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 /*  ¥Þ¥¯¥í(Æ°ºî)  */
 #define Right OnFwd(OUT_A,60);Off(OUT_C);//±¦¤Ø¶Ê¤¬¤ì
 #define Left OnFwd(OUT_C,60);OnRev(OUT_A,60);//º¸¤Ø¶Ê¤¬¤ì
 #define Straight OnFwd(OUT_A,28);OnFwd(OUT_C,30)//ľ¿Ê¤·¤í
 #define WBODER 59¡¡//ïçÃͤ¬59°Ê¾å¤Ê¤éÇò¤Î¾å¤Ë¾è¤Ã¤Æ¤¤¤ë¤È¤¤¤¦¤³¤È
 #define BBODER 43  //ïçÃͤ¬36°Ê²¼¤Ê¤é¹õ¤Î¾å¤Ë¾è¤Ã¤Æ¤¤¤ë¤È¤¤¤¦¤³¤È
 
 
 /*  ¥Þ¥¯¥í(²»³¬)  */
 #define Do  523//¥É
 #define Re  587//¥ì
 #define Mi  659//¥ß
 #define Fa  698//¥Õ¥¡
 #define Sol 784//¥½
 #define Ra  880//¥é
 #define Ti  988//¥·
 
 
 /*  ±éÁÕ¥¿¥¹¥¯(¾¡Íø¤Î¥Õ¥¡¥ó¥Õ¥¡¡¼¥ì(FINAL FANTASY¤è¤ê)  */
 task music() 
 {
 
 /*¥É¥É¥É¥É¡¼*/
 
 PlayTone(Do,100);
 Wait(160);
 PlayTone(Do,100);
 Wait(160);
 PlayTone(Do,100);
 Wait(160);
 PlayTone(Do,290);
 Wait(500);
 
 /*¥é¢õ¡¼¥·¢õ¡¼¥É¥Ã¥·¢õ¥É¡¼*/
 
 PlayTone(415,400);
 Wait(500);
 PlayTone(466,340);
 Wait(430);
 PlayTone(Do,200);
 Wait(310);
 PlayTone(466,200);
 Wait(190);
 PlayTone(Do,800);
 Wait(1200);
 
 /*¥½¡¼¥Õ¥¡¥½¥Õ¥¡¡¼*/
 
 while(true)
 {
 PlayTone(392,360);
 Wait(380);
 PlayTone(349,360);
 Wait(380);
 PlayTone(392,340);
 Wait(370);
 PlayTone(349,280);
 Wait(200);
 
 /*¥·¥·¢õ¡¼¥é¡¼¥½¡¼¥Õ¥¡¡¼*/
 
 PlayTone(466,200);
 Wait(400);
 PlayTone(466,330);
 Wait(200);
 PlayTone(440,360);
 Wait(360);
 PlayTone(392,330);
 Wait(200);
 PlayTone(349,400);
 Wait(600);
 
 /*¥½¡¼¥Õ¥¡¡¼¥ß¡¼¥Õ¥¡¥ì¡¼*/
 
 PlayTone(392,330);
 Wait(400);
 PlayTone(349,330);
 Wait(400);
 PlayTone(330,330);
 Wait(400);
 PlayTone(349,200);
 Wait(200);
 PlayTone(294,1000);
 Wait(2000); 
 
 /*¥½¡¼¥Õ¥¡¥½¥Õ¥¡¡¼*/
 
 PlayTone(392,360);
 Wait(380);
 PlayTone(349,360);
 Wait(380);
 PlayTone(392,340);
 Wait(370);
 PlayTone(349,280);
 Wait(200);
 
 /*¥·¥·¢õ¡¼¥é¡¼¥½¡¼¥Õ¥¡¡¼*/
 
 PlayTone(466,200);
 Wait(400);
 PlayTone(466,330);
 Wait(200);
 PlayTone(440,360);
 Wait(360);
 PlayTone(392,330);
 Wait(200);
 PlayTone(349,400);
 Wait(600);
 
 /*¥½¡¼¥Õ¥¡¡¼¥½¡¼¥·¢õ¥É¡¼*/
 
 PlayTone(392,330);
 Wait(400);
 PlayTone(349,330);
 Wait(400);
 PlayTone(392,330);
 Wait(400);
 PlayTone(466,200);
 Wait(200);
 PlayTone(523,1000);
 Wait(2000);
 }
 }
 
 /*  ¥é¥¤¥ó¥È¥ì¡¼¥¹¥¿¥¹¥¯  */
 task main ()
 { 
 
 SetSensor(SENSOR_1,SENSOR_LIGHT); 
 SetSensorLight(IN_1);//LED¥é¥¤¥È¤òÅÀÅô¤µ¤»¤í
 
 start music;
 while(true)
 {  
        if  (SENSOR_1 > WBODER)//Çò¾å¤Ê¤éº¸¤Ë¶Ê¤¬¤ì
            {Left;}
   
   else if  (SENSOR_1 < BBODER)//¹õ¾å¤Ê¤é±¦¤Ë¶Ê¤¬¤ì
            {Right;}
 
      else 
            
            {Straight;}  // ¤½¤Î¾¤ÎïçÃͤǤ¢¤ì¤Ð¤Þ¤Ã¤¹¤°¿Ê¤á
                                }
 }


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