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 #define THRESHOLD 43¡¡//¤·¤­¤¤ÃÍ
 #define HIPOWER 4¡¡//¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼
 #define LOWPOWER 2
 #define set_power_H SetPower(OUT_AC,HIPOWER);¡¡
 #define set_power_L SetPower(OUT_AC,LOWPOWER);
 #define go_forward set_power_H; OnFwd(OUT_AC);¡¡//ľ¿Ê
 #define turn_left1 set_power_L; OnFwd(OUT_C); Off(OUT_A);¡¡//º¸ÀÞ
 #define turn_left0 set_power_L; OnFwd(OUT_C); OnRev(OUT_A);¡¡//º¸Àû²ó
 #define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦ÀÞ
 #define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦Àû²ó
 #define STEP 1¡¡//1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
 #define time0 1700¡¡//­¡¤Ë¤«¤«¤ë»þ´Ö
 #define time1 300¡¡//­¢¤Ë¤«¤«¤ë»þ´Ö
 #define time2 900¡¡//­£¤Ë¤«¤«¤ë»þ´Ö
 #define time3 500¡¡//­¤¤Ë¤«¤«¤ë»þ´Ö
 #define time4 800¡¡//­¥¤Ë¤«¤«¤ë»þ´Ö
 #define time5 1000¡¡//­¦¤Ë¤«¤«¤ë»þ´Ö
 #define time6 10000¡¡//­§¤Ë¤«¤«¤ë»þ´Ö

¡¡
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 task main()
 {
	SetSensor(SENSOR_3, SENSOR_TOUCH);¡¡//¥»¥ó¥µ¡¼£³¤Ë¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼
	SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤Ë¤Ï¸÷¥»¥ó¥µ¡¼
	
	ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
	while (FastTimer(0) <= time0) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡//time0¤¬FastTimer(0)°Ê²¼¤ÎÆ°ºî
		     if (SENSOR_2 < THRESHOLD -5) { turn_right1; } 
		else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
		else if (SENSOR_2 < THRESHOLD +2) { go_forward; } 
		else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
		else { turn_left1; }
		}
		Wait(STEP);

¡¡­¢¤Î¥×¥í¥°¥é¥à¡££±¤ÄÌܤθòº¹ÅÀ¤òÅϤê¤Þ¤¹¡£
	ClearTimer(1);¡¡//£±ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
	while (FastTimer(1) <= time1) {
		if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
		else if (SENSOR_2 < THRESHOLD +3) { go_forward; } 
		else { turn_left1; }
		}

¡¡­£¤Î¥×¥í¥°¥é¥à¡£È¾·Â£¸¥»¥ó¥Á¤Î¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤Þ¤¹¡£
	ClearTimer(2);¡¡//£²ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
	while (FastTimer(2) <= time2) {
		     if (SENSOR_2 < THRESHOLD -4) { turn_right1; } 
		else if (SENSOR_2 < THRESHOLD -2) { turn_right0; }
		else if (SENSOR_2 < THRESHOLD +2) { go_forward; } 
		else if (SENSOR_2 < THRESHOLD +5) { turn_left0; }
		else { turn_left1; }
		}
		Wait(STEP);

¡¡­¤¤Î¥×¥í¥°¥é¥à¡££±¤ÄÌܤθòº¹ÅÀ¤òÅϤꡢ¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç¿Ê¤ß¤Þ¤¹¡£
	ClearTimer(3);¡¡//£³ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
	while (FastTimer(3) <= time3) {
		if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
		else if (SENSOR_2 < THRESHOLD +3) { go_forward; } 
		else { turn_left1; }
		}

¡¡­¥¡Á­§¤Î¥×¥í¥°¥é¥à¡£­¦¤Ï£²¤ÄÌܤθòº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¹¡£­§¤Ë´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤òÁȤ߹þ¤ß¤Þ¤·¤¿¡£
	ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
	while (FastTimer(0) <= time4) {
		     if (SENSOR_2 < THRESHOLD -5) { turn_right1; } 
		else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
		else if (SENSOR_2 < THRESHOLD +2) { go_forward; } 
		else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
		else { turn_left1; }
		}
		Wait(STEP);
		
        ClearTimer(1);¡¡//£±ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
	while (FastTimer(1) <= time5) {
		if (SENSOR_2 < THRESHOLD +3) { go_forward; } 
		else { turn_left1; }
		}
	
 
        ClearTimer(2);¡¡//£²ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
	while (FastTimer(2) <= time6) {
		     if (SENSOR_2 < THRESHOLD -5) { turn_right1; } 
		else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
		else if (SENSOR_2 < THRESHOLD +2) { go_forward; } 
		else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
		else { turn_left1; }
		

¡¡´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¡£¤Ê¤ë¤Ù¤¯¥·¥ó¥×¥ë¤Ê¥×¥í¥°¥é¥à¤Ë¤·¤Þ¤·¤¿¡£
		 if(SENSOR_3 == 1) {¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬È¿±þ¤·¤¿¤é
			OnFwd(OUT_B);¡¡//¥¢¡¼¥à¤Ç´Ì¤ò¤Ä¤«¤à(¥â¡¼¥¿¡¼£Â)
			Wait(7);¡¡//0.7ÉôÖ
			OnFwd(OUT_AC);¡¡//Á°¿Ê
			Wait(130);
			OnFwd(OUT_C); OnRev(OUT_A); Off(OUT_B);¡¡//º¸Àû²ó
			Wait(190);
			Off(OUT_AC);¡¡//°ì»þÄä»ß
			Wait(50);
			OnRev(OUT_B);¡¡//´Ì¤òÎ¥¤¹
			Wait(10);
			OnRev(OUT_AC);¡¡//¸å¿Ê
			Wait(170);
			OnFwd(OUT_A); OnRev(OUT_C); Off(OUT_B);¡¡//±¦Àû²ó 
			Wait(50);
			OnFwd(OUT_AC);¡¡//Á°¿Ê
			Wait(150);	
			Off(OUT_ABC);
			}
		}
		Wait(STEP);
		
 }



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