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*¥×¥í¥°¥é¥à [#ja822e4d]
**Á´ÂξҲð [#o849cfc6]
***¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë¦ [#se6ab982]
 #define BLACK_high 36 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define BLACK_low 38 //¾¯¤·¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_low 42 //¾¯¤·Çò¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖÇò¤¤¤·¤­¤¤ÃÍ
 #define turn_left_senkai OnRev(OUT_A); OnFwd(OUT_C); //º¸Àû²ó
 #define turn_left_kaiten Off(OUT_A); OnFwd(OUT_C); //º¸Á°¿Ê
 #define turn_right_kaiten OnFwd(OUT_A); Off(OUT_C);	 //±¦Á°¿Ê
 #define turn_right_senkai OnFwd(OUT_A); OnRev(OUT_C); //±¦Àû²ó
 #define go_fwd OnFwd(OUT_AC); //Á°¿Ê
 #define short_break Off(OUT_AC); Wait(100); //¾®µÙ»ß
 #define SHOTBALL OnFwd(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò·â¤Ä
 #define CATCHBALL OnRev(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë
 #define time2 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤é°ì²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define time3 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤éÆó²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define nMAX	300 //¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë´ð½à
 #define STEP 1 //¥é¥¤¥ó¥È¥ì¡¼¥¹»þ¤ÎÂÔ¤Á»þ´Ö   
 task main(){
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 int nOnline=0;
 int nCross=0;
 int counter=0;
 while (nCross < 2) {
 //¸òº¹ÅÀ¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ 
 while (nOnline < nMAX) {
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
  nOnline++;
 } else {
  if (SENSOR_1 < BLACK_low) {
   turn_right_kaiten;
  } else if (SENSOR_1 < WHITE_low) {
   go_fwd;
  } else if (SENSOR_1 < WHITE_high) {
   turn_left_kaiten;
  } else {
   turn_left_senkai;
   }
   nOnline==0;
 }
  Wait(STEP);
 }
 PlaySound(SOUND_UP); //¸òº¹ÅÀ¤ò´¶ÃΤ·¤Æwhile¤«¤éÈ´¤±¤ë
 short_break;
 nCross++;
 nOnline=0;
 }
 turn_left_senkai; 
 Wait(70);
 until(FastTimer(1) > 4500);
 CATCHBALL;
 turn_left_senkai;
 Wait(70);
 while (FastTimer(0) <= time2){ 
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
 } else if (SENSOR_1 < BLACK_low) {
  back_turn_right_kaiten;
 } else if (SENSOR_1 < WHITE_low) {
  go_fwd;
 } else if (SENSOR_1 < WHITE_high) {
  back_turn_left_kaiten;
 } else {
  turn_left_senkai;
 }
  Wait(STEP);
 } 
 nCross=0;
 turn_right_senkai;
 wait(70);
 until(FastTimer(1) > 6000);
 SHOTBALL;
 turn_left_senkai;
 Wait(70); 
 while (nCross < 1){ 
 while (nOnline < nMAX){
  if(SENSOR_1 < BLACK_high){
   turn_right_senkai;
   nOnline++;
  } else { 
   if (SENSOR_1 < BLACK_low){
   turn_right_kaiten;
  } else if (SENSOR_1 < WHITE_low){
   go_fwd
  } else if (SENSOR_1 < WHITE_high){
   turn_left_kaiten;
  } else {
   turn_left_senkai;
   }
 nOnline==0;
 }
  Wait(STEP);
 }
 PlaySound(SOUND_UP);
 short_break;
 nCross++;
 nOnline=0;
 }  
 while (FastTimer(0) <= time2){
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
 } else if (SENSOR_1 < BLACK_low) {
  back_turn_right_kaiten;
 } else if (SENSOR_1 < WHITE_low) {
  go_fwd;
 } else if (SENSOR_1 < WHITE_high) {
  back_turn_left_kaiten;
 } else {
  turn_left_senkai;
 }
  Wait(STEP);
 }  
 turn_right_senkai;
 Wait(70); 
 until(FastTimer(1) > 7500);  
 CATCHBALL;  
 turn_left_senkai;
 Wait(70);
 while(counter < 1){
  while(nOnline < nMAX){ 
   if (SENSOR_1 < 38){
    turn_right_senkai;
    nOnline++;
   } else {
   if (SENSOR_1 < 39){
    turn_right_kaiten;
   } else if (SENSOR_1 < 42){
    go_fwd;
   } else if (SENSOR_1 < 44){
    turn_left_kaiten;
   } else {
    turn_left_senkai;
    }
    }  
  nOnline=0;
  }
 Wait(STEP);
 }
 short_break;
 turn_left_senkai; Wait(150);
 go_rev; Wait(100);
 SHOTBALL;  
 }
 
***¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤·¤Ê¤¤Â¦ [#o71443ca]
 #define BLACK_high 36 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define BLACK_low 38 //¾¯¤·¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_low 42 //¾¯¤·Çò¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖÇò¤¤¤·¤­¤¤ÃÍ
 #define turn_left_senkai OnRev(OUT_A); OnFwd(OUT_C); //º¸Àû²ó
 #define turn_left_kaiten Off(OUT_A); OnFwd(OUT_C); //º¸Á°¿Ê
 #define turn_right_kaiten OnFwd(OUT_A); Off(OUT_C);	 //±¦Á°¿Ê
 #define turn_right_senkai OnFwd(OUT_A); OnRev(OUT_C); //±¦Àû²ó
 #define go_fwd OnFwd(OUT_AC); //Á°¿Ê
 #define short_break Off(OUT_AC); Wait(100); //¾®µÙ»ß
 #define SHOTBALL OnFwd(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò·â¤Ä
 #define CATCHBALL OnRev(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë
 #define TURNSTEP 10	 //²£¤Î¥»¥ó¥µ¡¼¤ò»È¤¦»þ¤Î·«¤êÊÖ¤·¤ÎÂÔ¤Á»þ´Ö
 #define time2 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤é°ì²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define time3 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤éÆó²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define nMAX	300 //¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë´ð½à
 #define STEP 1 //¥é¥¤¥ó¥È¥ì¡¼¥¹»þ¤ÎÂÔ¤Á»þ´Ö
 task main(){
  SetSensor(SENSOR_2,SENSOR_LIGHT);
  int nOnline=0;
  int nCross=0;
 ClearTimer(0);
   while(nCross <= 1){
   while(nOnline < nMAX){
     if(SENSOR_1 < BLACK_high){ 
	turn_left_senkai ;
	nOnline++ ;
    } else if(SENSOR_2 < BLACK_low){
	turn_left_kaiten;
    } else if(SENSOR_2 < WHITE_low){
	go_fwd;
    } else if(SENSOR_2 < WHITE_high){
	turn_right_kaiten;
    } else {
	turn_right_senkai;
     } 
   }
  nOnline == 0;
  nCross ++;
  short_break;
  cross_line;
  }
  nCross=0;
  go_fwd;
  Wait(500);
  OnRev(OUT_A);
  OnFwd(OUT_C);
  Wait(100);    //¥Ü¡¼¥ë¤Ë¸þ¤¯  
  CATCHBALL;
  OnFwd(OUT_AC);
  Wait(200);   //¥Ü¡¼¥ë¤ò¼è¤ë
  until(SENSOR_1 < BLACK_low){
    turn_left_kaiten;
  }                //¥³¡¼¥¹¤ËÌá¤ë
  while(nCross <= 1){
    if(SENSOR_1 < BLACK_high){
	turn_left_senkai;
	nOnline ++;
    } else if(SENSOR_2 < BLACK_low){
	turn_left_kaiten;
    } else if(SENSOR_2 < WHITE_low){
	go_fwd;
    } else if(SENSOR_2 < WHITE_high){
	turn_right_kaiten;
    } else {
	turn_right_senkai;
     } 
   }
 nCross=0;
 turn_left_senkai;
 Wait(70);
 until(FastTimer(1) > 4500);
 SHOTBALL;
 turn_right_senkai;
 Wait(70);
  while(nCross <= 1){
    if(SENSOR_1 < BLACK_high){
	turn_left_senkai;
	nOnline ++;
    } else if(SENSOR_2 < BLACK_low){
	turn_left_kaiten;
    } else if(SENSOR_2 < WHITE_low){
	go_fwd;
    } else if(SENSOR_2 < WHITE_high){
	turn_right_kaiten;
    } else {
	turn_right_senkai;
     } 
   }
 nCross=0; 
 while (FastTimer(0) <= time2){ 
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
 } else if (SENSOR_1 < BLACK_low) {
  back_turn_right_kaiten;
 } else if (SENSOR_1 < WHITE_low) {
  go_fwd;
 } else if (SENSOR_1 < WHITE_high) {
  back_turn_left_kaiten;
 } else {
  turn_left_senkai;
 }
  Wait(STEP);
 }
 turn_left_senkai;
 Wait(70);
 until(FastTimer(1) > 6000);
 CATCHBALL;
 turn_right_senkai;
 Wait(70);
 while (nCross < 1){ 
  while (nOnline < nMAX){
  if(SENSOR_1 < BLACK_high){
   turn_right_senkai;
   nOnline++;
  } else { 
   if (SENSOR_1 < BLACK_low){
   turn_right_kaiten;
  } else if (SENSOR_1 < WHITE_low){
   go_fwd
  } else if (SENSOR_1 < WHITE_high){
   turn_left_kaiten;
  } else {
   turn_left_senkai;
   }
 nOnline==0;
 }
  Wait(STEP);
 }
 PlaySound(SOUND_UP);
 short_break;
 nCross++;
 nOnline=0;
 }
 turn_left_senkai;
 Wait(70);
 until(FastTimer(1) > 7500); 
 SHOTBALL; 
 }  


**¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë¦¤ÎºÙ¤«¤ÊÀâÌÀ [#oc4badff]
***ÄêµÁ [#fa647009]
 #define BLACK_high 36 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define BLACK_low 38 //¾¯¤·¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_low 42 //¾¯¤·Çò¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖÇò¤¤¤·¤­¤¤ÃÍ
 #define turn_left_senkai OnRev(OUT_A); OnFwd(OUT_C); //º¸Àû²ó
 #define turn_left_kaiten Off(OUT_A); OnFwd(OUT_C); //º¸Á°¿Ê
 #define turn_right_kaiten OnFwd(OUT_A); Off(OUT_C);	 //±¦Á°¿Ê
 #define turn_right_senkai OnFwd(OUT_A); OnRev(OUT_C); //±¦Àû²ó
 #define go_fwd OnFwd(OUT_AC); //Á°¿Ê
 #define short_break Off(OUT_AC); Wait(100); //¾®µÙ»ß
 #define SHOTBALL OnFwd(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò·â¤Ä
 #define CATCHBALL OnRev(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë
 #define time2 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤é°ì²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define time3 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤éÆó²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define nMAX	300 //¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë´ð½à
 #define STEP 1 //¥é¥¤¥ó¥È¥ì¡¼¥¹»þ¤ÎÂÔ¤Á»þ´Ö   
~
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***¥¹¥¿¡¼¥È¤«¤éÂè°ì¤Î¥Ñ¥¹ [#e200f31d]

 task main(){
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 int nOnline=0;
 int nCross=0;
 int counter=0;
 while (nCross < 2) {
 //¸òº¹ÅÀ¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ 
 while (nOnline < nMAX) {
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
  nOnline++;
 } else {
  if (SENSOR_1 < BLACK_low) {
   turn_right_kaiten;
  } else if (SENSOR_1 < WHITE_low) {
   go_fwd;
  } else if (SENSOR_1 < WHITE_high) {
   turn_left_kaiten;
  } else {
   turn_left_senkai;
   }
   nOnline==0;
 }
  Wait(STEP);
 }
 PlaySound(SOUND_UP); //¸òº¹ÅÀ¤ò´¶ÃΤ·¤Æwhile¤«¤éÈ´¤±¤ë
 short_break;
 nCross++;
 nOnline=0;
 }
 turn_left_senkai; 
 Wait(70);
 until(FastTimer(1) > 4500);
 CATCHBALL;
 turn_left_senkai;
 Wait(70);
~
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***Âè°ì¥Ñ¥¹¤«¤éÂèÆó¥Ñ¥¹ [#x6eebfdc]
 while (nCross < 1){ 
 while (nOnline < nMAX){
 if(SENSOR_1 < BLACK_high){
  turn_right_senkai;
  nOnline++;
 } else { 
  if (SENSOR_1 < BLACK_low){
   turn_right_kaiten;
  } else if (SENSOR_1 < WHITE_low){
   go_fwd
  } else if (SENSOR_1 < WHITE_high){
   turn_left_kaiten;
  } else {
   turn_left_senkai;
   }
   nOnline==0;
   }
   Wait(STEP);
  }
 PlaySound(SOUND_UP);
 short_break;
 nCross++;
 nOnline=0;
 }
 while (FastTimer(0) <= time2){ 
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
 } else if (SENSOR_1 < BLACK_low) {
  back_turn_right_kaiten;
 } else if (SENSOR_1 < WHITE_low) {
  go_fwd;
 } else if (SENSOR_1 < WHITE_high) {
  back_turn_left_kaiten;
 } else {
  turn_left_senkai;
 }
  Wait(STEP);
 } 
 nCross=0;
 turn_right_senkai;
 wait(70);
 until(FastTimer(1) > 6000);
 SHOTBALL;
 turn_left_senkai;
 Wait(70); 
~
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***ÂèÆó¥Ñ¥¹¤«¤éÂè»°¥Ñ¥¹ [#r3994544]
 while (nCross < 1){ 
 while (nOnline < nMAX){
  if(SENSOR_1 < BLACK_high){
   turn_right_senkai;
   nOnline++;
  } else { 
   if (SENSOR_1 < BLACK_low){
   turn_right_kaiten;
  } else if (SENSOR_1 < WHITE_low){
   go_fwd
  } else if (SENSOR_1 < WHITE_high){
   turn_left_kaiten;
  } else {
   turn_left_senkai;
   }
 nOnline==0;
 }
  Wait(STEP);
 }
 PlaySound(SOUND_UP);
 short_break;
 nCross++;
 nOnline=0;
 }  
 while (FastTimer(0) <= time2){
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
 } else if (SENSOR_1 < BLACK_low) {
  back_turn_right_kaiten;
 } else if (SENSOR_1 < WHITE_low) {
  go_fwd;
 } else if (SENSOR_1 < WHITE_high) {
  back_turn_left_kaiten;
 } else {
  turn_left_senkai;
 }
  Wait(STEP);
 }  
 turn_right_senkai;
 Wait(70); 
 until(FastTimer(1) > 7500);  
 CATCHBALL;  
 turn_left_senkai;
 Wait(70);
~
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***Âè»°¥Ñ¥¹¤«¤é¥·¥å¡¼¥È [#xca79d27]
 while(counter < 1){
  while(nOnline < nMAX){ 
   if (SENSOR_1 < 38){
    turn_right_senkai;
    nOnline++;
   } else {
   if (SENSOR_1 < 39){
    turn_right_kaiten;
   } else if (SENSOR_1 < 42){
    go_fwd;
   } else if (SENSOR_1 < 44){
    turn_left_kaiten;
   } else {
    turn_left_senkai;
    }
    }  
  nOnline=0;
  }
 Wait(STEP);
 }
 short_break;
 turn_left_senkai; Wait(150);
 go_rev; Wait(100);
 SHOTBALL;  
 }
~
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¸å¤í¤Ë²¼¤¬¤ë¤Î¤Ïµ¬Äê¤Ë¡ÖÎؤÎÃæ¤ËÆþ¤Ã¤¿¾õÂ֤ǥ·¥å¡¼¥È¤ò¤·¤Æ¤Ï¤¤¤±¤Ê¤¤¡×¤È¤¢¤ë¤«¤é¤Ç¤¹¡£~

**¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤ÎºÙ¤«¤ÊÀâÌÀ [#s01974ff]
***ÄêµÁ [#xcb8f087]
 #define BLACK_high 36 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define BLACK_low 38 //¾¯¤·¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_low 42 //¾¯¤·Çò¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖ¹õ¤¤¤·¤­¤¤ÃÍ
 #define WHITE_high 44 //°ìÈÖÇò¤¤¤·¤­¤¤ÃÍ
 #define turn_left_senkai OnRev(OUT_A); OnFwd(OUT_C); //º¸Àû²ó
 #define turn_left_kaiten Off(OUT_A); OnFwd(OUT_C); //º¸Á°¿Ê
 #define turn_right_kaiten OnFwd(OUT_A); Off(OUT_C);	 //±¦Á°¿Ê
 #define turn_right_senkai OnFwd(OUT_A); OnRev(OUT_C); //±¦Àû²ó
 #define go_fwd OnFwd(OUT_AC); //Á°¿Ê
 #define short_break Off(OUT_AC); Wait(100); //¾®µÙ»ß
 #define SHOTBALL OnFwd(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò·â¤Ä
 #define CATCHBALL OnRev(OUT_B); Wait(500); //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë
 #define TURNSTEP 10	 //²£¤Î¥»¥ó¥µ¡¼¤ò»È¤¦»þ¤Î·«¤êÊÖ¤·¤ÎÂÔ¤Á»þ´Ö
 #define time2 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤é°ì²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define time3 10 //¥·¥å¡¼¥È¤·¤Ê¤¤Â¦¤¬¸òº¹ÅÀ¤«¤éÆó²óÌܤËÁ°¿Ê¤¹¤ë»þ´Ö
 #define nMAX	300 //¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë´ð½à
 #define STEP 1 //¥é¥¤¥ó¥È¥ì¡¼¥¹»þ¤ÎÂÔ¤Á»þ´Ö
~
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***¥¹¥¿¡¼¥È¤«¤é¥Ü¡¼¥ë¤ò¼è¤ë¤Þ¤Ç [#p983ccd5]

 task main(){
  SetSensor(SENSOR_2,SENSOR_LIGHT);
  int nOnline=0;
  int nCross=0;
 ClearTimer(0);
   while(nCross <= 1){
   while(nOnline < nMAX){
     if(SENSOR_1 < BLACK_high){ 
	turn_left_senkai ;
	nOnline++ ;
    } else if(SENSOR_2 < BLACK_low){
	turn_left_kaiten;
    } else if(SENSOR_2 < WHITE_low){
	go_fwd;
    } else if(SENSOR_2 < WHITE_high){
	turn_right_kaiten;
    } else {
	turn_right_senkai;
     } 
   }
  nOnline == 0;
  nCross ++;
  short_break;
  cross_line;
  }
  nCross=0;
  go_fwd;
  Wait(500);
  OnRev(OUT_A);
  OnFwd(OUT_C);
  Wait(100);    //¥Ü¡¼¥ë¤Ë¸þ¤¯  
  CATCHBALL;
  OnFwd(OUT_AC);
  Wait(200);   //¥Ü¡¼¥ë¤ò¼è¤ë
~
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***¥Ü¡¼¥ë¤ò¼è¤Ã¤Æ¤«¤éÂè°ì¥Ñ¥¹¤Þ¤Ç [#g6ff842b]
  until(SENSOR_1 < BLACK_low){
    turn_left_kaiten;
  }                //¥³¡¼¥¹¤ËÌá¤ë
  while(nCross <= 1){
    if(SENSOR_1 < BLACK_high){
	turn_left_senkai;
	nOnline ++;
    } else if(SENSOR_2 < BLACK_low){
	turn_left_kaiten;
    } else if(SENSOR_2 < WHITE_low){
	go_fwd;
    } else if(SENSOR_2 < WHITE_high){
	turn_right_kaiten;
    } else {
	turn_right_senkai;
     } 
   }
 nCross=0;
 turn_left_senkai;
 Wait(70);
 until(FastTimer(1) > 4500);
 SHOTBALL;
 turn_right_senkai;
 Wait(70);
~
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***Âè°ì¥Ñ¥¹¤«¤éÂèÆó¥Ñ¥¹ [#m3639805]
 while (FastTimer(0) <= time2){ 
 if(SENSOR_1 < BLACK_high) {
  turn_right_senkai;
 } else if (SENSOR_1 < BLACK_low) {
  back_turn_right_kaiten;
 } else if (SENSOR_1 < WHITE_low) {
  go_fwd;
 } else if (SENSOR_1 < WHITE_high) {
  back_turn_left_kaiten;
 } else {
  turn_left_senkai;
 }
  Wait(STEP);
 }
 turn_left_senkai;
 Wait(70);
 until(FastTimer(1) > 6000);
 CATCHBALL;
 turn_right_senkai;
 Wait(70);
~
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***ÂèÆó¥Ñ¥¹¤«¤éÂè»°¥Ñ¥¹ [#q41cab41]
 while (nCross < 1){ 
  while (nOnline < nMAX){
  if(SENSOR_1 < BLACK_high){
   turn_right_senkai;
   nOnline++;
  } else { 
   if (SENSOR_1 < BLACK_low){
   turn_right_kaiten;
  } else if (SENSOR_1 < WHITE_low){
   go_fwd
  } else if (SENSOR_1 < WHITE_high){
   turn_left_kaiten;
  } else {
   turn_left_senkai;
   }
 nOnline==0;
 }
  Wait(STEP);
 }
 PlaySound(SOUND_UP);
 short_break;
 nCross++;
 nOnline=0;
 }
 turn_left_senkai;
 Wait(70);
 until(FastTimer(1) > 7500); 
 SHOTBALL; 
 }  
~
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