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** ¥í¥Ü¥Ã¥È¤Î³°´Ñ [#e9cd888b]
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* ¥×¥í¥°¥é¥à¤ÎÆâÍÆ [#n91931a1]
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** Part0:ÄêµÁ [#c2c9cc66]
 #define THRESHOLD 50                                   // ¤·¤­¤¤Ãͤò50¤ËÀßÄê
 #define turn_left0 OnFwd(OUT_B,50);                    // º¸ÀÞ
 #define turn_left1 OnFwd(OUT_B,30);OnFwd(OUT_C,-30);   // º¸Àû²ó
 #define turn_right0 OnFwd(OUT_C,50);                   // ±¦ÀÞ
 #define turn_right1 OnFwd(OUT_C,30);OnFwd(OUT_B,-30);  // ±¦Àû²ó
 #define STEP 1                                         // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
 #define nMAX 250                                       // Ä̾ï¤Î¥«¡¼¥Ö¤È¤·¤ÆµöÍƤǤ­¤ë·«¤êÊÖ¤·»þ´Ö¤ÎºÇÂçÃÍ
 #define short_break Off(OUT_BC);Wait(1000);            // ¾®µÙ»ß
 #define cross_line¡¡OnFwd(OUT_BC,50);Wait(250);short_break;PlaySound(SOUND_UP);   // ¥é¥¤¥ó¤ò²£ÃÇ
 #define THRESHOLD 50                                 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   // ¤·¤­¤¤Ãͤò50¤ËÀßÄê
 #define turn_left0 OnFwd(OUT_B,30);                  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡   // º¸ÀÞ
 #define turn_left1 OnFwd(OUT_B,20);OnFwd(OUT_C,-20);    ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// º¸Àû²ó
 #define turn_right0 OnFwd(OUT_C,30);                   ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ±¦ÀÞ
 #define turn_right1 OnFwd(OUT_C,20);OnFwd(OUT_B,-20);   ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// ±¦Àû²ó
 #define STEP 1                                        ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
 #define nMAX 250                                      ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  // Ϣ³¤·¤Æ¥é¥¤¥ó¤òǧ¼±¤¹¤ë²ó¿ô¤Î¸ÂÅÙ
 #define short_break Off(OUT_BC);Wait(1000);             ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡// ¾®µÙ»ß
 #define cross_line¡¡OnFwd(OUT_BC,30);Wait(300);short_break;PlaySound(SOUND_UP);   // ¸òº¹ÅÀ¤òÅϤë

** Part1 [#u87a2841]
 task main()
 {
    SetSensorLight(S1);
    long t0 = CurrentTick();
    int nOnline = 0;
    int nPoint = 0;
    SetSensorLight(S1);         // ¸÷¥»¥ó¥µ¡¼¤ò¥Ý¡¼¥È1¤ËÀܳ
    long t0 = CurrentTick();    // ¥¿¥¤¥Þ¡¼­¡¤òÍÑ°Õ
    int nOnline = 0;            // ¥é¥¤¥ó¾å¤Ë¸ºß¤·¤¿²ó¿ô¤ò¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ô¤òÍÑ°Õ
    int nPoint = 0;             // ¼¡¤ÎPart¤Ë°Ü¹Ô¤¹¤ë¤¿¤á¤ÎÊÑ¿ô¤òÍÑ°Õ
 
    OnFwd(OUT_BC,30);
    OnFwd(OUT_BC,30);¡¡¡¡¡¡¡¡¡¡ // 0.7ÉôÖľ¿Ê 
    Wait(700);
Part1¤Ï¡¢¥¹¥¿¡¼¥È¤ÎÏÈÆ⤫¤é½Ð¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

** Part2 [#q3248486]
    while (CurrentTick() - t0 < 10000) {
      if (SENSOR_1 < THRESHOLD -7) {
    while (CurrentTick() - t0 < 10000) {         // ³«»Ï¤«¤é10ÉÃ̤Ëþ¤Î¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      if (SENSOR_1 < THRESHOLD -10) {              // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó
          turn_left1;
        } else { 
          if (SENSOR_1 < THRESHOLD -5) {
          if (SENSOR_1 < THRESHOLD -5) {           // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ
          turn_left0;
        } else if (SENSOR_1 < THRESHOLD +2) {
          OnFwd(OUT_BC,50);
        } else if (SENSOR_1 < THRESHOLD +7) {
        } else if (SENSOR_1 < THRESHOLD +2) {      // ¹õ¤ÈÇò¤Î¶­³¦¤Ç¤Ïľ¿Ê
          OnFwd(OUT_BC,30);
        } else if (SENSOR_1 < THRESHOLD +15) {     // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ
          turn_right0;
        } else {
        } else {                                   // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó
          turn_right1;
       }
      Wait(STEP);
      Wait(STEP);                                // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦
       }
     }
Part2¤Ï¡¢³«»Ï10ÉÃ̤Ëþ¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
Part2¤Ï¡¢³«»Ï¤«¤é10ÉÃ̤Ëþ¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

** Part3 [#c5040110]
    while (nPoint == 0) {
      while (nOnline < nMAX){
        if (SENSOR_1 < THRESHOLD -7) {
          turn_left1;
          nOnline++;
    while (nPoint == 0) {                        // nPoint=0(½é´ü¾õÂÖ)¤Î¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      while (nOnline < nMAX){                      // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
        if (SENSOR_1 < THRESHOLD -10) {              // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó
          turn_left1; 
          nOnline++;                                   // nOnline¤Ë¡Ü1¤¹¤ë
        } else { 
          if (SENSOR_1 < THRESHOLD -5) {
          if (SENSOR_1 < THRESHOLD -5) {             // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ
          turn_left0;
        } else if (SENSOR_1 < THRESHOLD +2) {
          OnFwd(OUT_BC,50);
        } else if (SENSOR_1 < THRESHOLD +7) {
        } else if (SENSOR_1 < THRESHOLD +2) {        // ¹õ¤ÈÇò¤Î¶­³¦¤Î¾å¤Ç¤Ïľ¿Ê
          OnFwd(OUT_BC,30);
        } else if (SENSOR_1 < THRESHOLD +15) {       // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ
          turn_right0;
        } else {
        } else {                                     // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó
          turn_right1;
          }
        nOnline=0;
        nOnline=0;                                   // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
       }
      Wait(STEP);
      Wait(STEP);                                // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦
       }                                           // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      short_break;                                   // ¾®µÙ»ß
      turn_right1; Wait(nMAX*STEP);                  // Êý¸þ½¤Àµ
      cross_line;                                    // ¸òº¹ÅÀ¤òÅϤë
      nOnline=0;                                     // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
      nPoint++;                                      // nPoint¤Ë¡Ü1¤¹¤ë(nPoint=1¤Ë¤¹¤ë)
       }
      short_break;
      turn_right1; Wait(nMAX*STEP);
      cross_line;
      nPoint++;
      nOnline=0;
       }
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Part3¤Ï¡¢"nPoint=0"¤Î¤È¤­(½é´ü¾õÂÖ)¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

** Part4 [#t9300c7c]
    long t1 = CurrentTick();
¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ­¡¢nPoint¤ò¡Ü1¤·¤ÆPart4¤Ë°Ü¹Ô¤¹¤ë¡£

** Part4 [#x2bdc966]
    long t1 = CurrentTick();                   // ¥¿¥¤¥Þ¡¼­¢¤òÍÑ°Õ
 
    while (nPoint == 1) {
      if (CurrentTick() - t1 == 5000) {
        Off(OUT_BC);
        RotateMotor(OUT_A,85,210);
        nPoint++;
        PlaySound(SOUND_UP);
    while (nPoint == 1) {                      // nPoint=1¤Î¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      if (CurrentTick() - t1 == 5000) {          // 5É÷вᤷ¤¿¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
        Off(OUT_BC);                               // ¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë
        RotateMotor(OUT_A,85,210);                 // ¥¢¡¼¥à¤ò²¼¤²¤ë
        nPoint++;                                  // nPoint¤Ë¡Ü1¤¹¤ë
        PlaySound(SOUND_UP);                       // ²»¤òÌĤ餹
      } else {
        if (SENSOR_1 < THRESHOLD -10) {
        if (SENSOR_1 < THRESHOLD -10) {          // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó
        turn_left1;
      } else if (SENSOR_1 < THRESHOLD -5) {
      } else if (SENSOR_1 < THRESHOLD -5) {      // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ
        turn_left0;
      } else if (SENSOR_1 < THRESHOLD +10) {
      } else if (SENSOR_1 < THRESHOLD +15) {     // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ
        turn_right0;
      } else {
      } else {                                   // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó
        turn_right1;
       }
      Wait(STEP);
      Wait(STEP);                              // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦
       } 
    }
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Part4¤Ï¡¢"nPoint=1"¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢Part4³«»Ï¤«¤é5É䬷вᤷ¤¿¤È¤­¡¢¥¢¡¼¥à¤ò²¼¤í¤·¥Ü¡¼¥ë¤ò³ÎÊݤ¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

¥¿¥¤¥Þ¡¼¤òÍøÍѤ·¤Æ¥Ü¡¼¥ë¤ò³ÎÊݤ¹¤ë¤¿¤á¤Ë°ÂÄꤷ¤¿Æ°¤­¤¬É¬ÍפǤ¢¤ë¤¿¤á¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ë¸Â¤êľ¿Ê"OnFwd(OUT_BC,50)"¤òÆþ¤ì¤Æ¤¤¤Ê¤¤¡£


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** Part5 [#m89b5795]
    while (nPoint == 2) {
      while (nOnline < nMAX - 100){
        if (SENSOR_1 < THRESHOLD -7) {
    while (nPoint == 2) {                        // nPoint=2¤Î¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      while (nOnline < nMAX -100){                 // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
        if (SENSOR_1 < THRESHOLD -10) {              // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó
          turn_left1;
          nOnline++;
          nOnline++;                                   // nOnline¤Ë¡Ü1¤¹¤ë
        } else { 
          if (SENSOR_1 < THRESHOLD -5) {
          if (SENSOR_1 < THRESHOLD -5) {           // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ
          turn_left0;
        } else if (SENSOR_1 < THRESHOLD +2) {
          OnFwd(OUT_BC,50);
        } else if (SENSOR_1 < THRESHOLD +7) {
        } else if (SENSOR_1 < THRESHOLD +2) {      // ¹õ¤ÈÇò¤Î¶­³¦¤Ç¤Ïľ¿Ê
          OnFwd(OUT_BC,30);
        } else if (SENSOR_1 < THRESHOLD +15) {     // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ
          turn_right0;
        } else {
        } else {                                   // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó
          turn_right1;
          }
        nOnline=0;
        nOnline=0;                                 // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
       }
      Wait(STEP);
      Wait(STEP);                                // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦
       }                                           // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      short_break;                                   // ¾®µÙ»ß
      turn_right1; Wait(nMAX*STEP);                  // Êý¸þ½¤Àµ
      cross_line;                                    // ¸òº¹ÅÀ¤òÅϤë
      nOnline=0;                                     // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
      nPoint++;                                      // nPoint¤Ë¡Ü1¤¹¤ë(nPoint=3¤Ë¤¹¤ë)
       }
      short_break;
      turn_right1; Wait(nMAX*STEP);
      cross_line;
      nOnline=0;
      nCross++;
       }
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Part5¤Ï¡¢"nPoint=2"¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

Ãæ±û¤Î¸òº¹ÅÀ¤òÅϤë¤È¤­¡¢¸òº¹ÅÀ¤Ç¤Ï¤Ê¤¯¥«¡¼¥Ö¤È¸íǧ¼±¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬Â¿¤«¤Ã¤¿¤¿¤á¡¢"nMAX"¤ò"nMAX -100"¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢¸òº¹ÅÀ¤ÈȽÃǤ·¤ä¤¹¤¯¤·¤Æ¤ª¤ê¡¢¸íǧ¼±¤ò¸º¤é¤·¤Æ¤¤¤ë¡£

¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ­¡¢nPoint¤ò¡Ü1¤·¤ÆPart6¤Ë°Ü¹Ô¤¹¤ë¡£

** Part6 [#oa31f38f]
    while (nPoint == 3) {
      while (nOnline < nMAX){
        if (SENSOR_1 < THRESHOLD -7) {
    while (nPoint == 3) {                        // nPoint=3¤Î¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      while (nOnline < nMAX){                      // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
        if (SENSOR_1 < THRESHOLD -10) {              // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó
          turn_left1;
          nOnline++;
          nOnline++;                                   // nOnline¤Ë¡Ü1¤¹¤ë
        } else { 
          if (SENSOR_1 < THRESHOLD -5) {
          if (SENSOR_1 < THRESHOLD -5) {             // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ
          turn_left0;
        } else if (SENSOR_1 < THRESHOLD +2) {
        } else if (SENSOR_1 < THRESHOLD +2) {        // ¹õ¤ÈÇò¤Î¶­³¦¤Ç¤Ïľ¿Ê
          OnFwd(OUT_BC,50);
        } else if (SENSOR_1 < THRESHOLD +7) {
        } else if (SENSOR_1 < THRESHOLD +15) {       // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ
          turn_right0;
        } else {
        } else {                                     // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó
          turn_right1;
          }
        nOnline=0;
        nOnline=0;                                   // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
       }
      Wait(STEP);
      Wait(STEP);                                // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦
       }                                           // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      short_break;                                   // ¾®µÙ»ß
      turn_left1; Wait(nMAX*STEP -50);               // Êý¸þ½¤Àµ
      cross_line;                                    // ¸òº¹ÅÀ¤òÅϤë
      nOnline=0;                                     // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
      nPoint++;                                      // nPoint¡Ü1¤¹¤ë(nPoint=4¤Ë¤¹¤ë)
       }
      short_break;
      turn_left1; Wait(nMAX*STEP -50);
      cross_line;
      nOnline=0;
      nPoint++;
       }
Part6¤Ï¡¢"nPoint=3"¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ­¡¢nPoint¤ò¡Ü1¤·¤ÆPart7¤Ë°Ü¹Ô¤¹¤ë¡£
¾åÉô¤Î¸òº¹ÅÀ¤òÅϤë¤È¤­¡¢¼Ð¤á¤Ë²£ÃǤ·¤Æ¤·¤Þ¤¤¥é¥¤¥ó¤Î±¦Â¦¤Ë½Ð¤Æ¤·¤Þ¤¦¤³¤È¤¬Â¿¤«¤Ã¤¿¤¿¤á¡¢"turn_right1"¤ò"turn_left1"¤Ë¡¢"nMAX*STEP"¤ò"nMAX*STEP -50"Êѹ¹¤¹¤ë¤³¤È¤Ç¡¢Å¬Åö¤Ê»þ´Ö¤Çº¸¤Ë¶Ê¤¬¤ê¤Ê¤¬¤é¸òº¹ÅÀ¤òÅϤꡢ¥é¥¤¥ó¤Îº¸Â¦¤Ë½Ð¤é¤ì¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
Part6¤Ï¡¢"nPoint=3"¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Ä¤Ä¡¢¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

¾åÉô¤Î¸òº¹ÅÀ¤òÅϤë¤È¤­¡¢¼Ð¤á¤Ë²£ÃǤ·¤Æ¤·¤Þ¤¤¥é¥¤¥ó¤Î±¦Â¦¤Ë½Ð¤Æ¤·¤Þ¤¦¤³¤È¤¬Â¿¤«¤Ã¤¿¤¿¤á¡¢Êý¸þ½¤Àµ¤Î"turn_right1"¤ò"turn_left1"¤Ë¡¢"nMAX*STEP"¤ò"nMAX*STEP -50"Êѹ¹¤¹¤ë¤³¤È¤Ç¡¢Å¬Åö¤Ê»þ´Ö¤Çº¸¤Ë¶Ê¤¬¤ê¤Ê¤¬¤é¸òº¹ÅÀ¤òÅϤꡢ¥é¥¤¥ó¤Îº¸Â¦¤Ë½Ð¤é¤ì¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£

¤Þ¤¿¡¢¸òº¹ÅÀ¤òÅϤ俤Ȥ­¡¢nPoint¤ò¡Ü1¤·¤ÆPart7¤Ë°Ü¹Ô¤¹¤ë¡£

** Part7 [#ibc0bdc7]
    while (nPoint == 4) {
      while (nOnline < nMAX){
        if (SENSOR_1 < THRESHOLD -7) {
    while (nPoint == 4) {                        // nPoint=4¤Î¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      while (nOnline < nMAX){                      // ¸òº¹ÅÀ¤ÈȽÃǤ·¤Ê¤¤¸Â¤ê°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
        if (SENSOR_1 < THRESHOLD -10) {              // ¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸Àû²ó
          turn_left1;
          nOnline++;
          nOnline++;                                   // nOnline¤Ë¡Ü1¤¹¤ë
        } else { 
          if (SENSOR_1 < THRESHOLD -5) {
          if (SENSOR_1 < THRESHOLD -5) {             // ¤ä¤ä¹õ¤¤Éôʬ¤Î¾å¤Ç¤Ïº¸ÀÞ
          turn_left0;
        } else if (SENSOR_1 < THRESHOLD +2) {
          OnFwd(OUT_BC,50);
        } else if (SENSOR_1 < THRESHOLD +7) {
        } else if (SENSOR_1 < THRESHOLD +2) {        // ¹õ¤ÈÇò¤Î¶­³¦¤Ç¤Ïľ¿Ê
          OnFwd(OUT_BC,30);
        } else if (SENSOR_1 < THRESHOLD +15) {       // ¤ä¤äÇò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦ÀÞ
          turn_right0;
        } else {
        } else {                                     // Çò¤¤Éôʬ¤Î¾å¤Ç¤Ï±¦Àû²ó
          turn_right1;
          }
        nOnline=0;
        nOnline=0;                                   // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
       }
      Wait(STEP);
      Wait(STEP);                                // 1/1000É䴤ȤËȽÃǤò¹Ô¤¦
       }                                           // ¸òº¹ÅÀ¤ÈȽÃǤ·¤¿¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      short_break;                                   // ¾®µÙ»ß
      turn_right1; Wait(nMAX*STEP +100);             // Êý¸þ½¤Àµ
      OnFwd(OUT_BC,-50); Wait(500);                  // 0.5ÉôָåÂह¤ë
      nOnline=0;                                     // nOnline¤ò0¤Ë¥ê¥»¥Ã¥È
      nPoint++;                                      // nPoint¡Ü1¤¹¤ë(nPoint=5¤Ë¤¹¤ë)
       }
      short_break;
      turn_right1; Wait(nMAX*STEP +100);
      OnFwd(OUT_BC,-50); Wait(500);
      nOnline=0;
      nPoint++;
       }
Part7¤Ï¡¢"nPoint=4"¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¥´¡¼¥ëÁ°¤Îľ³Ñ¥«¡¼¥Ö¤ò¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë¤¬¡¢"cross_line"¤ò"OnFwd(OUT_BC,-50); Wait(500)"¤Ë¡¢nMAX*STEP"¤ò"nMAX*STEP +100"¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢Àµ³Î¤Ë¥´¡¼¥ë¤ËÀµÂФ·¤¿¸å¡¢¸åÂह¤ë¡£¤½¤·¤Æ¡¢nPoint¤ò¡Ü1¤·¤ÆPart7¤Ë°Ü¹Ô¤¹¤ë¡£
Part7¤Ï¡¢"nPoint=4"¤Î¤È¤­¡¢¥é¥¤¥ó¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

¥´¡¼¥ëÁ°¤Îľ³Ñ¥«¡¼¥Ö¤ò¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë¤¬¡¢"cross_line"¤ò¸åÂà"OnFwd(OUT_BC,-50); Wait(500)"¤Ë¡¢nMAX*STEP"¤ò"nMAX*STEP +100"¤ËÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢Àµ³Î¤Ë¥´¡¼¥ë¤ËÀµÂФ·¤¿¸å¡¢¸åÂह¤ë¡£

¤Þ¤¿¡¢nPoint¤ò¡Ü1¤·¤ÆPart8¤Ë°Ü¹Ô¤¹¤ë¡£

** Part8 [#d79427ce]
    while (nPoint == 5) {
        RotateMotor(OUT_A,-100,90);
        PlaySound(SOUND_UP);
        Off(OUT_ABC);
        nPoint++;
    while (nPoint == 5) {           // nPoint=5¤Î¤È¤­°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô
      Off(OUT_BC);                    // ¥í¥Ü¥Ã¥È¤ò»ß¤á¤ë
      RotateMotor(OUT_A,-100,90);     // ¥¢¡¼¥à¤ò¾å¤²¤ë
      PlaySound(SOUND_UP);            // ²»¤òÌĤ餹
      Off(OUT_A);                     // ¥¢¡¼¥à¤ò»ß¤á¤ë
      nPoint++;                       // nPoint¤Ë¡Ü1¤¹¤ë(nPoint=6¤Ë¤¹¤ë)
    }
 }
Part8¤Ï¡¢"nPoint=5"¤Î¤È¤­¡¢¥¢¡¼¥à¤ò¾å¤²¡¢¥·¥å¡¼¥È¤òÂÇ¤Ä¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¥·¥å¡¼¥È¤òÂǤ俸塢nPoint¤ò¡Ü1¤·¤Æ"nPoint=6"¤Ë¤¹¤ë¤³¤È¤Ç¾ò·ï¤«¤é³°¤·¡¢¥×¥í¥°¥é¥à¤ò½ªÎ»¤¹¤ë¡£
Part8¤Ï¡¢"nPoint=5"¤Î¤È¤­¡¢¥¢¡¼¥à¤ò¾å¤²¡¢¥·¥å¡¼¥È¤òÂÇ¤Ä¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

¤Þ¤¿¡¢¥·¥å¡¼¥È¤òÂǤ俸塢nPoint¤ò¡Ü1¤·¤Æ"nPoint=6"¤Ë¤¹¤ë¤³¤È¤Ç¾ò·ï¤«¤é³°¤·¡¢¥×¥í¥°¥é¥à¤ò½ªÎ»¤¹¤ë¡£

** ¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#g3c01e9c]
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