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 #define white 50//¸÷¥»¥ó¥µ¡¼¤ÎÇò¤ËÂФ¹¤ë²¼¸ÂÃÍ
 #define white_grey 47//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤è¤ê¤â¾¯¤·Çò¤¤¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
 #define grey 44//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
 #define black_grey 41//¸÷¥»¥ó¥µ¡¼¤Î³¥¿§¤è¤ê¤â¾¯¤·¹õ¤¤¿§¤ËÂФ¹¤ë²¼¸ÂÃÍ
 #define black 38//¸÷¥»¥ó¥µ¡¼¤Î¹õ¤ËÂФ¹¤ë²¼¸ÂÃÍ
 #define turn_right OnFwd(OUT_A);Off(OUT_C);//±¦¤Ë¶Ê¤¬¤ë
 #define turn_left Off(OUT_A);OnFwd(OUT_C);//º¸¤Ë¶Ê¤¬¤ë
 #define go OnFwd(OUT_AC);//¿¿¤Ãľ¤°¿Ê¤à
 #define senkai_right OnFwd(OUT_A);OnRev(OUT_C);//±¦Àû²ó
 #define senkai_left OnFwd(OUT_C);OnRev(OUT_A); //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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