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*¥×¥í¥°¥é¥àÀâÌÀ [#xc44d957]
 #define RIGHT_H OnFwd(OUT_A); OnRev(OUT_C);//±¦Àû²ó
 #define RIGHT_L OnFwd(OUT_A); Off(OUT_C);//±¦²óž
 #define LEFT_H OnFwd(OUT_C); OnRev(OUT_A);//º¸Àû²ó
 #define LEFT_L OnFwd(OUT_C); Off(OUT_A);//º¸²óž
 #define GO OnFwd(OUT_AC);//Á°¿Ê 
 #define THRESHOLD 44//¤·¤­¤¤ÃÍ
 #define P SetPower(OUT_AC,1);//¥Ñ¥ï¡¼¤ò£±¤ËÀßÄꤹ¤ë
THRESHOLD¤Ï¸÷¥»¥ó¥µ¡¼¤ÎÃͤǸ÷¥»¥ó¥µ¡¼¤ÎÃæ¿´Ãͤò£´£´¤ËÀßÄꤹ¤ë¡£¥¿¥¤¥ä¤Î¥Ñ¥ï¡¼¤¬¶¯¤¤¡Ê®¤¤¡Ë¤È¥¬¥¿¥¬¥¿¤È˽¤ì¤Æ¤·¤Þ¤¦¤Î¤Ç¥Ñ¥ï¡¼¡Ê®Å١ˤò£±¡Ê¼å¤¯ÃÙ¤¤¡Ë¤ËÀßÄꤹ¤ë¡£
 
 sub line_trace(){
 	if(SENSOR_1 < THRESHOLD - 5){
 	P;RIGHT_H;
 	}else if(SENSOR_1 < THRESHOLD -2){
 	P;RIGHT_L;
 	}else{
 	if(SENSOR_1 < THRESHOLD +2){
 	P;LEFT_L;
 	}else{
 	P;LEFT_H;
 	}ClearTimer(0);}Wait(1);
 }  
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 sub shoot(){
        OnRev(OUT_B);Wait(30);Off(OUT_B);
        GO;Wait(50);
 	OnRev(OUT_AC);Wait(50);
 	Off(OUT_AC);
 }
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 task main()
 {
 	SetSensor(SENSOR_1,SENSOR_LIGHT);
 	ClearTimer(0);//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¸òº¹ÅÀȽÄêÍѤΥ¿¥¤¥Þ¡¼
 	ClearTimer(1);//C¤«¤é£Ñ¤Î´Ö¤Ë¤¢¤ëµÞ¤Ê¥«¡¼¥Ö¤ò¶Ê¤¬¤ë¤È¤­¤Ë»È¤¦¥¿¥¤¥Þ¡¼

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 while(FastTimer(1) < 1000){   //CQ´Ö¤Î¥«¡¼¥Ö
 	if(SENSOR_1<THRESHOLD -1){
        P;RIGHT_H;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦²óž¤ò¾Ã¤·¡¢±¦Àû²ó¤Î¤ß¤È¤¹¤ë
 	}else if(SENSOR_1<THRESHOLD +5){
 	P;LEFT_L;
 	}else{
 	P;LEFT_H;
 	}ClearTimer(0);
 } 
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 while(FastTimer(0) < 31){ //CQ´Ö
 	line_trace();
 }
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 	PlayTone(440,10);//¸òº¹ÅÀȽÄ꤬¤ï¤«¤ë¤è¤¦¤Ë²»¤òÌĤ餹
 	Off(OUT_AC);Wait(200);//¥ë¡¼¥ë¤Ë½¾¤¤£²ÉÃÄä»ß
 	OnFwd(OUT_B);Wait(50);Off(OUT_B);//Á°Êý¤Ë¤¢¤ë¥Ü¡¼¥ë¤òÄϤà
 	GO;Wait(25);Off(OUT_AC);
 	ClearTimer(0);
£²ÉôÖÄä»ß¤·¡¢¥Ü¡¼¥ë¤òÄϤࡣ£Â¤Ï¥¢¡¼¥à¤òÆ°¤«¤¹¥Á¥ã¥ó¥Í¥ë¤Ç¤¢¤ë¡£
 
 while(FastTimer(0) < 30){    //PQ´Ö
 	line_trace();
 }
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 	PlayTone(220,10);
 	Off(OUT_AC);Wait(200);//¥ë¡¼¥ë¤Ç£Ð¤Ç£²ÉôÖÄä»ß¤¹¤ë¡£
 	RIGHT_H;Wait(50);//±¦ÀÞ¤¹¤ë
 	GO;Wait(20);
 	ClearTimer(0);
PÃÏÅÀ¤ÎT»úÏ©¤ÈȽÃǤ·¤¿¤é£²Éôֻߤޤ롣¤½¤Î¸å±¦¤Ë¶Ê¤¬¤ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºÆ³«¤¹¤ë¡£

 
 while(FastTimer(0) < 32){  //PA´Ö
 	line_trace();
 }
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 	PlayTone(880,10);//²»¤òÌĤ餷¤Æ¸òº¹ÅÀȽÄ꤬¤Ç¤ë¤È²»¤¬ÌĤë¤è¤¦¤Ë¤¹¤ë¡£
 	Off(OUT_AC);Wait(200);
 	LEFT_H;Wait(15);//¼Ð¤á¤Ë¤Ê¤Ã¤Æ¤¤¤ë¼ÖÂΤò¥´¡¼¥ë¤Ë¿âľ¤Ë¤¹¤ë¡£
 	Off(OUT_AC);
 	shoot();//¥·¥å¡¼¥È¤òÂǤÄ
 
 }
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