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ÄêµÁ
 #define hikari 50              //¸÷¥»¥ó¥µ¡¼¤ÎïçÃͤǡ¢¤³¤ì¤È¼ÂºÝ¤Ë¬¤Ã¤¿¸÷¥»¥ó¥µ¡¼¤ÎÃͤòÈæ³Ó¤·¥í¥Ü¥Ã¥È¤Î¹ÔÆ°¤ò·è¤á¤ë
 #define SPEED1 55              //ľ¿Ê¤¹¤ë¤È¤­¤Î¥¹¥Ô¡¼¥É
 #define SPEED 25               //¶Ê¤¬¤ë¤È¤­¤Î¥¹¥Ô¡¼¥É
 #define turn_left OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);
 #define TURN_LEFT OnFwd(OUT_B,SPEED);
 #define go_forward OnFwd(OUT_BC,SPEED1);      //¥í¥Ü¥Ã¥È¤Î¹ÔÆ°¤Ç¡¢¾®²ó¤ê¤À¤È¾®Ê¸»ú¤È¤·¤¿
 #define TURN_RIGHT OnFwd(OUT_C,SPEED);
 #define turn_right OnFwd(OUT_C,SPEED);OnRev(OUT_B,SPEED);
 #define STEP 1                                //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ì²ó¤ÎȽÃǤλþ´Ö

 #define nMAX 175                              //¥«¥¦¥ó¥¿¡¼¤Ç¤³¤ì¤òĶ¤¨¤ë¤È¡¢¸òº¹ÅÀ¤ÈȽÃÇ
 #define pose Off(OUT_BC);Wait(200);           //¸òº¹ÅÀ¤òȽÃǤ·¤¿¸å¤ÎÆóÉÃÄä»ß¤Î¥ë¡¼¥ë
 #define CROSS_TIME 200
 #define cross_line OnFwd(OUT_BC,SPEED);Wait(CROSS_TIME);pose;    //¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à
¥×¥í¥°¥é¥à¤ÎËÜʸ
 task main()
 {
    SetSensorLight(S3);
    int nOnline=0;                         //¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤¿¤á¤Ë»È¤¦
 
   while(true){
 
    while(nOnline<nMAX){                   //¸òº¹ÅÀ¤Ç¤Ê¤¤¤È¤­
      if(SENSOR_3<hikari -7){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬Æä˾®¤µ¤¤¡Ê¿¿¤Ã¹õ¤Ç¤¢¤ë¡Ë¤È¤­¤Ï
        turn_right;                        //¾®²ó¤ê¤ò¤·¤Æ¥«¥¦¥ó¥¿¡¼¤ò²ó¤¹¡ÊnMax°Ê¾å¿¿¤Ã¹õ¤Ç¤¢¤ë»þ¤Ï¡¢¸òº¹ÅÀ¤ÈȽÃÇ¡Ë
        nOnline++;
      }else{                               //¤½¤Î¤Û¤«¤Î»þ¤Ï
        if(SENSOR_3<hikari -3){
          TURN_RIGHT;
        }else if(SENSOR_3<hikari +3){      //¸÷¥»¥ó¥µ¡¼¤ÎÃͤˤè¤ê¥í¥Ü¥Ã¥È¤ÎÆ°¤­¤òÊѤ¨¤Ä¤Ä
          go_forward;                      //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¡¢¥«¥¦¥ó¥¿¡¼¤Ï¥ê¥»¥Ã¥È
        }else if(SENSOR_3<hikari +10){
          TURN_LEFT;
        }else{
          turn_left;
        }
      nOnline=0;
      }
     Wait(STEP);                          //STEP¤Î´Ö¡¢¾å¤ÎÆ°ºî¤ò¤¹¤ë
    }                                     //¤³¤È¤ò¥«¥¦¥ó¥¿¡¼¤¬nMax¤Ë㤹¤ë¤Þ¤Ç̵¸Â¥ë¡¼¥×
 
   pose;                                  //¥«¥¦¥ó¥¿¡¼¤¬nMax¤Ë㤷¡¢¸òº¹ÅÀ¤ÈȽÃÇ
   turn_left;Wait(nMAX*STEP);             //¤½¤ì¤Þ¤Ç¤Ë¤º¤ì¤¿Ê¬µ°Æ»¤ò½¤Àµ
   cross_line;                            //¸òº¹ÅÀ¤òÅϤë
   nOnline=0;                             //¥«¥¦¥ó¥¿¡¼¤ò¥ê¥»¥Ã¥È¤·¡¢ºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ì¤ë¤è¤¦¤Ë¤¹¤ë
   }
 
 }
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ÄêµÁ
 #define hikari 50
 #define SPEED 25
 #define SPEED1 35
 #define turn_left OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED1);
 #define TURN_LEFT OnFwd(OUT_B,SPEED1);Off(OUT_C);
 #define go_forward OnFwd(OUT_BC,SPEED1);
 #define TURN_RIGHT OnFwd(OUT_C,SPEED1);Off(OUT_B);
 #define turn_right OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);
 #define STEP1 5                                   //ľÀþ¤Î¤È¤­¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ì²ó¤ÎȽÃǤλþ´Ö
 #define STEP2 2                                   //¶ÊÀþ¤Î¤È¤­¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°ì²ó¤ÎȽÃǤλþ´Ö
 #define nMax 70                                   //¥«¥¦¥ó¥¿¡¼¤Ç¿¿¤Ã¹õ¤Ç¤¢¤ë¤ÈȽÃǤµ¤ì²ó¿ô¤¬¤³¤ì°Ê¾å¤Î»þ¸òº¹ÅÀ¤È¤¹¤ë
 #define curve 100                                 //¥«¥¦¥ó¥¿¡¼¤Ç¿¿¤ÃÇò¤Ç¤¢¤ë¤ÈȽÃǤµ¤ì¤¿²ó¿ô¤¬¤³¤ì°Ê¾å¤Î»þµÞ¥«¡¼¥Ö¤È¤¹¤ë
 #define arm_down OnFwd(OUT_A,SPEED);Wait(300);    //¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à
 #define shoot OnRev(OUT_BC,SPEED);Wait(1000);\
     OnRev(OUT_A,SPEED);Wait(500);\                //¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë¥×¥í¥°¥é¥à
     OnFwd(OUT_BC,SPEED1);Wait(500);
¥×¥í¥°¥é¥à¤ÎËÜʸ
 task main()
 {
     SetSensorLight(S4);
     int nOnline=0;        //¸òº¹ÅÀ¤ÎȽÃǤ˻Ȥ¦¡£½é´üÃͤòÂåÆþ¤·¤ÆnOnline¤ò»È¤¨¤ë¤è¤¦¤Ë¤ª¤¯
     int nKousa=0;         //¸òº¹ÅÀ¤Î²ó¿ô¤ò¿ô¤¨¤ë¤Î¤Ë»È¤¦
     int nMax_RIGHT=0;     //µÞ¤Ê¥«¡¼¥Ö¤ÎȽÄê¤Ë»È¤¦

     while(nOnline<nMax){              //­¡ºÇ½é¤Îľ¿Ê
         if(SENSOR_4<hikari){
             TURN_RIGHT;
             nOnline=0;                //¿Ê¹ÔÊý¸þÀþ¤Î±¦Â¦¤ò¤Ê¤¾¤ë
         }else{
             TURN_LEFT;
             nOnline++;
           }
         Wait(STEP1);
      }
     turn_right;Wait(STEP1*nMax/2);    //¶Ê¤¬¤ê³Ñ¤òȽÄꤹ¤ë¤Þ¤Ç¤Ë¤º¤ì¤¿Ê¬¤Î½¤Àµ
     go_forward;Wait(560);             //¤½¤Î¤Þ¤Þ¶Ê¤¬¤ë¤È¡¢¸÷¥»¥ó¥µ¡¼¤¬¤À¤¤¤ÖÀþ¤«¤é³°¤ì¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¾¯¤·Á°¿Ê¤µ¤»¤Æ¤«¤é
     until(SENSOR_4<hikari){
         turn_left;                    //Àþ¤Î±¦Â¦¤Þ¤Ç²óž¤µ¤»¤ë
      }
     turn_left;Wait(200);              //¼¡¤«¤éÀþ¤Îº¸Â¦¤ò¤ò¤Ê¤¾¤ë¤è¤¦¤Ë¤¹¤ë¡Ê¼¡¤Îľ¿Ê¤Î¸å¤«¤é¤Ç¤â¤è¤¤¤¬¡¢¶Ê¤¬¤Ã¤¿¤Ä¤¤¤Ç¤Ë¡Ë
     nOnline=0;
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¾¯¤·Á°¤Ë¿Ê¤ó¤Ç¤«¤é¶Ê¤¬¤ë¤³¤È¤Ç¡¢¼¡¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤ä¤¹¤¯¤·¤¿¡£

     while(nOnline<nMax){                    //­¢¼¡¤Îľ¿Ê¡£Ä¾Àþ¤Ç¤¢¤ë¤¿¤á­¡¤ÈƱ¤¸¤¯2Ãʳ¬¤ÇSTEP¤¬5
         if(SENSOR_4<hikari){
             TURN_LEFT;
             nOnline++;                      //Àþ¤Îº¸Â¦¤ò¤Ê¤¾¤ë
         }else{
             TURN_RIGHT;
             nOnline=0;
           }
         Wait(STEP1);
      }
     arm_down;Off(OUT_ABC);Wait(500);        //¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é
     TURN_RIGHT;Wait(STEP1*nMax);            //¥Ü¡¼¥ë¤ò¤Ä¤«¤à
     nOnline=0;

     long t0=CurrentTick();
     while(CurrentTick()-t0<9000){      //­£º¸Â¦¤ò¤Ê¤¾¤Ã¤¿¤Û¤¦¤¬´Ë¤¯¤Ê¤ë¥«¡¼¥Ö¡£¥³¡¼¥¹¤ÎÃæ¤ÇºÇ¤âµÞ
         if(SENSOR_4<hikari){
             TURN_LEFT;
             nMax_RIGHT=0;
         }else{                         //Àþ¤Îº¸Â¦¤ò¤Ê¤¾¤ë
             TURN_RIGHT;
             nMax_RIGHT++;
          }
         Wait(STEP2);
         if(nMax_RIGHT>curve){
             until(SENSOR_4<hikari){    //¥«¡¼¥Ö¤ÎȾ·Â¤Î¤Û¤¦¤¬¥¿¥¤¥ä¤Î²óž¤ÎȾ·Â¤è¤ê
                 turn_right;            //¾®¤µ¤¤¤Î¤Ç¾®²ó¤ê¤µ¤»¤ë¡£¤³¤Î¤È¤­Àþ¾å¤ËÍè¤ë¤Þ¤Ç²óž¤µ¤»¤ë¤¿¤á¡¢nOnline¤â0¤Ë¤Ê¤ê¡¢Å¬Åö¤Ê»þ´Ö¤¬Íè¤ë¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ì¤ë
               }
           }
      }
     until(SENSOR_4<hikari){            //¥«¡¼¥Ö¤Î½ª¤ï¤ê¤´¤í¤Ë
         TURN_RIGHT;
      }                                 //¼¡¤«¤éÀþ¤Î±¦Â¦¤ò¤Ê¤¾¤ë¤è¤¦¤Ë¤¹¤ë
     turn_right;Wait(200);

     while(nKousa<2){
         while(nOnline<nMax){                  //­¤Àþ¤Î±¦Â¦¤ò¤Ê¤¾¤Ã¤¿¤Û¤¦¤¬´Ë¤¯¤Ê¤ë¥«¡¼¥Ö¡Ê»°ºµÏ©¤â¡¢È¿ÂФÀ¤ÈȽÄꤻ¤º¤Ë¤½¤Î¤Þ¤ÞÄ̲ᤷ¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢Ä¾Á°¤ÎľÀþ¤«¤é±¦Â¦¤ò¤Ê¤¾¤é¤»¤Æ¤¤¤ë¡Ë
             if(SENSOR_4>hikari){¡¡¡¡
                 TURN_LEFT;
                 nOnline=0;                    //Àþ¤Î±¦Â¦¤ò¤Ê¤¾¤ë
             }else{                            //¥«¡¼¥Ö¤Ï´Ë¤¤¤¿¤á¡¢2Ãʳ¬¤ÇSTEP¤â5
                 TURN_RIGHT;
                 nOnline++;
               }
             Wait(STEP1);
          }
         TURN_LEFT;Wait(STEP1*nMax);Off(OUT_BC);
         nKousa++;
      }
     shoot;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»°ºµÏ©¡Ê°ì²óÌܤθòº¹ÅÀ¡Ë¤ÏÄ̲ᤷ¡¢¥´¡¼¥ë¤Î¼þ¤ê¤ÎÀþ¤òÆó²óÌܤθòº¹ÅÀ¤ÈȽÃǤµ¤»¤Æ¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë
 }
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