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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#kd73bee5]
 #define THRESHOLD 45
 #define HIPOWER 7
 #define LOWPOWER 3
 #define set_power_H SetPower(OUT_AC,HIPOWER);
 #define set_power_L SetPower(OUT_AC,LOWPOWER);
 #define set_power_N SetPower(OUT_B,LOWPOWER);
 #define go_fwd set_power_H; OnFwd(OUT_AC);
 #define arm_fwd set_power_N; OnFwd(OUT_B);Wait(30);Off(OUT_B);
 #define arm_bwd set_power_N; OnRev(OUT_B);Wait(30);Off(OUT_B);
 #define turn_left1 set_power_L ;OnFwd(OUT_C);OnRev(OUT_A);
 #define turn_left0 set_power_L ;\
   OnFwd(OUT_C);Off(OUT_A);
 #define turn_right0 set_power_L ;\
   OnFwd(OUT_A);Off(OUT_C);
 #define turn_right1 set_power_L ;\
   OnFwd(OUT_A);OnRev(OUT_C);
 #define STEP 1
 #define nMAX 200
 #define short_break Off(OUT_AC); Wait(100);
 #define CROSS_TIME 300
 #define cross_line set_power_L;\
  OnFwd(OUT_A);OnRev(OUT_C);\
    Wait(CROSS_TIME);short_break;

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 task main () {

*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#kd73bee5]
	SetSensor(SENSOR_2, SENSOR_LIGHT);
	int nOnline=0;
	ClearTimer(0);

  while(FastTimer(0)<=600){
   while(nOnline < nMAX && FastTimer(0)<=600){
     
    if(SENSOR_2< THRESHOLD -13) {
       turn_left1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -11){
      turn_left0;
    }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
    }else if(SENSOR_2< THRESHOLD -1){
      turn_right0;
    }else{
       turn_right1;
     }
     nOnline=0;
     }
     Wait(STEP);
    }
  }
	arm_fwd;
	PlaySound(SOUND_CLICK);

 while(FastTimer(0)<=1600){
   while(nOnline < nMAX && FastTimer(0)<=1600){
    if(SENSOR_2< THRESHOLD -13) {
       turn_left1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -11){
      turn_left0;
    }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
    }else if(SENSOR_2< THRESHOLD -1){
      turn_right0;
    }else{
       turn_right1;
     }
     nOnline=0;
     }
     Wait(STEP);
    } 
  }

	PlaySound(SOUND_DOUBLE_BEEP);
	ClearTimer(0);
	turn_right1;
	Wait(10);
	arm_fwd;

 while(FastTimer(0)<=1200){
   while(nOnline < nMAX && FastTimer(0)<=1200){
  
   
    if(SENSOR_2< THRESHOLD -15) {
       turn_right1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -13){
      turn_right0;
    }else if(SENSOR_2< THRESHOLD -7){
     go_fwd;
    }else if(SENSOR_2< THRESHOLD +2){
      turn_left0;
    }else{
       turn_left1;
     }
     nOnline=0;
     }
     Wait(STEP);
     }
  } 
	PlaySound(SOUND_DOWN); 
	turn_left1;
	Wait(10);
	arm_fwd;

  while(FastTimer(0)<=2000){
   while(nOnline < nMAX && FastTimer(0)<=2000){
    if(SENSOR_2< THRESHOLD -13) {
       turn_left1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -11){
      turn_left0;
    }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
    }else if(SENSOR_2< THRESHOLD -1){
      turn_right0;
    }else{
       turn_right1;
     }
     nOnline=0;
     }
     Wait(STEP);
    }
  }
	PlaySound(SOUND_LOW_BEEP);
	turn_right1;
	Wait(20);
	arm_fwd;

  while(FastTimer(0)<=2900){
   while(nOnline < nMAX && FastTimer(0)<=2900){
    if(SENSOR_2< THRESHOLD -15) {
       turn_right1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -13){
      turn_right0;
    }else if(SENSOR_2< THRESHOLD -7){
    go_fwd;
    }else if(SENSOR_2< THRESHOLD +2){
      turn_left0;
    }else{
       turn_left1;
     }
     nOnline=0;
     }
     Wait(STEP);
     } 
   } 
	PlaySound(SOUND_FAST_UP);
	arm_fwd;

  while(FastTimer(0)<=4500){
   while(nOnline < nMAX && FastTimer(0)<=4500){
    if(SENSOR_2< THRESHOLD -13) {
       turn_right1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -11){
      turn_right0;
    }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
    }else if(SENSOR_2< THRESHOLD -1){
      turn_left0;
    }else{
       turn_left1;
     }
     nOnline=0;
     }
     Wait(STEP);
    }
   }  
	PlaySound(SOUND_DOUBLE_BEEP);
	turn_left1; Wait(275);
	arm_bwd;
	OnRev(OUT_AC); Wait(100);
	turn_left1; Wait(275);

  while(FastTimer(0)<=5500){
   while(nOnline < nMAX && FastTimer(0)<=5500){
    if(SENSOR_2< THRESHOLD -13) {
       turn_left1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -11){
      turn_left0;
    }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
    }else if(SENSOR_2< THRESHOLD -1){
      turn_right0;
    }else{
       turn_right1;
     }
     nOnline=0;
     }
     Wait(STEP);
    }
	short_break;
	turn_right1;Wait(nMAX*STEP);
	cross_line;
	nOnline=0;
    }
 }
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