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#define set_power_L SetPower(OUT_AC,LOWPOWER); #define go_fwd set_power_H; OnFwd(OUT_AC); #define turn_left1 set_power_L; Off(OUT_A); OnFwd(OUT_C);¡¡//º¸¤Ë¶Ê¤¬¤ë #define turn_right1 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦¤Ë¶Ê¤¬¤ë #define turn_left2 set_power_H; OnRev(OUT_A); OnFwd(OUT_C);¡¡//º¸¤ËÀû²ó #define turn_right2 set_power_H; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦¤ËÀû²ó #define STEP 1 #define nMAX 4 #define short_break Off(OUT_AC); Wait(100); #define CROSS_TIME 30¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëºÝ¤Ë¿Ê¤à»þ´Ö #define cross_line set_power_L; OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;¡¡//¸òº¹ÅÀ¤ò¶Ê¤¬¤ëÆ°ºî #define time1 1000 #define time2 500 #define time3 2000 task main() { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); int nOnline=0; int nCloss=0; //¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¿ô ClearTimer(0); if(SENSOR_2 == 0) { OnRev(OUT_B); } while(FastTimer(0) <= time1){ if(SENSOR_2 == 1){ OnFwd(OUT_B); } if(SENSOR_1 < BLACK1) { turn_right2; } else if (SENSOR_1 < BLACK2) { turn_right1; } else if (SENSOR_1 < WHITE1) { go_fwd; } else if (SENSOR_1 < WHITE2) { turn_left1; } else { turn_left2; } Wait(STEP); } PlaySound(SOUND_LOW_BEEP); while(nCloss <= 0) { while(nOnline < nMAX){ if(SENSOR_1 < BLACK1) { turn_right2; nOnline++; } else { if (SENSOR_1 < BLACK2) { turn_right1; } else if (SENSOR_1 < WHITE1) { go_fwd; } else if (SENSOR_1 < WHITE2) { turn_left1; } else { turn_left2; } nOnline=0; } Wait(STEP); } PlaySound(SOUND_UP); short_break; turn_left1; Wait(nMAX*STEP); cross_line; nCloss++; nOnline=0; } }¡¡//°ìÅÙ¸òº¹ÅÀ¤ò¶Ê¤¬¤Ã¤¿¤éÎؤÎÆ⦤Ǥθòº¹ÅÀ¸íǧ¼±¤òËɤ°¤¿¤á¤·¤Ð¤é¤¯¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¤ß ClearTimer(0);¡¡//¤³¤³¤Ç¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Æ»þ´Ö¤Î¥º¥ì¤ò¸º¤é¤·¤¿¤¤ PlaySound(SOUND_LOW_BEEP); while(FastTimer(0) <= time2){ } if(SENSOR_1 < BLACK1) { turn_right2; } else if (SENSOR_1 < BLACK2) { turn_right1; } else if (SENSOR_1 < WHITE1) { go_fwd; } else if (SENSOR_1 < WHITE2) { turn_left1; } else { turn_left2; } Wait(STEP); } PlaySound(SOUND_LOW_BEEP); while((nCloss > 0)&&(nCloss <= 4)) { while(nOnline < nMAX){ if(SENSOR_1 < BLACK1) { turn_right2; nOnline++; } else { if (SENSOR_1 < BLACK2) { turn_right1; } else if (SENSOR_1 < WHITE1) { go_fwd; } else if (SENSOR_1 < WHITE2) { turn_left1; } else { turn_left2; } nOnline=0; } Wait(STEP); } PlaySound(SOUND_UP); short_break; turn_left1; Wait(nMAX*STEP); cross_line; nCloss++; nOnline=0; } }¡¡//¤³¤³¤«¤é¤Ï¸òº¹ÅÀ¤ò¶Ê¤¬¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌ᤹ ClearTimer(0);////¤³¤³¤Ç¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¤Æ»þ´Ö¤Î¥º¥ì¤ò¸º¤é¤·¤¿¤¤ PlaySound(SOUND_LOW_BEEP); while(FastTimer(0) <= time3){ } if(SENSOR_1 < BLACK1) { turn_right2; } else if (SENSOR_1 < BLACK2) { turn_right1; } else if (SENSOR_1 < WHITE1) { go_fwd; } else if (SENSOR_1 < WHITE2) { turn_left1; } else { turn_left2; } Wait(STEP); }// ´Ì¤ò¤ª¤¯¤È¤³¤í¤Þ¤Ç»þ´Ö¤Ç»ØÄê PlaySound(SOUND_LOW_BEEP); Off(OUT_AC); //´Ì¤òÃÖ¤¯Æ°ºî Wait(100); OnFwd(OUT_A); OnRev(OUT_C); Wait(150); Off(OUT_AC); OnRev(OUT_B); OnRev(OUT_AC); Wait(200); OnFwd(OUT_A); OnRev(OUT_C); Wait(150); PlaySound(SOUND_LOW_BEEP); while(true){¡¡¡¡¡¡//¤³¤³¤«¤é¥´¡¼¥ë¤Þ¤Ç¤Ï¸òº¹ÅÀ¤Ê¤·¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ } if(SENSOR_1 < BLACK1) { turn_right2; 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