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 #define SPEED 50
 #define SPEED_SLOW 30
 #define down OnFwd(OUT_A,50);Wait(500);Off(OUT_A);Wait(300);
 #define up OnRev(OUT_A,60);Wait(500);Off(OUT_A);Wait(300);
 #define goal OnRev(OUT_BC,50);Wait(500);Off(OUT_BC);Wait(500);\
  up;OnFwd(OUT_BC,100);Wait(300);Off(OUT_BC);
 const float diameter=5.45;
 const float track=10.35;
 const float pi=3.1415;
 void fwdDist(float d)¡¡¡¡¡¡¡¡//µ÷Î¥d­ÑÁ°¿Ê
 {
  long angle;
  angle=d/(diameter*pi)*360.0;
  RotateMotorEx(OUT_BC,SPEED_SLOW,angle,0,true,true);
 }
 void turnAng(long ang)¡¡¡¡¡¡//³ÑÅÙangÅ٤λþ·×²ó¤êÀû²ó
 {
  long angle;
  angle=track/diameter*ang;
  RotateMotorEx(OUT_BC,SPEED_SLOW,angle,100,true,true);
 }
 int searchDirection(long ang)¡¡¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
 {
  long angle,tacho_min=0,
  int d_min;
  d_min=300;
  angle=(track/diameter)*ang;¡¡¡¡¡¡//Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
  turnAng(ang/2);                  //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
  ResetTachoCount(OUT_BC);         //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
  OnFwdSync(OUT_BC,SPEED_SLOW,-100);
  while(MotorTachoCount(OUT_B)<=angle){
     if(SensorUS(S1)<d_min){
      d_min=SensorUS(S1);
       tacho_min=MotorTachoCount(OUT_B);
     }
   }
  OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE);
  until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S1)<=d_min);
  Wait(14);
  Off(OUT_BC);Wait(500);
  return d_min;
 }
 task main()
 {
  repeat(2){
  SetSensorLowspeed(S1);
  int d=searchDirection(360);
  if(d>10){
     fwdDist(d-10.0);
  goal;
      }
    }
 }

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