[[2012b]]
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	#define go OnFwd(OUT_AC);
	#define back OnRev(OUT_AC);
	#define turn_left Off(OUT_A); OnFwd(OUT_C); Wait(50); Off(OUT_C);
	#define turn_right Off(OUT_C); OnFwd(OUT_A); Wait(50); Off(OUT_A);
	#define left SetPower(OUT_A, 2); SetPower(OUT_C, 3); OnRev(OUT_A); OnFwd(OUT_C);
	#define right SetPower(OUT_A, 3); SetPower(OUT_C, 2); OnFwd(OUT_A); Off(OUT_C);
	#define senkai_l OnFwd(OUT_C); Wait(10); Off(OUT_C);
	#define THRESHOLD 46
	#define STEP 1
	#define Catch OnFwd(OUT_B); Wait(50); Off(OUT_B);
	#define parge OnRev(OUT_B); Wait(50); OnFwd(OUT_AC); Wait(30); Off(OUT_AC); OnRev(OUT_AC); Wait(20); Off(OUT_ABC);



	task main ()
	{
	{
	OnRev(OUT_B);
	Wait(10);
	Catch;
//¥Ô¥ó¥Ý¥óµå¤ò¥­¥ã¥Ã¥Á¤·¡¢¥é¥¤¥ó¤È¥ì¡¼¥¹¤ËÆþ¤ëÁ°¤ÎÃʳ¬¤Þ¤Ç¤ò¤³¤³¤Ç´°Î»¡£°Ê²¼¤«¤éº¸¤Ë±è¤Ã¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ë¡£
	
	SetSensor(SENSOR_1, SENSOR_LIGHT);
	ClearTimer(0);
	
	while(FastTimer(0) <= 700)
	{
		if(SENSOR_1 < THRESHOLD)
		{
			left;
		}
		else
		{
			right;
		}
		Wait(STEP);
		
	}
	
	right; Wait(50);
	ClearTimer(1);
	
	while(FastTimer(1) <= 1500 )
	{
		if(SENSOR_1 < THRESHOLD)
		{
			right;
		}
		else
		{
			left;
		}
		Wait(STEP);
		
	}
	ClearTimer(2);
	while(FastTimer(2) <= 1400 )
	{
		SetPower(OUT_AC, 2);
	
		if(SENSOR_1 < THRESHOLD)
		{
			left;
		}
		else
		{
			right;
		}
	//		Wait(STEP);
	}
	parge;
	}

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