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**Äê¿ô¤Ë¤Ä¤¤¤Æ [#fe9f02e1]
 #define signal_can 11      //ÀѤà¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
 #define signal_move 12     //Âæ¼Ö¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
 #define signal_last 13     //ºÇ¸å¡¢¥´¡¼¥ë¤Î±ß¤ËÃÖ¤¯»Ø¼¨

 
**¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ [#vbae04f9]
 #define turn_right(t) OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_AC);  //±¦¤Øt/100Éòóž
 #define turn_left(t) OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_AC);     //º¸¤Øt/100Éòóž
 #define back(t) OnFwd(OUT_AC); Wait(t); Off(OUT_AC);              //t/100ÉøåÂà 

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 sub move_can()    //´Ì¤òÀѤàÁ°¤ÈÀѤó¤Ç¤¤¤ëºÇÃæ¤ÎÆ°¤­
 {
    OnRev(OUT_AC);
    until(Message() == signal_can);    //´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤ÇÁ°¿Ê
    OnRev(OUT_AC);                   //´Ì¤È¤Îµ÷Î¥¤òµÍ¤á¤ë¤¿¤á150/100ÉÃÁ°¿Ê
    Wait(150);
    Off(OUT_AC);
    until(Message() == signal_move);  //´Ì¾å¤²½ª¤ï¤ë¤Þ¤ÇÄä»ß
 }
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 sub last()     //ºÇ¸å¤Ë´Ì¤ò¥´¡¼¥ë¤ËÃÖ¤¯Éôʬ¤ÎÆ°¤­
 {
    turn_left(31);             //º¸¤Ø31/100Éòóž
    SendMessage(signal_last);  //´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à¤Ø¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë
    until(Message() == signal_move); 
    back(100);                 //´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à¤«¤é¥á¥Ã¥»¡¼¥¸¤¬¤­¤¿¸å¡¢100/100Éøå¿Ê
 }

**main´Ø¿ô¤Ë¤Ä¤¤¤Æ [#n6ccc4a8]
 task main()
 {
    ClearMessage();
    move_can();       //EÃÏÅÀ¤Î´Ì¤òÄϤà°ÌÃ֤ޤǰÜÆ°
    turn_right(80);   //80/100Éñ¦²óž      
    move_can();       //TÃÏÅÀ¤Î´Ì¤òÄϤà°ÌÃ֤ޤǰÜÆ°
    last();           //´Ì¤ò¥´¡¼¥ëÃæ¿´¤Þ¤Ç±¿¤Ó¡¢´Ì¤òÃÖ¤¯
 }

*´Ì¤ò»ý¤Á¾å¤²¤ë¦¤Î¥×¥í¥°¥é¥à [#o967a6c9]
**Äê¿ô¤Ë¤Ä¤¤¤Æ [#i4ebfba7]
 #define signal_can 11              //ÀѤà¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
 #define signal_move 12             //Âæ¼Ö¦¤Î¥×¥í¥°¥é¥à¤Ë°Ü¹Ô
 #define signal_last 13             //ºÇ¸å´Ì¤ò¥´¡¼¥ë¤ËÃÖ¤¯»Ø¼¨
 #define close OnFwd(OUT_B);        //¥¢¡¼¥à¤òÊĤ¸¤ë
 #define can_find 28                //´ÌȽÊ̤λþ¤Ë»È¤ï¤ì¤ë¸÷¥»¥ó¥µ¡¼¤ÎïçÃÍ
 #define can_find 28                //¸÷¥»¥ó¥µ¡¼¤ÎïçÃͤ¬28¤È¤Ê¤Ã¤¿¾ì¹ç´Ì¤¬ÌܤÎÁ°¤Ë¤¢¤ë¤ÈȽÃÇ

**¥Þ¥¯¥í¤Ë¤Ä¤¤¤Æ [#ba6860f3]
 #define open(t) OnRev(OUT_B); Wait(t); Off(OUT_B);    //¥¢¡¼¥à¤òt/100É󫤯
 #define can_up(t) OnRev(OUT_A); Wait(t); Off(OUT_A);  //¥¢¡¼¥à¤òt/100Éþ夲¤ë
 #define can_down(t) OnFwd(OUT_A); Wait(t); Off(OUT_A); //¥¢¡¼¥à¤òt/100Éò¼¤²¤ë

**sub´Ø¿ô¤Ë¤Ä¤¤¤Æ [#jd3e29e1]
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 sub hazime()      //Æ°¤­»Ï¤á¡Ê´Ì¤ò¸«¤Ä¤±¤ë¤Þ¤Ç¤Ï²¿¤â¤·¤Ê¤¤¡Ë
 {
    Off(OUT_AB);
    until(SENSOR_2 < can_find);
    SendMessage(signal_can);
    Wait(150);   //´Ì¤È¤Îµ÷Î¥¤òµÍ¤á¤Æ¤¤¤ë´Ö¾¯¤·ÂÔ¤Ä
 } 


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 sub ageru()  //´Ì¤ò»ý¤Á¾å¤²¤ë
 {
    close;
    can_up(200);
    SendMessage(signal_move);
 }


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 sub idoutyuu()  //°ÜÆ°Ãæ´Ì¤ò¾å¤²¤ë(½Å¤µ¤Ç¾¯¤·²¼¤¬¤Ã¤Æ¤¯¤ë¤Î¤Ç¡Ë
 {
    while(SENSOR_2 < can_find){
         can_up(10);
         Wait(20);
    }
 } 


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 sub tumu()  //´Ì¤òÀѤà
 {   
     can_up(20);  //¾å¤Þ¤Ç20/100Éþ夲¤ë
     SendMessage(signal_can);
     can_down(100);  //´Ì¤ò¹ç¤ï¤»¤ë
     open(100);      //³«¤¤¤Æ
     can_down(100);  //²¼¤Þ¤Ç²¼¤²¤Æ¼¡¤Î´Ì¤ò»ý¤Á¾å¤²¤ë½àÈ÷
 } 


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 sub last()  //ºÇ¸å¥´¡¼¥ë¤Ë´Ì¤òÃÖ¤¯»þ
 {
     until(Message() == signal_last);
     can_down(200);
     SendMessage(signal_move);
 }
   
**main´Ø¿ô¤Ë¤Ä¤¤¤Æ [#b8edbd69]
 task main()
 {
     SetSensor(SENSOR_2,SENSOR_LIGHT);  
     hazime();
     ageru();
     idoutyuu();
     tumu();
     ageru();
     last();
 }
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