*¤Ï¤¸¤á¤Ë [#n5e6becd]
º£²ó¤Î²ÝÂê¤Ï¹õ¤¤¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤·¤Æ¥´¡¼¥ë¤Ë¥·¥å¡¼¥È¤¹¤ë¥í¥Ü¥Ã¥È¤ò¤Ä¤¯¤ë¤È¤¤¤¦¤â¤Î¤Ç¡¢»ä¤ÏB¤«¤éA¤Î¥³¡¼¥¹¤ò°ÜÆ°¤¹¤ë¥í¥Ü¥Ã¥È¤òºîÀ®¤·¤Þ¤·¤¿¡£
#ref(¥³¡¼¥¹.png)
*¥í¥Ü¥Ã¥È¤Î³µ´Ñ [#n4f7960a]
¥¿¥¤¥ä¤ò»Ù¤¨¤Æ¤¤¤ëËÀ¤Ë¥Ö¥í¥Ã¥¯¤ò¼è¤êÉÕ¤±¡¢¼ÖÂΤÎÀµÌ̤˼è¤êÉÕ¤±¤é¤ì¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¥»¥ó¥µ¡¼¤¬¼ÖÂΤ«¤é±ó¤¯¤Ë¤¢¤ë¤È¶Ê¤¬¤êÀÚ¤ì¤Ê¤¤¤Î¤Ç¼ÖÂμ«ÂΤò²þÎɤ·¡¢¤Ê¤ë¤Ù¤¯¶á¤¯¤Ë¼è¤êÉÕ¤±¤ë¤³¤È¤ÇºÙ¤«¤¤¥«¡¼¥Ö¤â¶Ê¤¬¤ë¤³¤È¤¬¤Ç¤­¤Þ¤·¤¿¡£¤·¤«¤·¡¢¥¢¡¼¥à¤È¥»¥ó¥µ¡¼¤¬ÀÜÃåÌÌÀѤ¬¾®¤µ¤¯´Êñ¤Ë¼è¤ì¤Æ¤·¤Þ¤¦¤Î¤ÇÁö¤é¤»¤ë¤¿¤Ó¤Ë¤Ä¤±¤Ê¤ª¤µ¤Ê¤±¤ì¤Ð¤¤¤±¤Þ¤»¤ó¤Ç¤·¤¿¡£¥¢¡¼¥à¤Ë´Ø¤·¤Æ¤Ï¡¢¥â¡¼¥¿¡¼¤ò¥¢¡¼¥à¤ËľÀܤĤʤ°¤ÈÆ°¤­¤¬Â®¤¹¤®¤ÆÉôÉʤ¬³°¤ì¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç¡¢¤æ¤Ã¤¯¤êÆ°¤«¤¹¤¿¤á¤Ë´Ö¤Ë»õ¼Ö¤ò¤Ä¤Ê¤®¡¢¤é¤»¤ó¾õ¤Î¥Ñ¡¼¥Ä¤ò»È¤¦¤³¤È¤Ç¥â¡¼¥¿¤¬Æ°¤¯¤È»õ¼Ö¤¬Ï¢Æ°¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£²èÁü¤Î¤è¤¦¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤ò°ÜÆ°¤µ¤»¤ë¤¿¤á¤Ë²£¤«¤é¶´¤ß¹þ¤á¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
#ref(./1437033944047.jpg,30%)
*¥×¥í¥°¥é¥à [#i87f328b]
 #define STEP 200   
*¥×¥í¥°¥é¥à [#b6609d9b]
 #define go OnFwd(OUT_AC);//ľ¿Ê
 #define right OnFwd(OUT_A);//±¦¤Ë¤æ¤ë¤ä¤«¤Ë¿Ê¤à
 #define left OnFwd(OUT_C);//º¸¤Ë¤æ¤ë¤ä¤«¤Ë¿Ê¤à
 #define turnright OnRev(OUT_C);OnFwd(OUT_A);//±¦¤ËÀû²ó
 #define turnleft OnRev(OUT_A);OnFwd(OUT_C);//º¸¤ËÀû²ó
 #define open OnRev(OUT_B);Wait(100);//¥¢¡¼¥à¤ò³«¤¯
 #define close OnFwd(OUT_B);Wait(100);//¥¢¡¼¥à¤òÊĤ¸¤ë
 
 
 task main()
 {
   SetSensor(SENSOR_3,SENSOR_LIGHT); 
 
  	ClearTimer(0);
 
   while (FastTimer(0) < 23) {
           if(SENSOR_3>50){turnleft;ClearTimer(0);}
           else if(SENSOR_3>46){left;ClearTimer(0);}
                else if(SENSOR_3>39){go;ClearTimer(0);}
                     else if(SENSOR_3>35){right;}
                          else{turnright;}
   }
       Off(OUT_AC);
       Wait(200);
       close;Off(OUT_B);
       left;Wait(30);
       ClearTimer(0);
   while (FastTimer(0) < 31) {
           if(SENSOR_3>50){turnleft;ClearTimer(0);}
           else if(SENSOR_3>46){left;ClearTimer(0);}
                else if(SENSOR_3>39){go;ClearTimer(0);}
                     else if(SENSOR_3>35){right;}
                          else{turnright;}
   }
        Off(OUT_AC);
	Wait(200);
	left;Wait(30);
	ClearTimer(0);
   while (FastTimer(0) < 25) {
           if(SENSOR_3>50){turnleft;ClearTimer(0);}
           else if(SENSOR_3>46){left;ClearTimer(0);}
                else if(SENSOR_3>39){go;ClearTimer(0);}
                     else if(SENSOR_3>35){right;}
                          else{turnright;}
   }
        Off(OUT_AC);
	OnRev(OUT_A);Wait(25);
	Off(OUT_AC);
	open;Off(OUT_AC);
	go;Wait(25);
     	Off(OUT_ABC);
	 
         SetSensor(SENSOR_3,SENSOR_LIGHT); 
         ClearTimer(0);
         while (FastTimer(0) < 23) {
                 if(SENSOR_3>50){
                         turnleft;
                         ClearTimer(0);
                 }
                 else if(SENSOR_3>46){
                              left;
                              ClearTimer(0);
                      }
                      else if(SENSOR_3>39){
                                   go;
                                   ClearTimer(0);
                           }
                           else if(SENSOR_3>35){
                                        right;
                                }
                                else{
                                        turnright;
                                }
         }
         Off(OUT_AC);
         Wait(200);
         close;Off(OUT_B);
         left;Wait(30);
         ClearTimer(0);
         while (FastTimer(0) < 31) {
                 if(SENSOR_3>50){
                         turnleft;
                         ClearTimer(0);
                 }
                 else if(SENSOR_3>46){
                              left;
                              ClearTimer(0);
                      }
                      else if(SENSOR_3>39){
                                   go;
                                   ClearTimer(0);
                           }
                           else if(SENSOR_3>35){
                                        right;
                                }
                                else{
                                        turnright;
                                }
         }
         Off(OUT_AC);
         Wait(200);
         left;
         Wait(30);
         ClearTimer(0);
         while (FastTimer(0) < 25) {
                 if(SENSOR_3>50){
                         turnleft;
                         ClearTimer(0);
                 }
                 else if(SENSOR_3>46){
                              left;
                              ClearTimer(0);
                      }
                      else if(SENSOR_3>39){
                                   go;
                                   ClearTimer(0);
                           }
                           else if(SENSOR_3>35){
                                        right;
                                }
                                else{
                                        turnright;
                                }
         }
         Off(OUT_AC);
         OnRev(OUT_A);
         Wait(25);
         Off(OUT_AC);
         open;
         Off(OUT_AC);
         go;
         Wait(25);
         Off(OUT_ABC);	 
 }
*ÀâÌÀ [#ra1738ec]
º£²ó¤Î¥×¥í¥°¥é¥à¤Ï¥é¥¤¥ó¤Î±¦Â¦¤ò±è¤Ã¤ÆÆ°¤¯¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£±¦¤Ë¶Ê¤¬¤ë°Ê³°¤ÎÆ°ºî¤Î»þ¤Ë»þ´Ö¤ò¥ê¥»¥Ã¥È¤¹¤ë¤³¤È¤Ç¡¢Ï¢Â³¤Ç±¦¤Ë¶Ê¤¬¤ë»þ´Ö¤ò·×¤Ã¤Æ¸òº¹ÅÀ¤òǧ¼±¤µ¤»¤Þ¤·¤¿¡£
**Á´ÂΤȤ·¤Æ [#y6d47f4e]
º£²ó¤Î¥×¥í¥°¥é¥à¤Ï¥é¥¤¥ó¤Î±¦Â¦¤ò±è¤Ã¤ÆÆ°¤¯¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë´Ø¤·¤Æ¤Ï¡¢¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬>50¤Î¤È¤­¤Ïº¸¤ËÀû²ó¡¢>46¤Î¤È¤­¤Ïº¸¤Ë¥«¡¼¥Ö¡¢>39¤Î¤È¤­¤ÏÁ°¿Ê¡¢>35¤Î¤È¤­¤Ï±¦¤Ë¥«¡¼¥Ö¡¢35>¤Î¤È¤­¤Ï±¦¤ËÀû²ó¡¢¤È¤¤¤¦¤è¤¦¤Ë¾ò·ï¤ò4¤ÄÀߤ±¤ë¤³¤È¤Ç³ê¤é¤«¤ËÁö¹Ô¤Ç¤­¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¥«¡¼¥Ö¤Ë´ËµÞ¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤Î¤ËɬÍפʻþ´Ö¤òÄ´À°¤·¤Þ¤·¤¿¡£¸òº¹ÅÀ¤Ç¤Ï¡¢±¦¤Ë¶Ê¤¬¤ë°Ê³°¤ÎÆ°ºî¤Î»þ¤Ë»þ´Ö¤ò¥ê¥»¥Ã¥È¤¹¤ë¤³¤È¤Ç¡¢Ï¢Â³¤Ç±¦¤Ë¶Ê¤¬¤ë»þ´Ö¤ò·×¤Ã¤Æ¸òº¹ÅÀ¤òǧ¼±¤µ¤»¤Þ¤·¤¿¡£
#ref(./̵Âê.png,40%)
**­¡¤Ë¤Ä¤¤¤Æ [#zce18519]
 while (FastTimer(0) < 23) {
         if(SENSOR_3>50){turnleft;ClearTimer(0);}
         else if(SENSOR_3>46){left;ClearTimer(0);}
              else if(SENSOR_3>39){go;ClearTimer(0);}
                   else if(SENSOR_3>35){right;}
                        else{turnright;}
         if(SENSOR_3>50){
                 turnleft;
                 ClearTimer(0);
         }
         else if(SENSOR_3>46){
                      left;
                      ClearTimer(0);
              }
              else if(SENSOR_3>39){
                           go;
                           ClearTimer(0);
                   }
                   else if(SENSOR_3>35){
                                right;
                        }
                        else{
                                turnright;
                        }
 }
       Off(OUT_AC);
       Wait(200);
       close;Off(OUT_B);
       left;Wait(30);
       ClearTimer(0);
­¡¤Ç¤Ï¸òº¹ÅÀ¤ÎÁ°¤Î¶Ê¤¬¤ê³Ñ¤Î±Æ¶Á¤ò¼õ¤±¤Æ¿âľ¤Ë¸òº¹ÅÀ¤Ë¿ÊÆþ¤»¤º¥«¡¼¥Ö¤È´ª°ã¤¤¤·¶Ê¤¬¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç»þ´Ö¤òû¤¯¤¹¤ë¤È¡¢Ä¾Àþ¤ÎÉôʬ¤Ç¸òº¹ÅÀ¤Èǧ¼±¤·»ß¤Þ¤Ã¤Æ¤·¤Þ¤¦¤Ê¤É¤ÎÌäÂ꤬»Ä¤Ã¤¿¤Î¤Ç¤¹¤¬²ò·è¤¹¤ë¤³¤È¤¬¤Ç¤­¤º¡¢À®¸ù¤·¤Ê¤¤¤È¤­¤â¤¢¤ê¤Þ¤·¤¿¡£
 Off(OUT_AC);
 Wait(200);
 close;
 Off(OUT_B);
 left;
 Wait(30);
 ClearTimer(0);
¥¿¥¤¥Þ¡¼¤Ç¸òº¹ÅÀ¤òǧ¼±¤µ¤»¤¿¸å2ÉÃÄä»ß¤·¡¢º¸Êý¸þ¤ËÆ°¤«¤¹¤³¤È¤Ç¸òº¹ÅÀ¤òľ¿Ê¤·¤Þ¤·¤¿¡£¤½¤Î¸å¤â¤¦°ìÅÙ¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·¼¡¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë±Æ¶Á¤¬½Ð¤Ê¤¤¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¸òº¹ÅÀ¤Î¼êÁ°¤Ëľ³Ñ¤Ë¶Ê¤¬¤ë¾ì½ê¤¬¤¢¤ë¤¿¤á¸òº¹ÅÀ¤ËÆþ¤ë³ÑÅÙ¤¬Àõ¤¯¤Ê¤ê¸òº¹ÅÀ¤Èǧ¼±¤·¤Ê¤¤¤³¤È¤¬¤¢¤ê¤Þ¤·¤¿¡£²ò·èºö¤È¤·¤Æ¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë»þ´Ö¤òû¤¯¤¹¤ë¤³¤È¤ÇÀ®¸ù¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤Þ¤·¤¿¡£
**­¢¤Ë¤Ä¤¤¤Æ [#yada08fa]
 while (FastTimer(0) < 31) {
         if(SENSOR_3>50){turnleft;ClearTimer(0);}
         else if(SENSOR_3>46){left;ClearTimer(0);}
              else if(SENSOR_3>39){go;ClearTimer(0);}
                   else if(SENSOR_3>35){right;}
                        else{turnright;}
 while (FastTimer(0) < 31){
         if(SENSOR_3>50){
                 turnleft;
                 ClearTimer(0);
         }
         else if(SENSOR_3>46){
                      left;
                      ClearTimer(0);
              }
              else if(SENSOR_3>39){
                           go;
                           ClearTimer(0);
                   }
                   else if(SENSOR_3>35){
                                right;
                        }
                        else{
                                turnright;
                        } 
 }
        Off(OUT_AC);
	Wait(200);
	left;Wait(30);
	ClearTimer(0);
­¢¤Ç¤ÏÅÓÃæ¤Î¥«¡¼¥Ö¤¬µÞ¤À¤Ã¤¿¤Î¤Ç·×¬»þ´Ö¤òŤ¯¤¹¤ë¤³¤È¤Ç¶Ê¤¬¤êÀÚ¤ì¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
 Off(OUT_AC);
 Wait(200);
 left;
 Wait(30);
 ClearTimer(0);
ÅÓÃæ¤Î¥«¡¼¥Ö¤¬µÞ¤À¤Ã¤¿¤Î¤Ç¸òº¹ÅÀ¤Îǧ¼±»þ´Ö¤òŤ¯¤·¤Þ¤·¤¿¡£¤½¤Î¾¤Ï­¡¤ÈƱ¤¸¤Ç¤¹¡£
**­£¤È­¤¤Ë¤Ä¤¤¤Æ [#ye38dfd4]
 while (FastTimer(0) < 25) {
         if(SENSOR_3>50){turnleft;ClearTimer(0);}
         else if(SENSOR_3>46){left;ClearTimer(0);}
              else if(SENSOR_3>39){go;ClearTimer(0);}
                   else if(SENSOR_3>35){right;}
                        else{turnright;}
         if(SENSOR_3>50){
                 turnleft;
                 ClearTimer(0);
         }
         else if(SENSOR_3>46){
                      left;
                      ClearTimer(0);
              }
              else if(SENSOR_3>39){
                           go;
                           ClearTimer(0);
                   }
                   else if(SENSOR_3>35){
                                right;
                        }
                        else{
                                turnright;
                        }
 }
        Off(OUT_AC);
	OnRev(OUT_A);Wait(25);
	Off(OUT_AC);
	open;Off(OUT_AC);
	go;Wait(25);
     	Off(OUT_ABC);
	 
 }
­¤¤Î¥·¥å¡¼¥È¤ò¤¹¤ë¤È¤­¤Ï»°ºµÏ©¤òǧ¼±¤·¤¿¸å¥Ð¥Ã¥¯¤·¡¢¥¢¡¼¥à¤ò³«¤¤¤Æ²¡¤·½Ð¤¹¤³¤È¤Ë¤·¤Þ¤·¤¿¡£
 Off(OUT_AC);
 OnRev(OUT_A);//»°ºµÏ©¤Ë¿âľ¤Ë¸þ¤«¤¦¤¿¤á¤Ë
 Wait(25);
 Off(OUT_AC);
 open;
 Off(OUT_AC);
 go;
 Wait(25);
 Off(OUT_ABC);
­¤¤Î¥·¥å¡¼¥È¤ò¤¹¤ë¤È¤­¤Ï»°ºµÏ©¤òǧ¼±¤·¤¿¸åº¸¤Î¼ÖÎؤò¸åž¤µ¤»¤ë¤³¤È¤Ç»°ºµÏ©¤Ë¿âľ¤Ë¸þ¤«¤¤¹ç¤Ã¤Æ¥¢¡¼¥à¤ò³«¤­Á°¿Ê¤¹¤ë¤³¤È¤Ç¥·¥å¡¼¥È¤ò¤·¤Þ¤·¤¿¡£
*´¶ÁÛ¡¦¤Þ¤È¤á [#q2e6863d]
¼«Ê¬¤Ò¤È¤ê¤Ç¤Ï¤Ê¤Ë¤â¤Ç¤­¤º¡¢¥°¥ë¡¼¥×Æâ¤Ç¤È¤Æ¤â½õ¤±¤é¤ì¤¿¤¬¤½¤ì¤â¤¢¤Ã¤Æ´°À®¤·¤¿¤È¤­¤Ï¤ß¤ó¤Ê¤Ç´î¤Ó¹ç¤Ã¤Æ½¼¼Â´¶¤ÈãÀ®´¶¤òÆÀ¤ë¤³¤È¤¬¤Ç¤­¤Þ¤·¤¿¡£
¥×¥í¥°¥é¥ß¥ó¥°¤Ë´Ø¤·¤Æ¤ÏÆñ¤·¤¯¥°¥ë¡¼¥×Æâ¤Ç¶µ¤¨¤Æ¤â¤é¤¤¤Ê¤¬¤é¤Ê¤ó¤È¤«À®¸ù¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤¿¡£½é¤á¤ÎÃÖ¤­¾ì½ê¤äÆ°ÎϤκ¹¤Ê¤É¤Î¾®¤µ¤ÊÊѲ½¤Î±Æ¶Á¤ÇÀ®¸ùΨ¤Ï50%¤°¤é¤¤¤À¤Ã¤¿¡£Æä˭¡¤Îľ³Ñ¤Ë¶Ê¤¬¤Ã¤¿¸å¤Î¸òº¹ÅÀ¤Îǧ¼±¤¬¤Ç¤­¤Ê¤¤¤³¤È¤¬Â¿¤«¤Ã¤¿¡£¤Ä¤®¤Ï¤â¤Ã¤È°ÂÄê´¶¤Î¤¢¤ë¥í¥Ü¥Ã¥È¤òºî¤ê¤¿¤¤¤È»×¤Ã¤¿¡£¼ø¶È³°¤Î»þ´Ö¤â¿¤¯ÍøÍѤ·¤¿¤³¤È¤â¤¢¤Ã¤Æ¡¢À®¸ù¤·¤¿¤È¤­¤Ï¤È¤Æ¤â¤¦¤ì¤·¤«¤Ã¤¿¡£º£¸å¤âÃç´Ö¤È¶¨ÎϤ·¤Æ´èÄ¥¤Ã¤Æ¤¤¤­¤¿¤¤¤È»×¤¦¡£


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