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*¥×¥í¥°¥é¥à [#ccd98f71]

  /*****************************************************************/
  /*		nxt¥×¥í¥°¥é¥à kadai2				*/
  /*****************************************************************/
   
  //ÄêµÁʸ
  #define	in_dis		50  //Æþ¤ê¸ý¤Îµ÷Î¥
  #define	cr1_dis_r	1300 //1¼þÌܤÎľ³Ñ¤Þ¤Ç¤Î±¦¼ÖÎؤε÷Î¥
  #define	cr1_dis_l	1700 //1¼þÌܤÎľ³Ñ¤Þ¤Ç¤Îº¸¼ÖÎؤε÷Î¥
  #define	cr2_dis_r	10000 //2¼þÌܤÎľ³Ñ¤Þ¤Ç¤Î±¦¼ÖÎؤε÷Î¥
  #define	cr2_dis_l	8900 //1¼þÌܤÎľ³Ñ¤Þ¤Ç¤Îº¸¼ÖÎؤε÷Î¥
  #define	cr2_dis_l	8900 //2¼þÌܤÎľ³Ñ¤Þ¤Ç¤Îº¸¼ÖÎؤε÷Î¥
  #define	out_dis_r	17000 //½Ð¸ý¤Þ¤Ç¤Î±¦¼ÖÎؤε÷Î¥
  #define	out_dis_l	13800 //½Ð¸ý¤Þ¤Ç¤Îº¸¼ÖÎؤε÷Î¥
  #define	sensor_c	43 //Çò¤È¹õ¤ÎïçÃͤÎÃæ¿´ÃÍ
  
  //¥á¥¤¥ó´Ø¿ô
  task main(void){
  	unsigned int          mode,in_f=0,out_f=0,cr1_f=0,cr2_f=0,cr_distance,distance_r,distance_l,sensor_w,sensor_b;

	SetSensorLight(IN_3); //¥»¥ó¥µ¡¼¥»¥Ã¥È

	ResetTachoCount(OUT_B); //±¦¼ÖÎؤβóž¿ô¤Î¥ê¥»¥Ã¥È
	ResetTachoCount(OUT_C); //º¸¼ÖÎؤβóž¿ô¤Î¥ê¥»¥Ã¥È

	mode=1;
	
	sensor_w = sensor_c+5; //Çò¤ÎïçÃÍ
	sensor_b = sensor_c-5; //¹õ¤ÎïçÃÍ

	while(1){
							
		distance_r=MotorTachoCount(OUT_B); //±¦¼ÖÎؤβóž¿ô¤Î¼èÆÀ
		distance_l=MotorTachoCount(OUT_C); //º¸¼ÖÎؤβóž¿ô¤Î¼èÆÀ

		TextOut(0,LCD_LINE1,"LightSensor ="); //¥Ç¥£¥¹¥×¥ì¥¤¤Îɽ¼¨
		NumOut(85,LCD_LINE1,Sensor(IN_3)); //¥»¥ó¥µ¡¼¤ÎÃͤòɽ¼¨

		TextOut(0,LCD_LINE2,"TachoCout_R"); //±¦¼ÖÎؤΥǥ£¥¹¥×¥ì¥¤¤Îɽ¼¨
		NumOut(0,LCD_LINE3,distance_r); //±¦¼ÖÎؤε÷Υɽ¼¨
		TextOut(0,LCD_LINE4,"TachoCout_L"); //º¸¼ÖÎؤΥǥ£¥¹¥×¥ì¥¤¤Îɽ¼¨
		NumOut(0,LCD_LINE5,distance_l); //º¸¼ÖÎؤε÷Υɽ¼¨
				
		NumOut(0,LCD_LINE6,mode); //¾ì¹ç¤ï¤±¤Îɽ¼¨

		switch(mode){

			case 1:
				if(Sensor(IN_3)<=sensor_b){
					CoastEx(OUT_BC,0);			//¥â¡¼¥¿BC¥Õ¥ê¡¼
					OnFwdEx(OUT_B,40,0);
					Wait(5);
				}else if(Sensor(IN_3)>=sensor_w){
					CoastEx(OUT_BC,0);			//¥â¡¼¥¿BC¥Õ¥ê¡¼
					OnFwdEx(OUT_C,40,0);
					Wait(5);
				}else{
					CoastEx(OUT_BC,0);			//¥â¡¼¥¿BC¥Õ¥ê¡¼
					OnFwdEx(OUT_BC,38,0);
					Wait(5);
				}
				
				if(distance_r>in_dis &&   distance_l>in_dis && in_f==0){
					mode=2;
				}

				if(distance_r>cr1_dis_r && distance_l>cr1_dis_l && cr1_f==0){
					mode=2;
				}
				
				if(distance_r>cr2_dis_r && distance_l>cr2_dis_l && cr2_f==0){
					mode=2;
				}
				
				if(distance_r>out_dis_r && distance_l>out_dis_l && out_f==0){
					mode=2;
				}
				
				if(out_f==1 && Sensor(IN_3)>=99 && Sensor(IN_3)<=10){
					Wait(1000);
					OffEx(OUT_BC,0);
					while(1);
				}
					

				break;

			case 2:
				if(Sensor(IN_3)<=sensor_b){
					CoastEx(OUT_BC,0);			//¥â¡¼¥¿BC¥Õ¥ê¡¼
					OnFwdEx(OUT_B,50,0);
					OnFwdEx(OUT_C,-20,0);
					Wait(5);
				}else if(Sensor(IN_3)>=sensor_w){
					CoastEx(OUT_BC,0);			//¥â¡¼¥¿BC¥Õ¥ê¡¼
					OnFwdEx(OUT_C,50,0);
					OnFwdEx(OUT_B,-20,0);
					Wait(5);
				}else{
					CoastEx(OUT_BC,0);			//¥â¡¼¥¿BC¥Õ¥ê¡¼
					OnFwdEx(OUT_BC,25,0);
					Wait(5);
				}
				
				if(distance_r>in_dis+300 && distance_l>in_dis+100 && in_f==0){
					mode=1;
					in_f++;
				}
				
				if(distance_r>cr1_dis_r+350 && distance_l>cr1_dis_l+150 && cr1_f==0){
					mode=1;
					cr1_f++;
				}
				
				if(distance_r>cr2_dis_r+350 && distance_l>cr2_dis_l+150 && cr2_f==0){
					mode=1;
					cr2_f++;
				}

				if(distance_r>out_dis_r+150 && distance_l>out_dis_l+350 && out_f==0){
					mode=1;
					out_f++;
				}
				
				break;
		}
	}
  }

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