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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#e15a1eb1]
 #define off Off(OUT_BC);
 #define TURN_TIME 500 //1/4²óž¤Î»þ´Ö
 #define BLACK 31 //²¼¸Â
 #define WHITE 62 //¾å¸Â
 #define go OnFwd(OUT_BC,);
 #define left OnFwd(OUT_B,35);Off(OUT_C);
 #define right OnFwd(OUT_C,35);Off(OUT_B);
 #define THRESHOLD 46
 #define lleft OnFwd(OUT_B,35);OnRev(OUT_C,35); 
 #define rright OnFwd(OUT_C,35);OnRev(OUT_B,35);
  
    
  task main()
 {
   SetSensorLight(S1);
   int n=0;
   long t0 = CurrentTick();
   long t1 = CurrentTick();
   
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 while(CurrentTick()-t0 <= 5350)
          {

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       if (SENSOR_1 < 35){OnFwd(OUT_B,20);Off(OUT_C);}
       else {if(SENSOR_1 < 42){OnFwd(OUT_B,20);OnRev(OUT_C,20); } 
       else if (SENSOR_1 < 50){OnFwd(OUT_BC,20);}
       else {OnFwd(OUT_C,20);Off(OUT_B);}
         
               }
     }
  
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   while (true)
   {
           
       while(CurrentTick()-t1 <= 43500)
            {
         while(n<5000)
        {
        if (SENSOR_1 < 35){left;n++; }
        else {if(SENSOR_1 < 42){lleft} 
        else if (SENSOR_1 < 50){go}
        else if (SENSOR_1 < 56){right}
        else {rright}
        n=0;
             }
         }
         Wait(1000);
         rright;
         Wait(5000);
         go
         Wait(200);
         n=0;
            }
 
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      off
      Wait(500);
      OnFwd(OUT_C,25);OnRev(OUT_B,25);
      Wait(1100);
      off
      Wait(500);
      OnRev(OUT_BC,30);
      Wait(900);
      off
      rright
      Wait(1000);

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      while(true)
          {
        if (SENSOR_1 < 35){left}
        else {if(SENSOR_1 < 42){lleft} 
        else if (SENSOR_1 < 50){go}
        else  {right}
             }
          }

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   }
 }
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