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 #define left_kuro 28  //º¸Â¦¤Î¸÷¥»¥ó¥µ¤¬¹õ¤È¤ß¤Ê¤¹ºÇÂç¤ÎÃÍ
 #define right_kuro 34  //±¦Â¦¤Î¸÷¥»¥ó¥µ¤¬¹õ¤È¤ß¤Ê¤¹ºÇÂç¤ÎÃÍ
 #define left_sen 38  //±¦Â¦¤Î¸÷¥»¥ó¥µ¤¬Àþ¾å¤È¤ß¤Ê¤¹ÃÍ
 #define right_sen 43  //º¸Â¦¤Î¸÷¥»¥ó¥µÀþ¾å¤È¤ß¤Ê¤¹ÃÍ
 #define sekkin 40  //´Ì¤¬Àܶᤷ¤¿¤È¤­¤ÎÃÍ
 #define HIPOWER 7  //¶¯¤¤ÎÏ
 #define LOWPOWER 5  //¼å¤¤ÎÏ
 #define set_power_H SetPower(OUT_AC,HIPOWER);  //¥â¡¼¥¿¡¼¤ò¶¯¤¤ÎϤËÀßÄê
 #define set_power_L SetPower(OUT_AC,LOWPOWER);  //¥â¡¼¥¿¡¼¤ò¼å¤¤ÎϤËÀßÄê
 #define senkai_left set_power_L;OnRev(OUT_A);OnFwd(OUT_C);  //º¸Àû²ó
 #define senkai_right set_power_L;OnRev(OUT_C);OnFwd(OUT_A);  //±¦Àû²ó
 #define go_forward set_power_H;OnFwd(OUT_AC);  //Á°¿Ê
 #define back set_power_L;OnRev(OUT_AC);  //¸åÂà
 #define CROSS(t,p,q)  set_power_L;go_forward;Wait(t);senkai_left;Wait(p);senkai_left;Wait(q);  //T»úÏ©¤ä¸òº¹ÅÀ¤òÅϤë»þ¤Î¥×¥í¥°¥é¥à
 #define STEP 1  //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÇȽÃǤµ¤ì¤¿Æ°ºî¤ò10¥ß¥êÉôÖ³¤±¤ë¡£
 #define SAIDAI 3  //T»úÏ©¤ä¸òº¹ÅÀÉÕ¶á¤Ç¡¢¤¢¤ë¾õ¶·¤ò£³²ó³¤±¤Æ´¶ÃΤ·¤¿¤éT»úÏ©¡¦¸òº¹ÅÀ¤ÈȽÃÇ
 #define short_break Off(OUT_AC);Wait(80);  //¾®µÙ·Æ
 #define counter3 PlaySound(SOUND_CLICK);  //¸òº¹ÅÀ¤òÅϤëÁ°¤Ë3²óÌĤ餹
 #define GO 1  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤«¤é¤³¤Î¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤­¤¿¤é¤³¤ÎRCX¤Î¥×¥í¥°¥é¥à¤¬ºÆ»ÏÆ°¤¹¤ë
 #define HOLD 2  //1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
 #define TUMU_UP 3  //1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤߤ½¤Î¸å2¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
 #define TUMU 4  //1¡¦2Ìܤδ̤ò3¤ÄÌܤδ̤ËÀѤß3¤ÄÌܤδ̤ò¶´¤àÆ°ºî¤ò¡¢¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
 #define HASAMI 5  //¥Ï¥µ¥ß¤ò¹­¤²¤ëÆ°ºî¤ò¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤ËÌ¿Î᤹¤ë¥á¥Ã¥»¡¼¥¸
 
 
 sub line_race()  //ÉáÄ̤ιõÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
 {
 if(SENSOR_1<=left_kuro){
 	if(SENSOR_3<=right_kuro){go_forward;}
	else if(SENSOR_3<=right_sen){senkai_left;}
	else{senkai_left;}
	}
 else if(SENSOR_1<=left_sen){
	if(SENSOR_3<=right_kuro){senkai_right;}   
	else if(SENSOR_3<=right_sen){go_forward;}
	else{senkai_left;}
	}
 else{
	if(SENSOR_3<=right_kuro){senkai_right;}   
	else if(SENSOR_3<=right_sen){senkai_right;}
	else{go_forward;}
	}
 Wait(STEP);
 }
 
 sub before_cross_line_1()  //T»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
 {
 int nOnline=0; 
 
 while (nOnline < SAIDAI){
	if(SENSOR_3<=right_kuro){
		if(SENSOR_1<=left_kuro){go_forward;}
		else if(SENSOR_1<=left_sen){senkai_right;}
		else{senkai_right;}
		nOnline++;
		}
	else{
		if(SENSOR_3<=right_sen){
			if(SENSOR_1<=left_kuro){senkai_left;}   
			else if(SENSOR_1<=left_sen){go_forward;}
			else{senkai_right;}
        		}
		else{
			if(SENSOR_1<=left_kuro){senkai_left}   
			else if(SENSOR_1<=left_sen){senkai_left;}
			else{go_forward;}
			}
		nOnline=0;}
	Wait(STEP);
 }            
 }
 
 sub before_cross_line_2()  //T»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
 {
 int nOnline=0; 
 
 while (nOnline < SAIDAI){
	if(SENSOR_1<=left_kuro){
		if(SENSOR_3<=right_kuro){go_forward;}
		else if(SENSOR_3<=right_sen){senkai_left;}
		else{senkai_left;}
		nOnline++;
		}
	else{
		if(SENSOR_1<=left_sen){
			if(SENSOR_3<=right_kuro){senkai_right;}   
			else if(SENSOR_3<=right_sen){go_forward;}
			else{senkai_left;}
			}
		else{
			if(SENSOR_3<=right_kuro){senkai_right;}   
			else if(SENSOR_3<=right_sen){senkai_right;}
			else{go_forward;}
			}
		nOnline=0;}
	Wait(STEP);
 }               
 }
 
 
 sub before_cross_line_3()  //T»úÏ©or½½»úÏ©ÉÕ¶á¤Î¹õÀþ¤òÁö¤ë¥×¥í¥°¥é¥à
 {
 int nOnline=0; 
 while (nOnline < SAIDAI){
	if(SENSOR_1<=left_kuro&&SENSOR_3<=right_kuro){go_forward;nOnline++;}
	else if(SENSOR_1<=left_sen&&SENSOR_3<=right_sen){go_forward;nOnline++;}
	else if(SENSOR_1<=left_kuro){
		if(SENSOR_3<=right_sen){senkai_left;}
		else{senkai_left;}
		nOnline==0;
		}
	else if(SENSOR_1<=left_sen){
		if(SENSOR_3<=right_kuro){senkai_right;}   
		else{senkai_left;}
		nOnline==0;
		}
	else{
		if(SENSOR_3<=right_kuro){senkai_right;}   
		else if(SENSOR_3<=right_sen){senkai_right;}
		else{go_forward;}
		nOnline==0;
		}
	Wait(STEP);
 } 
 }
 
 
 task main(){
 
 
 SetSensor(SENSOR_1,SENSOR_LIGHT);//º¸Â¦¤Î¸÷¥»¥ó¥µ¡¼
 SetSensor(SENSOR_2,SENSOR_LIGHT);//´Ì¤ÎȽÃÇÍѸ÷¥»¥ó¥µ¡¼
 SetSensor(SENSOR_3,SENSOR_LIGHT);//±¦Â¦¤Î¸÷¥»¥ó¥µ¡¼
 int nCross=0;
 
 while(nCross<=8){
	if(nCross==0){
		senkai_right;Wait(50);
		go_forward;
		until(SENSOR_3<=left_sen);
		senkai_left;Wait(60);  //¤³¤³¤Ç¥é¥¤¥ó¤Î¾å¤Ë¾è¤Ã¤«¤ë
		while(SENSOR_2>=sekkin){line_race();}
		Off(OUT_AC);                                          
		while(Message() != GO){SendMessage(HOLD);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤ò¤Ä¤«¤à¡õ¾å¤Ë»ý¤Á¾å¤²¤ë
		senkai_left;Wait(410);
		nCross++;
		}
 
	else if(nCross==1){
		while(SENSOR_2>=sekkin){line_race();}
		Off(OUT_AC);                                          
		while(Message() != GO){SendMessage(TUMU_UP);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà¡õ¾å¤Ë»ý¤Á¾å¤²¤ë¡¡
		ClearTimer(0);
		while(FastTimer(0)<300){line_race();}
		before_cross_line_1();
		CROSS(50,0,0);
		nCross++;
		}
 
	else if(nCross==2){
		while(SENSOR_2>=sekkin){line_race();}                                    
		Off(OUT_AC);
		while(Message() != GO){SendMessage(TUMU);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀÑ¤à          
		ClearTimer(0);
		while(FastTimer(0)<830){line_race();}
		before_cross_line_3();
		CROSS(150,0,0);
		senkai_right;Wait(130);
		Off(OUT_AC);
		while(Message() != GO){SendMessage(HASAMI);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬¥Ï¥µ¥ß¤ò¹­¤²¤ë
		back;Wait(100);
		senkai_right;Wait(235);
		go_forward;Wait(150);
		nCross++;
		}
 
	else if(nCross==3){
		ClearTimer(0);
		while(FastTimer(0)<1000){line_race();}
		before_cross_line_2();
 		CROSS(50,150,0);
		nCross++;
		}
 
	else if(nCross==4){
		ClearTimer(0);
		while(FastTimer(0)<200){line_race();}
		before_cross_line_3();
		CROSS(50,0,150);
		nCross++; 
		}
 
	else if(nCross==5){
		while(SENSOR_2>=sekkin){line_race();}                  
		Off(OUT_AC);                                         
		while(Message() != GO){SendMessage(HOLD);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤ò¤Ä¤«¤à¡õ¾å¤Ë»ý¤Á¾å¤²¤ë          
		ClearTimer(0);
		while(FastTimer(0)<1600){line_race();}
		before_cross_line_3();
		go_forward;Wait(50);
		CROSS(50,0,0);
		nCross++;
		}
 
	else if(nCross==6){
		while(SENSOR_2>=sekkin){line_race();}
		Off(OUT_AC);
		while(Message() != GO){SendMessage(TUMU_UP);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀѤà¡õ¾å¤Ë»ý¤Á¾å¤²¤ë
		while(SENSOR_2>=sekkin){line_race();}
		Off(OUT_AC);
		while(Message() != GO){SendMessage(TUMU);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬´Ì¤òÀÑ¤à        
		ClearTimer(0);
		while(FastTimer(0)<300){line_race();}
		before_cross_line_1();
		go_forward;Wait(50);
		senkai_right;Wait(150);
		CROSS(50,0,150);
		nCross++;
		}
 
	else if(nCross==7){
		ClearTimer(0);
		while(FastTimer(0)<200){line_race();}
		before_cross_line_3();
		go_forward;Wait(50);
		senkai_right;Wait(150);
		CROSS(50,0,150);
		nCross++; 
		}
 
	else if(nCross==8){
		ClearTimer(0);
		while(FastTimer(0)<1000){line_race();}
		before_cross_line_3();
		CROSS(50,0,0);
		senkai_right;Wait(100);                    
		Off(OUT_AC);
		while(Message() != GO){SendMessage(HASAMI);Wait(40);}  //¤â¤¦¤Ò¤È¤Ä¤ÎRCX¤¬¥Ï¥µ¥ß¤ò¹­¤²¤ë
		back;Wait(500);      
		nCross++;
		}
 
 }
 stop main;  //Æ°ºîÄä»ß
 }

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 #define GO 1  //¤³¤Î¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¤È¡¢¤â¤¦°ì¤Ä¤ÎRCX¤¬ºÆ»ÏÆ°¤¹¤ë
 #define HOLD 2  //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¤¹¤ë
 #define TUMU_UP 3  //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤó¤Ç2£²¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ëÆ°ºî¤ò¤¹¤ë
 #define TUMU 4  //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢1¡¦2¤ÄÌܤδ̤ò3¤ÄÌܤδ̤ËÀѤó¤Ç3¤ÄÌܤδ̤ò¶´¤àÆ°ºî¤ò¤¹¤ë
 #define HASAMI 5  //¤³¤Î¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤È¡¢¥Ï¥µ¥ß¤ò¹­¤²¤ëÆ°ºî¤ò¤¹¤ë
 #define hasamu OnRev(OUT_A);Wait(50);Off(OUT_A);  //¥Ï¥µ¥ß¤òÊĤ¸¤ë
 #define hirogeru OnFwd(OUT_A);Wait(50);  //¥Ï¥µ¥ß¤ò¹­¤²¤ë
 #define up OnRev(OUT_C);Wait(150);Off(OUT_C);  //¥¨¥ì¥Ù¡¼¥¿¤ò¾å¤²¤ë
 #define down(t) OnFwd(OUT_C);Wait(t);Off(OUT_C);  //¥¨¥ì¥Ù¡¼¥¿¤ò²¼¤²¤ë
 #define go_sin PlaySound(SOUND_UP);  //GO¤È¤¤¤¦¥µ¥¤¥ó¤ò½Ð¤·¤¿¤È¤­¡¢Ê¬¤«¤ê¤ä¤¹¤¤¤è¤¦²»¤òÌĤ餹
 
 
 sub send_go(){  //GO¤È¤¤¤¦¥µ¥¤¥ó¤ò½Ð¤¹¥µ¥Ö¥ë¡¼¥Á¥ó
 ClearTimer(0);
 while(FastTimer(0)<=200){SendMessage(GO);Wait(5);}
 }
 
 
 task main(){
 int n=1;
 while(true){
  
	ClearMessage(); 
	SetPower(OUT_A,4);
	SetPower(OUT_C,5);
	if(n==0){  //HOLD,TUMU_UP¤ÎºÝ¤Ë¡¢¼«½Å¤Ç²¼¤¬¤ë¥â¡¼¥¿¡¼Éô¤òÄê´üŪ¤Ë°ú¤­¾å¤²¤ë
		SetPower(OUT_C,1);OnRev(OUT_C);Wait(100);Off(OUT_C);Wait(100);
		} 
 
	if(Message() == HOLD){  //1¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ë
		n=0;
		hasamu;
		up;
		go_sin;
		send_go();
	}
   
	else if(Message() == TUMU_UP){  //1¤ÄÌܤδ̤ò2¤ÄÌܤδ̤ËÀѤó¤Ç2¤ÄÌܤδ̤ò»ý¤Á¾å¤²¤ë
		n=0;
		down(20);
		hirogeru;
		down(130);
		hasamu;
		up;
		go_sin;
		send_go();
	}
 
	else if(Message() == TUMU){  //1¡¦2Ìܤδ̤ò3¤ÄÌܤδ̤ËÀѤó¤Ç3¤ÄÌܤδ̤ò¤Ä¤«¤à
		down(20);
		hirogeru;
		down(130);
		hasamu;
		go_sin;
		send_go();
		n=1;
	}
 
	else if(Message() == HASAMI){  //¥Ï¥µ¥ß¤ò¹­¤²¤ë
		hirogeru;
		go_sin;
		send_go();
		n=1;
		}
 }
 }
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