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 #define LITTLE_TIME1_1 15								//Àû²ó»þ´ÖÄ´À°(1)¤ò»ØÄê
 #define LITTLE_TIME2 1								//Àû²ó»þ´ÖÄ´À°(2)¤ò»ØÄê
 #define LITTLE_TIME1_2 4
 #define THRESHOLD 50								//¥»¥ó¥µ¡¼¤ÎïçÃͤò»ØÄê
 #define WAIT_TIME 5									//ÂÔ¤Á»þ´Ö¤ò»ØÄê
 #define HAIRPIN 120									//¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¥â¡¼¥É(1²óÌÜ)¤Ø¤Î°Ü¹Ô¤Î»þ´Ö¤ò»ØÄê
 #define CROSS_1 100									//¸òº¹ÅÀ¤Ç¤Îľ¿Ê»þ´Ö¤Î»ØÄê
 #define CROSS_2 250									//2²óÌÜ¤Î¥í¡¼¥¿¥ê¡¼¸å¤Î¡¢¸òº¹ÅÀ¿¯Æþ»þ´Ö¤Î»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 120								//¥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¡¼Ãæ¿´¤Î¡¢º¸¥»¥ó¥µ¤Î¤ßÍ­¸ú¤Ê»þ´Ö¤ò»ØÄê
 #define ROTARY_OUT 130								//¥í¡¼¥¿¥ê¡¼½Ð¸ý¤Î¡¢±¦¥»¥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_2 150								//¶áÆ»¤Î»Ï¤Þ¤ê¤ò±Û¤¨¤¿¸å¡¢¥í¡¼¥¿¥ê¡¼¤Ë¿¯Æþ¤¹¤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
 
 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
	if((x == 0)||(x == 1)||(x == 8)){
		Wait(LITTLE_TIME1_1);						//±¦¥¿¥¤¥ä¤òÀû²ó»þ´Ö(1)ÉøåÂव¤»¤ë
	}else{
		Wait(LITTLE_TIME1_2);
	}
	Off(OUT_C);Wait(LITTLE_TIME2);						//±¦¥¿¥¤¥ä¤òÀû²ó»þ´Ö(2)ÉÃÄä»ß¤µ¤»¤ë
 }
 
 void turn_left_little()								//´Ë¤á¤Îº¸Àû²ó¤òÄêµÁ
 {
	OnFwd(OUT_C);OnRev(OUT_A);
	if((x == 0)||(x == 1)||(x == 8)){
		Wait(LITTLE_TIME1_1);						//±¦¥¿¥¤¥ä¤òÀû²ó»þ´Ö(1)ÉøåÂव¤»¤ë
	}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{
			turn_right_little();					 //¹õ¤Ê¤é±¦Àû²ó
		}		
	}
 	PlaySound(SOUND_FAST_UP); x++;
 }
 
 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  rotary_right()									//¥í¡¼¥¿¥ê¡¼Æþ¤ê¸ý¤Ç¤Î±¦ÀÞ¤ÎÊýË¡¤òÄêµÁ
 {
	back_2();
	while(FastTimer(0) < ROTARY_RIGHT){
		if((SE_R < THRESHOLD)){
			turn_right_little();
 		}else{
 			go_straight();
 		}
 	}
 }
 
 void rotary_left_0()								 //
 { 
	if((SE_L < THRESHOLD)){
		turn_left_little();
  	}else{
 		go_straight();
 	}
 }
 
 void  rotary_left()									 //
 {
 	while(SE_R >= THRESHOLD){
 		rotary_left_0();
 	}
 	y++; ClearTimer(0); PlaySound(SOUND_CLICK);
 	while(FastTimer(0) < ROTARY_LEFT){
 		rotary_left_0();
 	}
 	while(SE_R >= THRESHOLD){
 		rotary_left_0();
 	}
 	x++; ClearTimer(0); PlaySound(SOUND_FAST_UP);
 }
 
 void right_angle_1()								 //
 {
 	back_2();
 	while(FastTimer(0) < RIGHT_ANGLE){
 		if((SE_L >= THRESHOLD)&&(SE_R < THRESHOLD)){
 			turn_right_little();
 		}else if((SE_L < THRESHOLD)&&(SE_R < THRESHOLD)){
 			turn_right_little();
 		}else{
 			go_straight();
 		}
 	}
 }
 
 void right_angle_2()
 {
 	rotary_left_0();
 }
 
 task main()	//°Ê²¼¥×¥í¥°¥é¥à ËÜÂÎ
 {
 	SetPower(OUT_A,1);
 	SetPower(OUT_C,1);
 	 SetSensor(SE_L,SENSOR_LIGHT);	//¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¤ÈÀßÄê
 	 SetSensor(SE_R,SENSOR_LIGHT);	//¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¤ÈÀßÄê
 
 	 while(true){	//°Ê²¼Ìµ¸Â¥ë¡¼¥×
 		if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 0 && x == 0)){//¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢x¤Èy¤ò+1¤¹¤ë
 			ClearTimer(0); x++; y++; PlaySound(SOUND_FAST_UP);
 		}else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 1 && x == 2)){	//¸òº¹ÅÀ¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢y¤ò+1¤¹¤ë
 			ClearTimer(0); y++; PlaySound(SOUND_CLICK);
 		}else if((FastTimer(0) >= CROSS_1)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 2)&&(x == 2)){
 //¸òº¹ÅÀ¤Ç¤â¤¦°ìÅÙ¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢y¤ò+1¤¹¤ë
 			ClearTimer(0); y++; PlaySound(SOUND_CLICK);
 		}else if((FastTimer(0) >= ROTARY_IN_1)&&(y == 3)&&(x == 2)){	//¥í¡¼¥¿¥ê¡¼¤ËÆþ¤ëľÁ°¤Ë¡¢x¤ò+1¤¹¤ë
 			ClearTimer(0); x++; PlaySound(SOUND_FAST_UP);
 		}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 3)&&(x == 3)){	//¥í¡¼¥¿¥ê¡¼¤ËÆþ¤Ã¤¿Ä¾¸å¡¢x¤ò+1¤¹¤ë
 			x++; PlaySound(SOUND_FAST_UP);
 		}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 4)&&(x == 5)){//¥í¡¼¥¿¥ê¡¼¤ò½Ð¤¿Ä¾¸å¤Ë¡¢x¤ò+1¤¹¤ë
 			x++; PlaySound(SOUND_FAST_UP);
 		}else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 4 && x == 6)){	//¶áÆ»¤Î»Ï¤Þ¤ê¤ÇξÊý¹õ¤Ë¤Ê¤Ã¤¿¤È¤­¡¢x¤Èy¤ò+1¤¹¤ë
 			ClearTimer(0); x++; y++; PlaySound(SOUND_CLICK);
 		}else if((FastTimer(0) >= RIGHT_ANGLE)&&(y == 5)&&(x == 7)){//¶áÆ»¤ò̵»ë¤·¤¿¸å¡¢x¤ò+1¤¹¤ë
 			ClearTimer(0); x++; PlaySound(SOUND_FAST_UP);
 		}else if((FastTimer(0) >= RIGHT_ANGLE_2)&&(y == 5 && x == 8)){
 			ClearTimer(0); x = 2; PlaySound(SOUND_FAST_UP);
 		}else if((FastTimer(0) >= RIGHT_ANGLE_2)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 5 && x == 2)){//
 			ClearTimer(0); x++; PlaySound(SOUND_FAST_UP);
 		}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 5)&&(x == 3)){
 			x++; PlaySound(SOUND_FAST_UP);
 		}else if((FastTimer(0) >= ROTARY_RIGHT)&&(y == 6)&&(x == 5)){
 			ClearTimer(0); x++; PlaySound(SOUND_FAST_UP);
 		}else if((FastTimer(0) >= CROSS_2)&&(SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 6)&&(x == 6)){
 			ClearTimer(0); y++; PlaySound(SOUND_CLICK);
 		}else if((FastTimer(0) >= CROSS_2)&&(y == 7)&&(x == 6)){
 			x = 0; PlaySound(SOUND_FAST_UP);
 		}else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 7)&&(x == 0)){
 			ClearTimer(0); x ++; y++; PlaySound(SOUND_FAST_UP);
 		}else if((SE_L < THRESHOLD && SE_R < THRESHOLD)&&(y == 8)&&(x == 2)){
 			x = 9; PlaySound(SOUND_FAST_UP);
 		}
 
 		if(x == 1){//¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¥â¡¼¥É
 			turn_hairpin();
 		}else if((x == 0||x == 2)||(x == 6||x == 8)){	 //Ä̾ï¥â¡¼¥É
 			line_trace();
 		}else if((x == 3)||(x == 5)){	//¥í¡¼¥¿¥ê¡¼¥â¡¼¥É-1
 			rotary_right();
 		}else if(x ==  4){	//¥í¡¼¥¿¥ê¡¼¥â¡¼¥É-2
 			rotary_left();
 		}else if(x ==  7){//ľ³Ñ¥«¡¼¥Ö¥â¡¼¥É-1
 			right_angle_1();
 		 }else{	//½ª¤ï¤ê
 			Off(OUT_AC);
 		}	
 	}
 }

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 #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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