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*¥í¥Ü¥Ã¥ÈA¤Î¥×¥í¥°¥é¥à [#y3e4370d]
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**¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ [#c6430f7d]
 #define shiki 48//ïçÃÍ
 #define tomaru(t) Off(OUT_AC);Wait(t);//£ôÉôÖÄä»ß
 #define FWD OnFwd(OUT_AC);//ľ¿Ê
 #define BACK OnRev(OUT_AC);//¸åÂà
 #define LEFT_t OnRev(OUT_A); OnFwd(OUT_C);//º¸Àû²ó
 #define LEFT Off(OUT_A); OnFwd(OUT_C);//º¸²óž
 #define RIGHT_t OnRev(OUT_C); OnFwd(OUT_A); //±¦Àû²ó
 #define RIGHT Off(OUT_C); OnFwd(OUT_A);//±¦²óž
 #define power(s) SetPower(OUT_A+OUT_C,s);//½ÐÎÏÀ©¸æ

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 #define open(t) OnFwd(OUT_B);Wait(t);//ÄÞ¤ò£ôÉôֳ«¤¯²óžưºî¤ò¹Ô¤¦
 #define close(t) OnRev(OUT_B);Wait(t);Off(OUT_B);//ÄÞ¤ò£ôÉôÖÊĤ¸¤ë²óžưºî¤ò¹Ô¤¦
 #define stop_B Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë
 #define SUN 50//¥é¥ó¥¿¥ó¤Îµ±ÅÙ¤òɽ¤¹Äê¿ô
 #define shoot power(2);open(15);Wait(10);close(15);//µå¤ò¤±¤ê¤À¤¹Æ°ºî

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 sub trace_0()
 {
	power(2);//½ÐÎϤò£²¤Ë¤¹¤ë
	ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È¤¹¤ë
       /*¥é¥¤¥ó¥È¥ì¡¼¥¹*/
	while(1){
		if (SENSOR_2 < shiki -7){
			LEFT_t;
		} else if (SENSOR_2 < shiki -4){
			LEFT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			RIGHT;
		} else {
			RIGHT_t;
		} 
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		if(SENSOR_1 > 335){//²óž¥»¥ó¥µ¤¬335¤ò±Û¤¨¤¿¤é
			power(3);
			close(50);//0.5ÉäÀ¤±ÄÞ¤òÊĤ¸¤ë
			ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È
			break;//trace_0½ªÎ»
		}
	}
 }
¤³¤ì¤¬trace_0Æȼ«¤Î¥×¥í¥°¥é¥à¤È¤Ê¤ëÉôʬ¤Ç¤¢¤ë¡£²óž¥»¥ó¥µ¤Ë¤è¤ê°ìÄê¤Î²óž¤¬¹Ô¤ï¤ì¤¿¤ÈȽÃǤµ¤ì¤¿¤éµå¤ò¤Ä¤«¤àÆ°ºî¤ò¨ºÂ¤Ë¹Ô¤¦¡£Äޤβóž¿ô¤Ï¿¤á¤ËÀßÄꤷ¤Æ¤¢¤ê¡¢¥â¡¼¥¿¤È¥®¥¢¤ËÉé²Ù¤ò¤«¤±¤Æ¤·¤Þ¤¦¤â¤Î¤Î¡¢³Î¼Â¤Ë¤Ä¤«¤ßÎ¥¤µ¤Ê¤¤¤³¤È¤¬¤µ¤»¤¿¡£

**tarace_1(Àֶ̤òÊü¤¹Ëø) [#a64fdbb7]
 sub trace_1()
 {
	ClearSensor(SENSOR_1);
	close(10);//0.1Éõå¤òÄù¤á¤ë
	Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë
	power(2);
 ¡¡¡¡¡¡¡¡/*¥é¥¤¥ó¥È¥ì¡¼¥¹*/
	while(1){
		if (SENSOR_2 < shiki -7){
			LEFT_t;
		} else if (SENSOR_2 < shiki -4){
			LEFT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			RIGHT;
		} else {
			RIGHT_t;
		} 
		if(SENSOR_1 > 62){//²óž¥»¥ó¥µ¤¬62°Ê¾å¤Î»þºîÆ°
		tomaru(10);//Ää»ß¤µ¤»¤ë
		break;//¥È¥ì¡¼¥¹½ªÎ»
		}
	}
 }
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**tarace_2,trace_3 [#j58e53fc]
 sub trace_2()
 {
	power(1);
	ClearSensor(SENSOR_1);
	while(1){
		if (SENSOR_2 < shiki -7){
			RIGHT_t;
		} else if (SENSOR_2 < shiki -4){
			RIGHT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			LEFT;
		} else {
			LEFT_t;
		} 
		if(SENSOR_1 > 44){
			power(3);
			close(50);
			ClearSensor(SENSOR_1);
			break;
		}
	}
 }

 sub trace_3()
 {
	power(2);
	ClearSensor(SENSOR_1);
	while(1){
		close(1);
		Off(OUT_B);
		if (SENSOR_2 < shiki -7){
			RIGHT_t;
		} else if (SENSOR_2 < shiki -4){
			RIGHT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			LEFT;
		} else {
			LEFT_t;
		} 
		if(SENSOR_1 > 110){
			power(3);
			close(50);
			ClearSensor(SENSOR_1);
			break;
		}
	}
 }

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