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**Àïά¡¡1 [#t6e8ee4f]

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 #define BLACK 35
 #define u_turn  OnRev(OUT_A); OnFwd(OUT_C); 
 #define go_forward OnFwd(OUT_AC);
 #define turn_left OnRev(OUT_A); OnFwd(OUT_C); 
 #define turn_right OnFwd(OUT_A); OnRev(OUT_C); 
 #define n_turn OnFwd(OUT_A); OnRev(OUT_C);
 #define STEP 1
 #define BLACK 35¡¡//¤·¤­¤¤ÃÍ
 #define u_turn  OnRev(OUT_A); OnFwd(OUT_C); ¡¡//¥â¡¼¥¿¡¼A¤ò¸åÂà¡¢C¤òÁ°¿Ê
 #define go_forward OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡// Á°¿Ê
 #define turn_left OnRev(OUT_A); OnFwd(OUT_C); ¡¡¡¡// ¥â¡¼¥¿¡¼A¤ò¸åÂà¡¢C¤òÁ°¿Ê
 #define turn_right OnFwd(OUT_A); OnRev(OUT_C); ¡¡// ¥â¡¼¥¿¡¼A¤òÁ°¿Ê¡¢C¤ò¸åÂà
 #define n_turn OnFwd(OUT_A); OnRev(OUT_C);¡¡¡¡¡¡//  ¥â¡¼¥¿¡¼A¤òÁ°¿Ê¡¢C¤ò¸åÂà
 #define STEP 1¡¡
 
  task main()
 {
    SetSensor(SENSOR_3, SENSOR_LIGHT);
    ClearTimer(3);
    OnFwd(OUT_B);
    OnFwd(OUT_B);¡¡¡¡¡¡//¡¡¡¡­¡¡¡½êÄêÃϤ«¤é¥Ü¡¼¥ë¤ò¼è¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£
    Wait(20);
    OnFwd(OUT_AC);
    Wait(90);
    Off(OUT_B);
    Off(OUT_AC);
    Wait(70);
    OnFwd(OUT_AC);
    Wait(30);
    ClearTimer(3);
    while (FastTimer(3) <=100){
    if (SENSOR_3 <= BLACK){
               Off(OUT_AC);
    while (FastTimer(3) <=100){¡¡¡¡¡¡//   ­¢¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¸å¡¢¹õ¤¤Àþ¤ËÌá¤ë¤¿¤á¤Î
    if (SENSOR_3 <= BLACK){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥×¥í¥°¥é¥à¡£
               Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
               Wait(50);
          } else if(SENSOR_3 > BLACK && FastTimer(3) <=40){
                  OnFwd(OUT_AC);
                  Wait(5);
          } else if(SENSOR_3 > BLACK && FastTimer(3) >40){
                  OnRev(OUT_AC);
                  Wait(5);
            }
           }
     ClearTimer(3);
     while (FastTimer(3) <=650){
     while (FastTimer(3) <=650){¡¡¡¡¡¡// ­£
        if (SENSOR_3 <= BLACK){
             go_forward;
             Wait(10);
          ¡¡ turn_right;
             Wait(10);
             ClearTimer(0);
       }else if(FastTimer(0) >=100){
              u_turn;
           ¡¡ ClearTimer(0);
       }else if(FastTimer(0) >40){
              turn_right;              
       }else if(SENSOR_3 > BLACK){                
              turn_left;       
     }
    }  
    Off(OUT_AC);
    Wait(5);
    u_turn;
    Wait(40);
    ClearTimer(3);
     while (FastTimer(3) <=100){
         if (SENSOR_3 <= BLACK){
               Off(OUT_AC);
               Wait(50);
          } else if(SENSOR_3 > BLACK){
                u_turn;
                Wait(10);
  }
 }
    Off(OUT_AC);
    Wait(10);
    ClearTimer(3);
     while (FastTimer(3) <=2400){
     while (FastTimer(3) <=2400){¡¡¡¡¡¡// ­¤
        if (SENSOR_3 < BLACK ){
              go_forward;  
                        
            ClearTimer(1);
            ClearTimer(0);
       }else if(SENSOR_3 > BLACK && FastTimer(1) >=60){
              n_turn
       }else if(SENSOR_3 > BLACK && FastTimer(0) >=20){
              turn_left;        
       }else if(SENSOR_3 > BLACK ){
              turn_right;
     }  
   }
  Off(OUT_AC);
  Wait(5);
      
  ClearTimer(3);
     while (FastTimer(3) <=1000){
     while (FastTimer(3) <=1000){¡¡¡¡// ­¥
        if (SENSOR_3 < BLACK ){
              go_forward;           
            
           ClearTimer(1);
           ClearTimer(0);
     }else if( FastTimer(1) >=10){
             u_turn;
     }else if( FastTimer(0) >=70){
             turn_right;  
     }else if(SENSOR_3 > BLACK ){                  
             turn_left;
     }   
    }
    Off(OUT_AC);
    Wait(5);
 
    ClearTimer(3);
     
     while (FastTimer(3) <= 800){
     while (FastTimer(3) <= 800){¡¡¡¡// ­¦
        if (SENSOR_3 < BLACK){
              go_forward;
            Wait(10);
            ClearTimer(0);
       }else if(SENSOR_3 > BLACK && FastTimer(0) >=40){
              n_turn;
       }else if(SENSOR_3 > BLACK && FastTimer(0) >=10){
              turn_left;  
       }else if(SENSOR_3 > BLACK){
              turn_right;
 
     }  
 }
     Off(OUT_AC);
     Off(OUT_AC);¡¡¡¡// ­§
     Wait(100);
     OnRev(OUT_AC);
     Wait(60);
     Off(OUT_AC);
     turn_left;
     Wait(40);
     OnFwd(OUT_B);
     Wait(20);
     Off(OUT_B);
     Off(OUT_AC);
 
  }
**Àïά¡¡2 [#g89a2a7d]
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­¡
  ¡¡SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡
   ¡¡ClearTimer(3);¡¡//¥¿¥¤¥Þ¡¼3¤ò¥¼¥í¤Ë¥ê¥»¥Ã¥È
   ¡¡OnFwd(OUT_B);¡¡ //¥â¡¼¥¿¡¼B¤òÁ°¿Ê¡Ê¥¢¡¼¥à¾å¾º¡Ë
   ¡¡Wait(20);¡¡¡¡¡¡
   ¡¡OnFwd(OUT_AC);¡¡¡¡//Á°¿Ê
  ¡¡ Wait(90);
   ¡¡Off(OUT_B);¡¡¡¡¡¡//¥â¡¼¥¿¡¼B¤ò¸åÂà¡Ê¥¢¡¼¥à²¼¹ß¡Ë
   ¡¡Off(OUT_AC);
   ¡¡Wait(70);
   ¡¡OnFwd(OUT_AC);¡¡//Á°¿Ê
   ¡¡Wait(30);
 ¡¡¡¡ClearTimer(3);¡¡
 

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­¢¡¡ 
   while (FastTimer(3) <=100){
   if (SENSOR_3 <= BLACK){
              Off(OUT_AC);¡¡¡¡//¥â¡¼¥¿¡¼AB¤òÄä»ß
              Wait(50);
         } else if(SENSOR_3 > BLACK && FastTimer(3) <=40){¡¡//¤·¤­¤¤Ãͤè¤ê¹â¤¤¤«
              OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡0.4É俤俤éÁ°¿Ê
              Wait(5);
         } else if(SENSOR_3 > BLACK && FastTimer(3) >40){¡¡//¤·¤­¤¤Ãͤè¤ê¹â¤¤¤«
              OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡0.4Éðʾå¤Ç¸åÂà¡¡
              Wait(5);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
          }
         }
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­£
  while (FastTimer(3) <=650){¡¡//6.5ÉôÖ³¤±¤ë
       if (SENSOR_3 <= BLACK){¡¡//¤·¤­¤¤Ãͤè¤ê¾®¤µ¤±¤ì¤Ð0.1ÉÃÁ°¿Ê¤·¤¿¸å
            go_forward;¡¡¡¡¡¡¡¡¡¡¡¡£°.£±Éñ¦ÀÞ¤¹¤ë¡£
            Wait(10);¡¡¡¡¡¡¡¡¡¡¡¡
         ¡¡ turn_right;
            Wait(10);
            ClearTimer(0);
      }else if(FastTimer(0) >=100){¡¡¡¡//º¸ÀÞ¤¬£±Éðʾå¤Çuturn
             u_turn;
          ¡¡ ClearTimer(0);
      }else if(FastTimer(0) >40){¡¡¡¡//º¸ÀÞ¤¬0.4Éðʾå¤Ç±¦ÀÞ
             turn_right;              
      }else if(SENSOR_3 > BLACK){       //¤·¤­¤¤Ãͤè¤ê¤âÂ礭¤±¤ì¤Ðº¸ÀÞ   
             turn_left;       
    }
   }  
   Off(OUT_AC);       //¥â¡¼¥¿¡¼ACÄä»ß
   Wait(5);
   u_turn;
   Wait(40);
   ClearTimer(3);
    while (FastTimer(3) <=100){¡¡¡¡//1ÉôÖ³¤±¤ë
        if (SENSOR_3 <= BLACK){¡¡//¤·¤­¤¤Ãͤè¤ê¾®¤µ¤±¤ì¤Ð
              Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡Ää»ß
              Wait(50);¡¡
         } else if(SENSOR_3 > BLACK){¡¡¡¡//¤·¤­¤¤Ãͤè¤êÂ礭¤±¤ì¤Ð
               u_turn;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡uturn
               Wait(10);
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  while (FastTimer(3) <=2400){¡¡//24ÉôÖ³¤±¤ë
       if (SENSOR_3 < BLACK ){¡¡//¤·¤­¤¤ÃͰʲ¼¤À¤ÈÁ°¿Ê
             go_forward;  ¡¡¡¡
                       
           ClearTimer(1);¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼1¤ò¥¼¥í¤Ë¥ê¥»¥Ã¥È
           ClearTimer(0);¡¡¡¡ //¥¿¥¤¥Þ¡¼0¤ò¥¼¥í¤Ë¥ê¥»¥Ã¥È
      }else if(SENSOR_3 > BLACK && FastTimer(1) >=60){¡¡//¤·¤­¤¤ÃͰʾ夫0.6ÉÃ
             n_turn¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¤Çnturn
      }else if(SENSOR_3 > BLACK && FastTimer(0) >=20){  //¤·¤­¤¤ÃͰʾ夫0.2ÉÃ
             turn_left;        ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¤Çº¸ÀÞ
      }else if(SENSOR_3 > BLACK ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤·¤­¤¤ÃͰʾå¤Ç±¦ÀÞ
             turn_right;
    }  
  }
 Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß
 Wait(5);

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    while (FastTimer(3) <=1000){¡¡¡¡//10ÉôÖ³¤±¤ë
       if (SENSOR_3 < BLACK ){
             go_forward;           //Á°¿Ê
           
          ClearTimer(1);¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥Þ¡¼1¤ò¥ê¥»¥Ã¥È
          ClearTimer(0);¡¡¡¡¡¡¡¡  //¥¿¥¤¥Þ¡¼0¤ò¥ê¥»¥Ã¥È
    }else if( FastTimer(1) >=10){¡¡¡¡//±¦ÀÞ¤«¤é0.1Éøåuturn
            u_turn;
    }else if( FastTimer(0) >=70){¡¡//º¸ÀÞ¤«¤é£°.£·Éø屦ÀÞ
            turn_right;  
    }else if(SENSOR_3 > BLACK ){   //¤·¤­¤¤ÃͰʾå¤Çº¸ÀÞ              
            turn_left;
    }   
   }
   Off(OUT_AC);    //Ää»ß
   Wait(5);

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     while (FastTimer(3) <= 800){
       if (SENSOR_3 < BLACK){
          go_forward;
           Wait(10);
           ClearTimer(0);
      }else if(SENSOR_3 > BLACK && FastTimer(0) >=40){
           n_turn;
      }else if(SENSOR_3 > BLACK && FastTimer(0) >=10){
           turn_left;  
      }else if(SENSOR_3 > BLACK){
           turn_right;
 ¡¡¡¡¡¡}
     }



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