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//º¸Àû²ó #define back OnRev(OUT_AC);//¸å¤í¤Ë¿Ê¤à #define Stop Off(OUT_AC);Wait(100);//1ÉôÖÄä»ß int n=0;//£î¤Ï¸òº¹ÅÀ¤Î²ó¿ô sub usually()//¥í¥Ü¥Ã¥È¤Î´ðËÜŪ¤ÊÆ°ºî { if(SENSOR_3>white) { senkai_right;ClearTimer(0);//Çò¿§¤Ê¤é¤Ð±¦¤ËÀû²ó } else if(SENSOR_3>white_grey) { turn_right;ClearTimer(0);//Çò¿§¤è¤ê¾¯¤·¹õ¤¤¤Ê¤é¤Ð±¦¤Ë¶Ê¤¬¤ë } else if(SENSOR_3>grey) { go;ClearTimer(0);//³¥¿§¤Ê¤é¤Ð¤Þ¤Ã¤¹¤°¿Ê¤à } else if(SENSOR_3>black_grey) { turn_left;ClearTimer(0);//¹õ¿§¤è¤ê¾¯¤·Çò¤¤¤Ê¤é¤Ðº¸¤Ë¶Ê¤¬¤ë } else if(SENSOR_3>black) { senkai_left;//¹õ¿§¤Ê¤é¤Ðº¸¤ËÀû²ó } } sub turn_right_t()//T»úÏ©¤ÎÆ°ºî { if(n==4)//4²óÌܤθòº¹ÅÀ(T»úÏ©) { if(SENSOR_3>white_grey) { Off(OUT_AC);Wait(100); back;Wait(050); go;Wait(030); senkai_right;Wait(057); go;Wait(030); Stop; } } if(n==6)//6²óÌܤθòº¹ÅÀ(T»úÏ©) { if(SENSOR_3>white_grey) { Off(OUT_AC);Wait(100); back;Wait(060); go;Wait(030); senkai_right;Wait(057); go;Wait(030); Stop; } } } sub tashikame()//¸òº¹ÅÀ¤«¤É¤¦¤«³Îǧ¤¹¤ëÆ°ºî { senkai_right;Wait(021); Stop; go;Wait(050); n++;//¸òº¹ÅÀ¤Î¥«¥¦¥ó¥È } sub kousaten_ichi()//¸òº¹ÅÀ£±¤Ä¤á¤ÎÆ°ºî { if(n==1) { PlaySound(SOUND_CLICK); back;Wait(050); go;Wait(030); senkai_right;Wait(057); go;Wait(030); } } sub kousaten_nana()//¸òº¹ÅÀ£·¤Ä¤á(¥´¡¼¥ë)¤ÎÆ°ºî { if(n==7) { Off(OUT_AC);Wait(100); OnRev(OUT_AC);Wait(060);//¥´¡¼¥ë¤«¤é¾¯¤·Î¥¤ì¤ë Off(OUT_AC); OnFwd(OUT_B);Wait(012);//¥¢¡¼¥à¤ò³«¤¯ Off(OUT_B); go;Wait(060);//¥Ü¡¼¥ë¤ò¥·¥å¡¼¥È¤¹¤ë while(n==7)//Á´ÂΤÎÆ°ºî½ªÎ» { Off(OUT_AC); } } } task main()//¥á¥¤¥ó¥×¥í¥°¥é¥à { ClearTimer(0); SetSensor(SENSOR_3, SENSOR_LIGHT); while(true) { while(FastTimer(0)<025) { usually(); } tashikame(); kousaten_ichi(); ClearTimer(0); ClearTimer(1); if(n==2)//¸òº¹ÅÀ£²¤Ä¤á¤ÎÆ°ºî { while(FastTimer(1)<050)//Àþ¾å¤ò0.5Éôֿʤà { usually(); } Off(OUT_AC);//¼ÖÎØÄä»ß OnFwd(OUT_B);Wait(012);Off(OUT_B);Wait(050);//¥¢¡¼¥à¤ò¹¤²¤ë ClearTimer(1); while(FastTimer(1)<100)//Àþ¾å¤ò1Éôֿʤà { usually(); } Off(OUT_AC);//¼ÖÎØÄä»ß OnRev(OUT_B);Wait(015);Off(OUT_B);Wait(050);//¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à ClearTimer(1); while(FastTimer(1)<400)//4ÉôÖÀþ¾å¤ò¿Ê¤à { usually(); } } kousaten_nana(); turn_right_t(); ClearTimer(1); while(FastTimer(1)<200)//¶Ê¤¬¤Ã¤¿Ä¾¸å¤Ë2Éôֿʤà { usually(); 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