[[2017b/Member]] #define right_dai OnFwd(OUT_C);OnRev(OUT_A); #define right_syou OnFwd(OUT_C);Off(OUT_A); #define left_dai OnFwd(OUT_A);OnRev(OUT_C); #define left_syou OnFwd(OUT_A);Off(OUT_C); #define middle 40 #define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC); #define TURN_RIGHT OnFwd(OUT_C);OnRev(OUT_A);until(SENSOR_2<=40);Off(OUT_AC); #define TURN__RIGHT(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t); #define TURN_LEFT(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t); #define cross_stop Off(OUT_AC);Wait(150); #define back OnRev(OUT_AC);Wait(60); #define tukamu OnFwd(OUT_B);Wait(10);Off(OUT_B); #define hanasu OnRev(OUT_B);Wait(5);Off(OUT_B); sub line() { SetSensor(SENSOR_2,SENSOR_LIGHT); ClearTimer(0); while(FastTimer(0)<20){ if(SENSOR_2>middle+5) { right_dai ClearTimer(0); } else if(SENSOR_2>middle+3) { right_syou ClearTimer(0); } else if(SENSOR_2>middle) { OnFwd(OUT_AC); ClearTimer(0); } else if(SENSOR_2>middle-3) { left_syou ClearTimer(0); } else { left_dai; } } Off(OUT_AC); } sub s() { SetSensor(SENSOR_1, SENSOR_TOUCH); ClearTimer(0); while(FastTimer(0)<1400){ if(SENSOR_2>middle+5) { right_dai } else if(SENSOR_2>middle+3) { right_syou } else if(SENSOR_2>middle) { OnFwd(OUT_AC); } else if(SENSOR_2>middle-3) { left_syou } else { left_dai; } } Off(OUT_AC); } task main() { line();//c cross_stop; go(30); TURN_RIGHT; line(); PlaySound(SOUND_CLICK); line(); cross_stop;//b go(20); TURN_LEFT(50); line(); TURN_RIGHT; line();//p cross_stop; PlaySound(SOUND_CLICK); TURN_LEFT(30); go(20); line();//pq go(30); TURN_RIGHT; PlaySound(SOUND_CLICK); line();//r PlaySound(SOUND_CLICK); line();//e PlaySound(SOUND_CLICK); line(); s(); line();//f PlaySound(SOUND_CLICK); go(20); TURN_LEFT(70); line();//s PlaySound(SOUND_CLICK); cross_stop; TURN__RIGHT(80);//つかむ go(60); tukamu; TURN_LEFT(100); go(100); line(); go(20);//s2 line();//q cross_stop; TURN_LEFT(30); go(20); line();//r TURN__RIGHT(150); hanasu; back(100); TURN_LEFT(70); go(120); line();//p line(); line();//b cross_stop; line(); TURN_LEFT(20); line(); line(); go(50); }