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*¥×¥í¥°¥é¥à [#b8919fb0]
**ÄêµÁ [#cb8e16a6]
 #define GO 10
 #define STOP 99
 #define ready 20
 #define speed 35
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**´Ø¿ô [#r57b3ff8]
 void move1() {
 	int msg = STOP;
 	Off(OUT_B);
 	RotateMotorEx(OUT_AC,speed,850,0,true,true);
 	RotateMotorEx(OUT_AC,speed,850,0,true,true);¡¡¡¡¡¡//Á°¿Ê
 	
 	while (msg != GO) {		//¥á¥Ã¥»¡¼¥¸¤ò¼õ¿®
 	while (msg != GO) {		¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿®¹æ£±¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂԤäƤí
 		Off(OUT_ABC);
 		Wait(1);
 		ReceiveRemoteNumber(MAILBOX1,true,msg);
 	}
 
 	
 }

 void move2() {
 	RotateMotor(OUT_C,speed,-320);
 	RotateMotor(OUT_C,speed,-320);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¤·¤Æ´Ì¤ÎÊý¤ò¸þ¤±
 	OnFwd(OUT_AC,1);
 	Wait(1);
 	
 }

 void move3(){
 	RotateMotorEx(OUT_AC,speed,-200,0,true,true);
 	RotateMotorEx(OUT_AC,speed,-200,0,true,true);¡¡¡¡¡¡//´Ì¤Ë¶á¤Å¤±
 }

 void catch(){
 	long t = 0;
 	SetSensorLowspeed(S4);
 	
 	SendResponseNumber(MAILBOX1,ready);		//¥á¥Ã¥»¡¼¥¸¤òÁ÷¿®
 	SendResponseNumber(MAILBOX1,ready);		¡¡//¿®¹æ£²¤òÁ÷¿®
 	
 	while(true) {
 		if (SensorUS(S4) >= 30 && t <= 500){
 	while(true) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÀÖ³°Àþ¤¬È¿±þ¤¹¤ë¤«¡¢°ìÄê»þ´Ö¤¿¤Ã
 		if (SensorUS(S4) >= 30 && t <= 500){¡¡¡¡¡¡//¤¿¤éÏÓ¤ò¹ß¤í¤»
 			t++;
 			Wait(1);
 		} else {
 			RotateMotor(OUT_B,80,140);
 			break;
 		}
 	}
 	OnFwd(OUT_B,10);
 }

 void move4() {
 	OnFwd(OUT_AC,1);
 	Wait(1);
 	RotateMotorEx(OUT_AC,speed,600,0,true,true);
 	RotateMotorEx(OUT_AC,speed,600,0,true,true);¡¡¡¡¡¡//¸åÂष¤í
 	Off(OUT_B);
 
 }

 void AfterCatch() {
 	RotateMotor(OUT_C,speed,-340);
 	RotateMotor(OUT_C,speed,-340);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ¢¤ì
 	OnFwd(OUT_AC,1);
 	Wait(1);
 	RotateMotorEx(OUT_AC,speed,-900,0,true,true);
 	
 }

**¥¿¥¹¥¯¥á¥¤¥ó [#c5fd46f5]
 task main()
 {	
 	move1();
 	move2();
 	move3();
 	catch();
 	move4();
 	AfterCatch();
 }

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