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*¥×¥í¥°¥é¥à{´Ì¤ò±¿¤Ö¦} [#p4e8727b]
-ÄêµÁʸ
 #define WHITE 46
 #define BLACK 40
 #define CATCH 44
 #define power SetPower(OUT_AC,1);
 #define go_forward power;OnFwd(OUT_AC);
 #define go_back power;OnRev(OUT_AC);
 #define LEFT power;OnRev(OUT_A);OnFwd(OUT_C);
 #define left power;Off(OUT_A);OnFwd(OUT_C);
 #define RIGHT power;OnFwd(OUT_A);OnRev(OUT_C);
 #define right power;OnFwd(OUT_A);Off(OUT_C);
 #define PUSH power;OnRev(OUT_B);Wait(3);Off(OUT_B);Wait(20);OnFwd(OUT_B);Wait(10);Float(OUT_B);
 #define WHITE 46¡¡¡¡¡¡//Çò¤ÎÃÍ
 #define BLACK 40¡¡¡¡¡¡//¹õ¡Ê¥é¥¤¥ó¾å¡Ë¤ÎÃÍ
 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¶­³¦¤ÎÃͤϾå¤ÎÆó¤Ä¤«¤é¡Ü¡¢-¤ò¤â¤Á¤¤¤Æºî¤Ã¤Æ¤¤¤Þ¤¹¡£
 
 #define CATCH 44¡¡¡¡¡¡//´Ì¤ò¤Ä¤«¤ó¤À»þ¤Î¸÷¥»¥ó¥µ¡¼£³¤ÎÃÍ
 #define power SetPower(OUT_AC,1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼¤Î½ÐÎϤò7Ãʳ¬Ãæ¤Î£±¤Ë¤¹¤ëÄêµÁ¤Ç¤¹¡£
 #define go_forward power;OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿Á°¿Ê
 #define go_back power;OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿¸åÂà
 #define LEFT power;OnRev(OUT_A);OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿º¸¤½¤Î¾ìÀû²ó
 #define left power;Off(OUT_A);OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿º¸²ó¤ê
 #define RIGHT power;OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿±¦¤½¤Î¾ìÀû²ó
 #define right power;OnFwd(OUT_A);Off(OUT_C);¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿±¦²ó¤ê
 #define PUSH power;OnRev(OUT_B);Wait(3);Off(OUT_B);¡¡¡¡Wait(20);¡¡¡¡OnFwd(OUT_B);Wait(10);Float(OUT_B);
 //´Ì¤ò²¡¤·½Ð¤¹Æ°ºî¤Ç¤¹¡£¥â¡¼¥¿¡¼¤Î¸þ¤­¤«¤éOnRev¤ÇËÀ¤¬Èô¤Ó½Ð¤·¡¢OnFwd¤ÇÌá¤ê¤Þ¤¹¡£Float¤ÇÍ¥¤·¤¯»ÅÉñ¤¤¤Þ¤¹¡£

-¥µ¥Ö¥ë¡¼¥Á¥ó

¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦)
 sub trace1_R(){
       if (SENSOR_1 < BLACK){
                 RIGHT;
         } else if (SENSOR_1 < BLACK +2){
         } else if (SENSOR_1 < BLACK +2){¡¡//¹õ´ó¤ê¤Î¶­³¦¤ÎÃÍ
                 right;
         } else if (SENSOR_1 > WHITE -2){
         } else if (SENSOR_1 > WHITE -2){¡¡//Çò´ó¤ê¤Î¶­³¦¤ÎÃÍ
                 left;
         } else if (SENSOR_1 > WHITE){
                 LEFT;
           }
   }

¡¡¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦)
 sub trace1_L(){
       if (SENSOR_1 < BLACK){
                 LEFT;
         } else if (SENSOR_1 < BLACK +2){
                 left;
         } else if (SENSOR_1 > WHITE -2){
                 right;
         } else if (SENSOR_1 > WHITE){
                 RIGHT;
           }
   }

¡¡¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦)
 sub trace2_R(){
         while (FastTimer(0) < 25){
         while (FastTimer(0) < 25){¡¡//¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¤Î»þ´Ö¤Ç¤¹¡£
    if (SENSOR_1 < BLACK){
       RIGHT;
    }else if (SENSOR_1 < BLACK +2){
       ClearTimer(0);
       right;
    }else if (SENSOR_1 > WHITE -2){
       ClearTimer(0);
       left;
    }else if (SENSOR_1 > WHITE){
       ClearTimer(0);
       LEFT;
    }else{
       ClearTimer(0);
       go_forward;
     }
  }

 if(FastTimer(0) >= 25){
 if(FastTimer(0) >= 25){¡¡¡¡//¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¤Ç¤¹¡£
   ClearTimer(0);
   LEFT;
   Wait(40);
   go_forward;
   Wait(20);
   Off(OUT_AC);
   ClearTimer(0);
  }
 }

¡¡¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦)
 sub trace2_L(){
         while (FastTimer(0) < 25){
    if (SENSOR_1 < BLACK){
       LEFT;
    }else if (SENSOR_1 < BLACK +2){
       ClearTimer(0);
       left;
    }else if (SENSOR_1 > WHITE -2){
       ClearTimer(0);
       right;
    }else if (SENSOR_1 > WHITE){
       ClearTimer(0);
       RIGHT;
    }else{
       ClearTimer(0);
       go_forward;
     }
  }

 if(FastTimer(0) >= 25){
   ClearTimer(0);
   RIGHT;
   Wait(40);
   go_forward;
   Wait(20);
   Off(OUT_AC);
   ClearTimer(0);
  }
 }

¡¡´Ì¤Î¼õ¤±ÅϤ·(±¦Â¦)
¡¡´Ì¤Î¼õ¤±ÅϤ·(±¦Â¦¥È¥ì¡¼¥¹»þ)
 sub trace3_R(){
             while (FastTimer(0) < 25){
    if (SENSOR_1 < BLACK){
       RIGHT;
    }else if (SENSOR_1 < BLACK +2){
       ClearTimer(0);
       right;
    }else if (SENSOR_1 > WHITE -2){
       ClearTimer(0);
       left;
    }else if (SENSOR_1 > WHITE){
       ClearTimer(0);
       LEFT;
    }else{
       ClearTimer(0);
       go_forward;
     }
  }

 if(FastTimer(0) >= 25){
      go_forward;
      Wait(10);
      LEFT;
      Wait(70);
      Off(OUT_AC);
      Wait(100);

      PUSH;
      go_back;
      go_back;¡¡¡¡//¥Ï¥µ¥ß¤ÎÀÜ¿¨¤òÈò¤±¤ë¤¿¤á
      Wait(100);
      Off(OUT_AC);
      ClearTimer(0);
  }
 }

¡¡´Ì¤Î¼õ¤±ÅϤ·(º¸Â¦)
 sub trace3_L(){
             while (FastTimer(0) < 25){
    if (SENSOR_1 < BLACK){
       LEFT;
    }else if (SENSOR_1 < BLACK +2){
       ClearTimer(0);
       left;
    }else if (SENSOR_1 > WHITE -2){
       ClearTimer(0);
       right;
    }else if (SENSOR_1 > WHITE){
       ClearTimer(0);
       RIGHT;
    }else{
       ClearTimer(0);
       go_forward;
     }
  }

 if(FastTimer(0) >= 25){
      RIGHT;
      Wait(70);
      Off(OUT_AC);
      PUSH;
      go_back;
      Wait(50);
      Off(OUT_AC);
     ClearTimer(0);
  }
 }

¥á¥¤¥ó¥¿¥¹¥¯
  task main()
 {
  SetSensor(SENSOR_1, SENSOR_LIGHT);
  SetSensor(SENSOR_3, SENSOR_LIGHT);
  ClearTimer(0);
  int n=0;
 
  while(n==0){
               Wait(100);                   //Áê¼ê¤òÂԤĻþ´Ö
               until(SENSOR_1 < BLACK){     //¹õ¤Ë¤Ê¤ë¤Þ¤Çľ¿Ê
               until(SENSOR_1 < BLACK){     //¹õ¤Ë¤Ê¤ë¤Þ¤Çľ¿Ê¡¢¥é¥¤¥ó¤ò´¶ÃΤ·¤Æ¥È¥ì¡¼¥¹¤ò³«»Ï¤·¤Þ¤¹¡£
                       go_forward;}
               Off(OUT_AC);
               Wait(100);
               go_back;
               go_back;¡¡¡¡¡¡¡¡//´¶ÃΤ«¤éÆ°ºî¤Þ¤Ç¤Ë¿Ê¤ó¤Ç¤·¤Þ¤Ã¤¿Ê¬Ìá¤ê¤Þ¤¹¡£
               Wait(15);
               Off(OUT_AC);
               Wait(30);
           n++;
  }
 
  while(n==1){
            if (SENSOR_3 > CATCH){
                      PlaySound(SOUND_UP);
                      PlaySound(SOUND_UP);¡¡¡¡¡¡//´Ì¤ò¤Ä¤«¤ó¤À¹ç¿Þ
                      ClearTimer(0);
                      until(FastTimer(0) > 500){
                      until(FastTimer(0) > 500){¡¡¡¡//­¡¤ÇÅϤë°ÌÃ֤ޤǤλþ´Ö¤Ç¤¹¡£
                           trace1_R();}
                      LEFT;
                      LEFT;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¡¤ÇÅϤë¤È¤­¤ÎÆ°ºî¤Ç¤¹¡£
                      Wait(55);
                      go_forward;
                      Wait(20);
                      until(SENSOR_1 < BLACK){
                       go_forward;}
                       ClearTimer(0);
                      until(FastTimer(0) > 500){
                      until(FastTimer(0) > 500){¡¡//­¡¤òÅϤ꽪¤¨¤Æ¤«¤é¤Î¥È¥ì¡¼¥¹
                               trace1_R();}
                      ClearTimer(0);
                      trace3_R();
                      n++;
          } else if (SENSOR_1 < BLACK){
                  RIGHT;
          } else if (SENSOR_1 < BLACK +2){
                  right;
          } else if (SENSOR_1 > WHITE -2){
                  left;
          } else if (SENSOR_1 > WHITE){
                  LEFT;
            }
  }
 
  while(n==2){
  while(n==2){¡¡¡¡//Æó¤ÄÌܤδ̤ò±¿¤Ö¥×¥í¥°¥é¥à¤Ç¤¹¡£
              RIGHT;
              Wait(40);
              go_forward;
              Wait(150);
              until(SENSOR_1 < BLACK){
                       right;}
             if (SENSOR_3 > CATCH){
                    until(SENSOR_1 < BLACK){
                      LEFT;}
                    ClearTimer(0);
                    trace3_L();
                    n++;
            } else if (SENSOR_1 < BLACK){
                  LEFT;
          } else if (SENSOR_1 < BLACK +2){
                  left;
          } else if (SENSOR_1 > WHITE -2){
                  right;
          } else if (SENSOR_1 > WHITE){
                  RIGHT;
            }
  }
 }
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