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 #define turn_left  OnFwd(OUT_C);Off(OUT_A);           ]-|   Æ°ºî¤Î¼ïÎà
 #define turn_right OnFwd(OUT_A);Off(OUT_C);             |¡¡¾å¤«¤é¡¢º¸²ó¤ê¡¦±¦²ó¤ê
 #define go         OnFwd(OUT_AC);                       |¡¡Ä¾¿Ê¡¦º¸¾®²ó¤ê¡¦±¦¾®²ó¤ê
 #define tu_le      OnFwd(OUT_C);OnRev(OUT_A);           |
 #define tu_ri      OnFwd(OUT_A);OnRev(OUT_C);         ]-|
 #define black 38  //51~34
 #define white 46  //¸òº¹ÅÀ¸å13£ó¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 #define conr_1     780¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡]-|¡¡¡¡¸òº¹ÅÀ¶á¤¯¤Ë¤Ê¤ë¡¡¡¡¡¡¡¡¡¡
 #define conr_2     800¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡|¡¡¡¡¤½¤ì¤¾¤ì¤Î»þ´Ö¡¡
 #define conr_3     109¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡|¡¡¡¡¡¡¡¡¡¡
 #define conr_4     400¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡¡¡¡¡¡¡ ]-|¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 #define conrring    PlaySound(SOUND_CLICK);\
                     tu_le;\¡¡¡¡¡¡¡¡¡¡¡¡¡¡
                     Wait(32);\
                     Off(OUT_AC);\¡¡¡¦¡¦¡¦¡¦¡¦¡¦¡¦¡¦¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¡¡¡¡¡¡¡¡
                     go;\
                     Wait(40);\
                     conr_times=0;\
                     ClearTimer(0);
  
 

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 #define turn_left  OnFwd(OUT_C);Off(OUT_A);//    º¸²ó¤ê  ¡¡¡¡¡¡¡¡¡¡¡¡
 #define turn_right OnFwd(OUT_A);Off(OUT_C);//    ±¦²ó¤ê¡¡¡¡¡¡ÉáÄ̤βóž¤Ç¤Ï¶Ê¤¬¤ë¤Û¤¦¤Î¥¿¥¤¥ä¤ò»ß¤á
 #define go         OnFwd(OUT_AC);//              ľ¿Ê¡¡¡¡¡¡¡¡¾®²ó¤ê¤Ç¤Ïξ¥¿¥¤¥ä¤òµÕ²óž¤µ¤»¤Æ¤¤¤Þ¤¹¡£
 #define tu_le      OnFwd(OUT_C);OnRev(OUT_A);//¡¡º¸¾®²ó¤ê
 #define tu_ri      OnFwd(OUT_A);OnRev(OUT_C);//¡¡±¦¾®²ó¤ê
 #define black 38 //¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 #define white 46 //
 #define conr_1     700 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡]-|¡¡¤½¤ì¤¾¤ì¤Î¸òº¹ÅÀ¼êÁ°¤Ë¤Ê¤ë¤Þ¤Ç¤Î
 #define conr_2     520¡¡ ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡|¡¡»þ´Ö¤òÄêµÁ¤·¤Æ¤¢¤ê¤Þ¤¹
 #define conr_3     109¡¡¡¡¡¡ ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡|¡¡¡¡¡¡¡¡¡¡
 #define conr_4     400           ¡¡¡¡¡¡ ¡¡¡¡ ]-|¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡


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  sub conrring()
 {PlaySound(SOUND_DOWN);¡¡¡¡È½ÃǤòÃΤ餻¤ë°Ù¤Î²»
 SetPower(OUT_AC,5);¡¡¡¡¡¡¡¡¾¯¤·ÃÙ¤¯¥¿¥¤¥ä¤¬²óž¤·¤Þ¤¹
 tu_le;
 Wait(20);
 Off(OUT_AC);
 go;
 Wait(20);
 ClearTimer(0);}
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  task main()
  {
   int conr_times;
   conr_times=0;
   int order;¡¡¡¡¡¦¡¦¡¦¡¦¡¦¡¦¡¦¡¦¡¦¸òº¹ÅÀ¤´¤È¤ËÆÃÄê¤Î¥×¥í¥°¥é¥à¤À¤±¤¬Æ°¤¯¤Î¤Ë»È¤¤¤Þ¤¹¡¡¡¡¡¡¡¡ order=0;
   int counts;   counts=0;¡¡¡¦¡¦¡¦¡¦¡¦¡¦Ï¢Â³¤Ç¹õ¤ÈȽÃǤ·¤¿²ó¿ô¤òÂåÆþ¤·¤Þ¤¹
   int order;    order=0;¡¡¡¡¡¦¡¦¡¦¡¦¡¦¡¦¸òº¹ÅÀ¤´¤È¤ËÆÃÄê¤Î¥×¥í¥°¥é¥à¤À¤±¤¬Æ°¤¯¤Î¤Ë»È¤¤¤Þ¤¹¡¡¡¡¡¡¡¡ 
   SetSensor(SENSOR_1,SENSOR_LIGHT);
   ClearTimer(0);
 
   while(true)
   {
     
     if     ((conr_times>2)&&(FastTimer(0)>conr_4)&&(order==3))
                       {conrring;order++;}   
     else if((conr_times>2)&&(FastTimer(0)>conr_3)&&(order==2))
                       {conrring;order++;}
     else if((conr_times>2)&&(FastTimer(0)>conr_2)&&(order==1))
                        {conrring;order++;}
     else if((conr_times>2)&&(FastTimer(0)>conr_1))
                        {conrring;order++;}
     else if     (SENSOR_1>white+1){tu_le;conr_times--;}¡¡¡¡¡¡¡¡¡¡¡¡]-|  ¥Î¡¼¥Þ¥ë¥È¥ì¡¼¥¹
     else if(SENSOR_1<black-1){tu_ri;conr_times++;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   |¡¡¡¡Àþ¤Î±ï¤ò¤¿¤É¤Ã¤Æ
     else if(SENSOR_1>=white){turn_left;conr_times--;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡|¡¡¡¡¹Ô¤­¤Þ¤¹
     else if(SENSOR_1<=black){turn_right;conr_times++;}¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡|¡¡¡¡¡¡¡¡
     else {go;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   ]-|
   }
  } 

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