ß¤Ç¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô
  OnFwd(OUT_AC);if(seR < value){Off(OUT_C);OnFwd(OUT_A);}				//±¦¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ê¤é±¦¤Ë
 	else{Off(OUT_A);OnFwd(OUT_C);}							//±¦¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ê¤éº¸¤Ë
 	if(seL < value){phase++;}							//º¸¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é¼¡¥Õ¥§¥¤¥º¤Ø
 }
 
 void Lsen_trace(){								//º¸¥»¥ó¥µ¡¼¤Î¤ß¤Ç¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô
 	if(seL < value)	{Off(OUT_A);OnFwd(OUT_C);}					//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ê¤éº¸¤Ë
 	else		{Off(OUT_C);OnFwd(OUT_A);}					//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ê¤é±¦¤Ë
 	if(seR < value){								//¥í¡¼¥¿¥ê¡¼Æâ¤Ç¤Î¥Õ¥§¥¤¥º°Ü¹Ô¤Î»þ´ü¤ò·×¬¤·¤Æ¤¤¤Þ¤¹
 		if(count < 2){OnFwd(OUT_AC);Wait(15);count++;}				//±¦¥»¥ó¥µ¡¼¤ÎÈ¿±þ¤¬º£¤Þ¤Ç1²ó°ÊÆâ¤Ê¤é¤Ð̵»ë
 		else{Off(OUT_AC);phase++;count = 1;}					//2²ó°Ê¾å¤Ê¤é¤Ð¼¡¥Õ¥§¥¤¥º¤Ë°Ü¹Ô¡£count¤ò¸µ¤ËÌᤷ¤Þ¤¹
 	}
 }
 
 void Dsen_trace(){								//2¸Ä¤Î¥»¥ó¥µ¡¼¤ò»È¤Ã¤Æ¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô
 	if(seL < value && seR > value){OnFwd(OUT_C);Off(OUT_A);}			//º¸¡§¹õÀþ¾å¡¡±¦¡§¹õÀþ³°	¢ª¡¡º¸ÀÞ
 	if(seR < value && seL > value){OnFwd(OUT_A);Off(OUT_C);}			//±¦¡§¹õÀþ¾å¡¡º¸¡§¹õÀþ³°	¢ª¡¡±¦ÀÞ
 	if(seL > value && seR > value){OnFwd(OUT_AC);} 					//ξ¥»¥ó¥µ¡¼¤¬¹õÀþ³°		¢ª¡¡Ä¾¿Ê
 		if(seL < value && seR < value) {					//ξ¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Î»þcross¤ÎÃͤǹÔÆ°¤òÊѲ½¤µ¤»¤Þ¤¹
 		OnFwd(OUT_AC);Wait(30);PlaySound(SOUND_UP);				//ľ¿Ê¡§¼ç¤ËÄ̾ï¸òº¹ÅÀ¤ÎÄ̲᤹¤ë¤È¤­¤Î¹ÔÆ°¤Ç¤¹
 			if(cross==0){Off(OUT_AC);phase++;}				//cross¤ÎÃͤ¬´ûÄêÃͤʤé¤Ð¼¡¥Õ¥§¥¤¥º¤Ë°Ü¹Ô¤·¤Þ¤¹
 			else{cross--;}							//¤½¤¦¤Ç¤Ê¤±¤ì¤Ðø¡¹¤È¿ô¤¨¤Þ¤¹
 		}
 }
 
 void hairpinLturn(){								//¥Ø¥¢¥Ô¥óº¸¥¿¡¼¥ó¤ò¹Ô¤¦´Ø¿ô
  PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(seL >= Hvalue);Off(OUT_AC);			//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ë½Ð¤ë¤Þ¤ÇÁ°¿Ê
  PlaySound(SOUND_CLICK);OnRev(OUT_A);OnFwd(OUT_C);					//Ķ¿®ÃϺ¸Àû²ó
  			     until(seL < value);until(seL >= Hvalue);Off(OUT_AC);	//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¢ª¹õÀþ³°¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡
  PlaySound(SOUND_CLICK);OnFwd(OUT_C);Wait(15);until(seL >= Hvalue);Off(OUT_AC);		//º¸Àû²ó¡¡¤Þ¤¿¹õÀþ¾å¤ËÆþ¤ëº¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡
  PlaySound(SOUND_CLICK);phase++;							//¼¡¥Õ¥§¥¤¥º¤Ø
 }
 
 void in_rotary(){								//¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ë¤È¤­¤Î´Ø¿ô
  PlaySound(SOUND_CLICK);OnRev(OUT_AC);Wait(20);Off(OUT_AC);				//¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëÁ°¤ÎDsen_trace()¤Ç¿Ê¤ß¤¹¤®¤¿¤Î¤òÌ᤹
  PlaySound(SOUND_CLICK);OnFwd(OUT_A);OnRev(OUT_C);Wait(50);				//Ķ¿®Ãϱ¦Àû²ó
  PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(seL < value);				//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê
  PlaySound(SOUND_CLICK);Off(OUT_AC);phase++;						//¼¡¥Õ¥§¥¤¥º¤Ø
 }
 
 void out_rotary(){								//¥í¡¼¥¿¥ê¡¼¤«¤é½Ð¤ë¤È¤­¤Î´Ø¿ô
  PlaySound(SOUND_CLICK);OnFwd(OUT_AC);Wait(10);OnRev(OUT_C);Wait(10);			//¾¯¤·¤À¤±Á°¿Ê¤·¤¿¸å¡¢Ä¶¿®Ãϱ¦Àû²ó
  PlaySound(SOUND_CLICK);until(seL >= Hvalue);until(seL < value);Off(OUT_AC);		//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¢ª¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡¤·¤¿¸åÄä»ß¡£
  phase++;										//¼¡¥Õ¥§¥¤¥º¤Ø
 }
 
 void in_shorterline(){								//¶áÆ»¡ÊÅÀÀþ¡Ë¤ËÆþ¤ë»þ¤Î´Ø¿ô
  PlaySound(SOUND_CLICK);OnFwd(OUT_A);Wait(5);						//¾¯¤·¤À¤±Á°¿Ê
  PlaySound(SOUND_CLICK);until(seL >= Hvalue);until(seL < value);Off(OUT_AC);		//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¢ª¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡¤·¤¿¸åÄä»ß¡£
  PlaySound(SOUND_CLICK);OnFwd(OUT_C);Wait(5);Off(OUT_AC);				//¡ÊÈùÄ´À°¡Ëº¸Àû²ó¤ò¤Á¤ç¤Ã¤È¤À¤±
  PlaySound(SOUND_DOWN);phase++;								//¼¡¥Õ¥§¥¤¥º¤Ø
  }
 
 void go_shorterline(){								//¶áÆ»¡ÊÅÀÀþ¡Ë¤ò¿Ê¹Ô¤¹¤ë»þ¤Î´Ø¿ô
  if(seL <= Hvalue && seR > value){OnFwd(OUT_C);until(seR < value);Off(OUT_AC);}		//º¸¡§¹õÀþ¾å¡¡±¦¡§¹õÀþ³°¡¡¢ª¡¡±¦¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤Çº¸Àû²ó
  if(seR <= Hvalue && seL > value){OnFwd(OUT_A);until(seL < value);Off(OUT_AC);}		//±¦¡§¹õÀþ¾å¡¡º¸¡§¹õÀþ³°¡¡¢ª¡¡º¸¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤Ç±¦Àû²ó
  if(seL < value && seR < value){PlaySound(SOUND_DOWN);phase++;}				//ξ¥»¥ó¥µ¡¼¤¬¹õÀþ¾å¤Î»þ¼¡¥Õ¥§¥¤¥º¤Ø
 }
  
 void out_shorterline(){								//¶áÆ»¡ÊÅÀÀþ¡Ë¤«¤é½Ð¤ë»þ¤Î´Ø¿ô
  PlaySound(SOUND_CLICK);OnFwd(OUT_A);Wait(5);						//¡ÊÈùÄ´À°¡Ë±¦Àû²ó
  PlaySound(SOUND_CLICK);until(seL >= Hvalue);until(seL < value);Off(OUT_AC);		//º¸¥»¥ó¥µ¡¼¤¬¹õÀþ³°¢ª¹õÀþ¾å¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡¤·¤¿¸åÄä»ß¡£
  PlaySound(SOUND_CLICK);OnFwd(OUT_AC);until(seR >= Hvalue)Off(OUT_AC);			//±¦¥»¥ó¥µ¡¼¤¬¹õÀþ³°¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê
  PlaySound(SOUND_CLICK);phase++;							//¼¡¥Õ¥§¥¤¥º¤Ø
 }
 
 task main(){
 SetSensor(SENSOR_1,SENSOR_LIGHT);		//¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼¤Èǧ¼±¤µ¤»¤ë
 SetSensor(SENSOR_3,SENSOR_LIGHT);		//¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼¤Èǧ¼±¤µ¤»¤ë
 SetPower(OUT_A,6);				//½ÐÎÏÄ´À°
 SetPower(OUT_C,6);				//½ÐÎÏÄ´À°
 
 int i; 
 for (i=1;i<=2;i++){				//2½µ¤µ¤»¤Þ¤¹
 phase = 1;
 count = 1;
 while(phase!=19){				//phase==19¤Ç½ªÎ»
  while(phase==1){Rsen_trace();}
  while(phase==2){hairpinLturn();}
  cross=2;					//¼¡¥Õ¥§¥¤¥º¤Ë»È¤¦¡£°Ê²¼Æ±¤¸
  while(phase==3){Dsen_trace();}
  while(phase==4){in_rotary();}
  while(phase==5){Lsen_trace();}
  while(phase==6){out_rotary();}
  count = 2;
  while(phase==7){Lsen_trace();}
  while(phase==8){in_shorterline();}
  while(phase==9){go_shorterline();}
  while(phase==10){out_shorterline();}
  cross = 0;
  while(phase==11){Dsen_trace();}
  while(phase==12){in_rotary();}
  while(phase==13){Lsen_trace();}
  while(phase==14){out_rotary();}
  cross = 1;
  while(phase==15){Dsen_trace();}
  while(phase==16){Rsen_trace();}
  while(phase==17){hairpinLturn();}
  cross = 0;
  while(phase==18){Dsen_trace();}
 }
 }
 
 }
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