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**¥¹¥ì¡¼¥Ö(¥¢¡¼¥à)¦ [#k3e2420e]
¡¡#define SIGNALON 21¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÏÓ¤òÆ°¤«¤¹¤¿¤á¤Ë¥Þ¥¹¥¿¡¼¤¬¥¹¥ì¡¼¥Ö¤ËÁ÷¤ë¿®¹æ
¡¡#define SIGNALOFF 22¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÏÓ¤òÆ°¤«¤·½ª¤ï¤Ã¤¿¤³¤È¤ò¥¹¥ì¡¼¥Ö¤¬¥Þ¥¹¥¿¡¼¤ËÁ÷¤ë¿®¹æ
¡¡#define LIFT_up OnRev(OUT_C,35);Wait(520);Off(OUT_BC); ¡¡¡¡//ÏÓ¤ò¾å¤²¤ë
¡¡#define LIFT_down OnFwd(OUT_C,20);Wait(550);Off(OUT_BC);   //ÏÓ¤ò²¼¤í¤¹
¡¡#define CATCH OnFwd(OUT_B,60);Wait(2000);Off(OUT_B);¡¡¡¡¡¡ //»æ¥³¥Ã¥×¤ò»ý¤Ä
¡¡#define RELEASE OnFwd(OUT_B,50);Wait(1500);Off(OUT_B);¡¡¡¡ //»æ¥³¥Ã¥×¤òÎ¥¤¹
¡¡#define CONN 0¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Þ¥¹¥¿¡¼¤È¤Ä¤Ê¤¬¤Ã¤Æ¤¤¤ë
¡¡#define SIGNALON2 31
¡¡#define SIGNALOFF2 32
¡¡¡¡void ude()                               //¥µ¥Ö¥ë¡¼¥Á¥ó
  {
	LIFT_down;
	CATCH;
	LIFT_up;
	CATCH;
	Off(OUT_B);
  }

¡¡¡¡task main ()
¡Ð

  ¡¡¡¡int msg;
  ¡¡while (true) {
    ¡¡ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡¡¡¡¡¡¡//msg¤ò¼õ¤±¤Æ¤¤¤ë´Ö

  ¡¡  if (msg == SIGNALON) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¤é»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë
  ¡¡   ude();
  ¡¡  SendResponseNumber(MAILBOX2,SIGNALOFF);¡¡¡¡¡¡¡¡//ËÜÂΤ˼¡¤Î¹ÔÆ°¤ò¤¹¤ë¤è¤¦¤Ë¿®¹æ¤òÁ÷¤ë
  ¡¡  } 
¡¡¡¡¡¡	if (msg == SIGNALON2) {                    //¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¤é»æ¥³¥Ã¥×¤òÎ¥¤¹
    ¡¡ RELEASE;
  ¡¡  SendResponseNumber(MAILBOX2,SIGNALOFF2);¡¡¡¡¡¡//ËÜÂΤ˼¡¤Î¹ÔÆ°¤ò¤¹¤ë¤è¤¦¤Ë¿®¹æ¤òÁ÷¤ë
¡¡    } else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤É¤Á¤é¤Ç¤â¤Ê¤«¤Ã¤¿¤éÆ°¤«¤Ê¤¤
¡¡     Off(OUT_BC);
¡¡	
¡¡    }
	
 	
  ¡¡}
¡¡}
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¡¡#define SPEED 50                              //¥¹¥Ô¡¼¥É50
¡¡#define go_forward OnFwd(OUT_BC,SPEED);       //Á°¿Ê
¡¡#define CONN 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¤òɽ¤·¤Æ¤¤¤ë
¡¡#define SIGNALON 21¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÏÓ¤òÆ°¤«¤¹¤¿¤á¤Ë¥Þ¥¹¥¿¡¼¤¬¥¹¥ì¡¼¥Ö¤ËÁ÷¤ë¿®¹æ
¡¡#define SIGNALOFF 22                          //ÏÓ¤òÆ°¤«¤·½ª¤ï¤Ã¤¿¤³¤È¤ò¥¹¥ì¡¼¥Ö¤¬¥Þ¥¹¥¿¡¼¤ËÁ÷¤ë¿®¹æ
¡¡#define SIGNALON2 31
¡¡#define SIGNALOFF2 32
¡¡#define turn_leftC  OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);¡¡¡¡//º¸Àû²ó
¡¡#define turn_rightC OnFwd(OUT_C,SPEED);OnRev(OUT_B,SPEED);¡¡¡¡//±¦ÀÞ

¡¡¡¡task main()
¡¡¡¡{
	int msg¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//MAILBOX¤ËÍè¤ë¿®¹æ¤òmsg¤ÈÄêµÁ¤¹¤ë
	
 	
  	SetSensorLowspeed(S1);                           //ü»Ò1¤ËĶ²»ÇÈ¥»¥ó¥µ               
	go_forward;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê
	until(SensorUS(S1) <= 9);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¤ÎȾ·Â9cm¤Ë»æ¥³¥Ã¥×¤¬Æþ¤Ã¤¿¤éÄä»ß
¡¡	Off(OUT_BC);
  	SendRemoteNumber(CONN,MAILBOX1,SIGNALON );¡¡¡¡¡¡ //¿®¹æ¤òÁ÷¤ë
	
¡¡ while (true){
		ReceiveRemoteNumber(MAILBOX2,true,msg);¡¡//msg¤ò¼õ¤±¼è¤Ã¤Æ¤¤¤ë´Ö

		if (msg == SIGNALOFF ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¤éº¸Àû²ó¤¹¤ë
    			turn_leftC;
   			Wait(1600);
        		Off(OUT_BC);
	
	go_forward;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê
	Wait(1000);
	Off(OUT_BC);
	
¡¡	SendRemoteNumber(CONN,MAILBOX1,SIGNALON2 );¡¡¡¡¡¡//ÏÓ¤òÆ°¤«¤¹¤¿¤á¤Ë¿®¹æ¤òÁ÷¤ë
¡¡	

		if (msg == SIGNALOFF2 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¤éº¸Àû²ó¤·¡¢Ää»ß
			
    			turn_leftC;
   			Wait(1000);
        		Off(OUT_BC);
¡¡¡¡¡¡¡¡}else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤ì°Ê³°¤Ç¤ÏÄä»ß¤·¤¿¤Þ¤Þ
 ¡¡¡¡¡¡¡¡Off(OUT_BC);
¡¡¡¡¡¡¡¡}
¡¡¡¡¡¡}
¡¡¡¡}

¡¡}
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