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 float GetAngle(float d) /* d¤Ë¤Ï¿Ê¤ß¤¿¤¤µ÷Î¥¤¬Æþ¤ë */
 {
  const float diameter=5.45;  //¥¿¥¤¥ä¤Îľ·Â(­Ñ)
  const float pi=3.1415;      //±ß¼þΨ(¦Ð)
  float ang =d/(diameter*pi)*360.0;  //³ÑÅÙ¤ò·×»»¤¹¤ë
  return ang;                 //³ÑÅÙ¤òÊÖ¤¹¡¡
 }
 
 #define Tozire RotateMotor(OUT_A,50,800);
 #define Hirake RotateMotor(OUT_A,-25,800);
 
 #define Ninety GetAngle(8.25)
 #define Turn_r RotateMotorEx(OUT_BC,35,Ninety,-100,true,false);
 #define Turn_l RotateMotorEx(OUT_BC,35,Ninety,100,true,false); 
 
 #define Rotary(l) GetAngle(l)
 #define Go_F(l) RotateMotorEx(OUT_BC,25,Rotary(l),0,true,true);
 #define Go_B(l) RotateMotorEx(OUT_BC,-25,Rotary(l),0,true,true);
 
 sub Papercop()
 {
  SetSensorLowspeed(S1);
  int n=0;
  while(n<1){
   if (SensorUS(S1)<=10){
    Go_F(5);
    Tozire;
    Turn_r;
    OnRev(OUT_B,50);
    Wait(100);
    Go_F(10);
    Hirake;
    Go_B(10);
    OnRev(OUT_C,50);
    Wait(200);
    Turn_l;
    OnFwd(OUT_B,50);
    Wait(100);
    Off(OUT_B);
    Go_B(5);
    n++;
    Off(OUT_BC);
   }else{
    OnFwd(OUT_BC,50);  
   }
  }
  n=0;
 }
 
 #define CONN 1
 #define Boot 11
 
 task main()
 {
  Go_F(25);
  Turn_r;
  OnFwd(OUT_C,50);
  Wait(100);
  Off(OUT_C);
  Go_F(15);
  OnRev(OUT_C,50);
  Wait(100);
  Off(OUT_C);
  Turn_l;
  Off(OUT_BC);
  OnFwd(OUT_B,50);
  Wait(100);
  Off(OUT_B);
  Go_B(8);
  Off(OUT_BC);
  
  int x=0;
  while(x<6){
   int msg;
   ReceiveRemoteNumber(MAILBOX1,true,msg);
   
   if(msg == Boot){
    Wait(1000);
    Papercop();
    x++;
   }else{
    Off(OUT_BC);
   }
  }
 }

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