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 OUT_A¡¡¡¡//±¦Â¦¤Î¥¿¥¤¥ä
 OUT_B¡¡¡¡//º¸Â¦¤Î¥¿¥¤¥ä
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**¿Æµ¡ [#a54feeb4]
***²»³Ú [#y202a7a6]
 #define SO 392      //¥½¤Î²»
 #define DO 523      //¥É¤Î²»
 #define MI 659      //¥ß¤Î²»
 #define SO_H 784    //¹â¤¤¥½¤Î²»
 #define SI 988      //¥·¤Î²»
 #define DO_H 1047   //¹â¤¤¥É¤Î²»
 #define MI_H 1318   //¹â¤¤¥ß¤Î²»
 #define RE 1175     //¹â¤¤¥ì¤Î²»
 #define SO_SH 1568  //¤ª¤½¤é¤¯¹â¤¤¥½¤Î¥·¥ã¡¼¥×¤Î²»
 
 sub pose_SE()
 {
     PlayTone(MI_H,90);Wait(100);  //¥ß¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä
     PlayTone(DO_H,90);Wait(100);  //¹â¤¤¥É¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä
     PlayTone(MI_H,90);Wait(100);  //¹â¤¤¥ß¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä
     PlayTone(DO_H,90);Wait(100);  //¹â¤¤¥É¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä
 }
 
 sub one_UP_SE() 
 {
     PlayTone(MI,110);Wait(120);     //¥ß¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä
     PlayTone(SO_H,110);Wait(120);   //¹â¤¤¥½¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä
     PlayTone(MI_H,110);Wait(120);   //¹â¤¤¥ß¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä
     PlayTone(DO_H,110);Wait(120);   //¹â¤¤¥É¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä
     PlayTone(RE,110);Wait(120);     //¥ì¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä
     PlayTone(SO_SH,110);Wait(120);  //¹â¤¤¥½¤Î¥·¥ã¡¼¥×¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä
 }
 
 sub coin_SE() 
 {
     PlayTone(SI,90);Wait(100);¥·¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä
     PlayTone(MI_H,140);Wait(150);¤ò¹â¤¤¥ß0.14ÉÃÌĤ餷0.15ÉôÖÂÔ¤Ä
     PlayTone(SI,90);Wait(100);       //¥·¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä
     PlayTone(MI_H,140);Wait(150);    //¹â¤¤¥ß¤ò0.14ÉÃÌĤ餷0.15ÉôÖÂÔ¤Ä
 }
 
 sub Start_SE() 
 {
     PlayTone(MI,100);Wait(110);   //¥ß¤ò0.1ÉÃÌĤ餷0.11ÉôÖÂÔ¤Ä
     PlayTone(MI,100);Wait(250);   //¥ß¤ò0.1ÉÃÌĤ餷0.25ÉôÖÂÔ¤Ä
     PlayTone(MI,100);Wait(160);   //¥ß¤ò0.1ÉÃÌĤ餷0.16ÉôÖÂÔ¤Ä
     PlayTone(DO,90);Wait(100);    //¥É¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä
     PlayTone(MI,90);Wait(230);    //¥ß¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä
     PlayTone(SO_H,90);Wait(420);  //¹â¤¤¥½¤ò0.09ÉÃÌĤ餷0.42ÉôÖÂÔ¤Ä
     PlayTone(SO,170);Wait(180);   //¥½¤ò0.17ÉÃÌĤ餷0.18ÉôÖÂÔ¤Ä
 }

***¥é¥¤¥ó¥È¥ì¡¼¥¹´ØÏ¢ [#td2ff648]
 #define average 45  //¸÷¥»¥ó¥µ¡¼¤ÎÃͤδð½à
 
 #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //±¦¤òÁ°¤Ë40¡¢º¸¤ò¸å¤í¤Ë35¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //±¦¤òÁ°¤Ë30¡¢º¸¤ò¸å¤í¤Ë20¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54);  //±¦¤òÁ°¤Ë54¡¢º¸¤òÁ°¤Ë54¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //º¸¤òÁ°¤Ë30¡¢±¦¤ò¸å¤í¤Ë20¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //º¸¤òÁ°¤Ë40¡¢±¦¤ò¸å¤í¤Ë35¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35);  //±¦¤Î¥¿¥¤¥ä¤òÁ°¤Ë40¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë35¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20);  //±¦¤Î¥¿¥¤¥ä¤òÁ°¤Ë30¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë20¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54);   //±¦¤Î¥¿¥¤¥ä¤òÁ°¤Ë54¡¢º¸¤Î¥¿¥¤¥ä¤òÁ°¤Ë54¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20);  //º¸¤Î¥¿¥¤¥ä¤òÁ°¤Ë30¡¢±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë20¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35);  //º¸¤Î¥¿¥¤¥ä¤òÁ°¤Ë40¡¢±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë35¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 
 #define reverse_move1 OnFwd(OUT_A,-10);OnFwd(OUT_B,-30); //±¦¤ò¸å¤í¤Ë10¡¢º¸¤ò¸å¤í¤Ë30¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define reverse_move2 OnFwd(OUT_A,-54);OnFwd(OUT_B,-50); //±¦¤ò¸å¤í¤Ë54¡¢º¸¤ò¸å¤í¤Ë50¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define reverse_move3 OnFwd(OUT_B,-10);OnFwd(OUT_A,-30); //º¸¤ò¸å¤í¤Ë10¡¢±¦¤ò¸å¤í¤Ë30¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define reverse_move1 OnFwd(OUT_A,-10);OnFwd(OUT_B,-30);   //±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë10¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë30¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define reverse_move2 OnFwd(OUT_A,-54);OnFwd(OUT_B,-50);   //±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë54¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë50¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 #define reverse_move3 OnFwd(OUT_B,-10);OnFwd(OUT_A,-30);   //º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë10¡¢±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë30¤Î¶¯¤µ¤ÇÆ°¤«¤¹
 
 sub Stop_Motion() 
 {
     Wait(300);    //0.3ÉÃÂÔ¤Ä
     pose_SE();    //¥µ¥Ö´Ø¿ôpose_SE()¤ò¸Æ¤Ó½Ð¤¹
     Wait(1000);   //1ÉÃÂÔ¤Ä
 }
 
 sub L_Assist_line(int Assist_time)
 {
     long ta=CurrentTick();  //»þ´Ö¤ò¬Äê
     while (CurrentTick()-ta<=Assist_time){  //¬Äê»þ´Ö¤¬Assist_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹
         if (SENSOR_2<average-11) {          //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤­
             move1;                          //move1¤ò¸Æ¤Ó½Ð¤¹
         }else if (SENSOR_2<average-7){      //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤­
             move2;                          //move2¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average+7){     //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤­
             move3;                          //move3¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average+11){    //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤­
             move4;                          //move4¤ò¸Æ¤Ó½Ð¤¹
         } else {                            //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤­
             move5;                          //move5¤ò¸Æ¤Ó½Ð¤¹
          }
      }
     coin_SE();      //¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹
 }
 
 sub R_Assist_line(int Assist_time) 
 {
     long tb=CurrentTick();     //»þ´Ö¤ò¬Äê
     while (CurrentTick()-tb<=Assist_time){    //¬Äê»þ´Ö¤¬Assist_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹
         if (SENSOR_2<average-11) {            //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤­
             move5;                            //move5¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average-7){       //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤­
             move4;                            //move4¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average+7){       //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤­
             move3;                            //move3¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average+11){      //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤­
             move2;                            //move2¤ò¸Æ¤Ó½Ð¤¹
         } else {                              //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤­
             move1;                            //move1¤ò¸Æ¤Ó½Ð¤¹
          }
     }
     coin_SE();      //¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹
 }
 
 sub L_line(int Assist_time,int Stop_time) 
 {
     L_Assist_line(Assist_time);     //¥µ¥Ö´Ø¿ôL_Assist_line(int Assist_time)¤ò¸Æ¤Ó½Ð¤¹
     long t1=CurrentTick();          //»þ´Ö¤ò¬Äê
     while (CurrentTick()-t1<=Stop_time){  //¬Äê»þ´Ö¤¬Stop_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹
         if (SENSOR_2<average-11) {        //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤­
             move1;                        //move1¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average-7){   //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤­
             move2;                        //move2¤ò¸Æ¤Ó½Ð¤¹
             t1=CurrentTick();             //»þ´Ö¤ò½é´ü²½
         } else if (SENSOR_2<average+7){   //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤­
             move3;                        //move3¤ò¸Æ¤Ó½Ð¤¹
             t1=CurrentTick();             //»þ´Ö¤ò½é´ü²½
         } else if (SENSOR_2<average+11){  //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤­
             move4;                        //move4¤ò¸Æ¤Ó½Ð¤¹
             t1=CurrentTick();             //»þ´Ö¤ò½é´ü²½
         } else {                          //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤­
         } else {                          //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤­
             move5;                        //move5¤ò¸Æ¤Ó½Ð¤¹
             t1=CurrentTick();             //»þ´Ö¤ò½é´ü²½
         }
      }
     Off(OUT_AB);      //Ää»ß
     coin_SE();        //¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹
 }
 
 sub R_line(int Assist_time,int Stop_time)
 {
     R_Assist_line(Assist_time);     //¥µ¥Ö´Ø¿ôR_Assist_line(int Assist_time)¤ò¸Æ¤Ó½Ð¤¹
  
     long t2=CurrentTick();                //»þ´Ö¤ò¬Äê
     while(CurrentTick()-t2<=Stop_time){   //¬Äê»þ´Ö¤¬Stop_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹
         if(SENSOR_2<average-11) {         //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤­
             move5;                        //move5¤ò¸Æ¤Ó½Ð¤¹
         }else if (SENSOR_2<average-8){    //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-8)̤Ëþ¤Î¤È¤­
             move4;                        //move4¤ò¸Æ¤Ó½Ð¤¹
             t2=CurrentTick();             //»þ´Ö¤ò½é´ü²½
         }else if (SENSOR_2<average+6){    //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+6)̤Ëþ¤Î¤È¤­
             move3;                        //move3¤ò¸Æ¤Ó½Ð¤¹
             t2=CurrentTick();             //»þ´Ö¤ò½é´ü²½
        }else if (SENSOR_2<average+11){    //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤­
             move2;                        //move2¤ò¸Æ¤Ó½Ð¤¹
             t2=CurrentTick();             //»þ´Ö¤ò½é´ü²½
         } else {                          //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤­
             move1;                        //move1¤ò¸Æ¤Ó½Ð¤¹
             t2=CurrentTick();             //»þ´Ö¤ò½é´ü²½
          }
     }
     Off(OUT_AB);     //Ää»ß
     coin_SE();       ¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹
 }
 
 sub White_to_Black(int blight,int A_speed,int B_speed)
 {
      while (SENSOR_2>blight)[     //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬blight¤è¤êÂ礭¤¤´Ö·«¤êÊÖ¤¹
          OnFwd(OUT_A,A_speed);    //±¦¤òA_speed¤ÇÆ°¤«¤¹
          OnFwd(OUT_B,B_speed);    //º¸¤òB_speed¤ÇÆ°¤«¤¹
      }
     Off(OUT_AB);    //Ää»ß
 }
 
 sub Black_to_White(int blight,int A_speed,int B_speed)
 {
     while (SENSOR_2<blight){     //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬blight̤Ëþ¤Î´Ö·«¤êÊÖ¤¹
         OnFwd(OUT_A,A_speed);    //±¦¤òA_speed¤ÇÆ°¤«¤¹
         OnFwd(OUT_B,B_speed);    //º¸¤òB_speed¤ÇÆ°¤«¤¹
      }
     Off(OUT_AB);    //Ää»ß
 }
 
 sub reverse_R_Assist_line(int Assist_time)
 {
     long tc=CurrentTick();   //»þ´Ö¤ò¬Äê
     while (CurrentTick()-tc<=Assist_time){  //¬Äê»þ´Ö¤¬Assist_time°Ê²¼¤Î¤È¤­
         if (SENSOR_2<average-7){            //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤­
             reverse_move3;                  //reverse_move3¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average+7){     //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤­
             reverse_move2;                  //reverse_move2¤ò¸Æ¤Ó½Ð¤¹
         } else {                            //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)°Ê¾å¤Î¤È¤­
             reverse_move1;                  //reverse_move1¤ò¸Æ¤Ó½Ð¤¹
          }
      }
 }
 
 sub reverse_R_line(int Assist_time,int Stop_time)
 {
     reverse_R_Assist_line(Assist_time);
     long t3=CurrentTick();                  //»þ´Ö¤ò¬Äê
     while (CurrentTick()-t3<=Stop_time){    //¬Äê»þ´Ö¤¬Stop_time°Ê²¼¤Î¤È¤­
         if (SENSOR_2<average-7){            //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤­
             reverse_move3;                  //reverse_move3¤ò¸Æ¤Ó½Ð¤¹
         } else if (SENSOR_2<average+7){     //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤­
             reverse_move2;                  //reverse_move2¤ò¸Æ¤Ó½Ð¤¹
             t3=CurrentTick();               //»þ´Ö¤ò½é´ü²½
         } else {                            //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)°Ê¾å¤Î¤È¤­
             reverse_move1;                  //reverse_move1¤ò¸Æ¤Ó½Ð¤¹
          }
      }
     Off(OUT_AB);        Ää»ß
 }
 
 sub reverse_Start_Set()
 {
     reverse_move2;    //reverse_move2¤ò¸Æ¤Ó½Ð¤¹
     Start_SE();       //¥µ¥Ö´Ø¿ôStart_SE()¤ò¸Æ¤Ó½Ð¤¹
     Wait(2000);       //2ÉôÖÂÔ¤Ä
     White_to_Black(48,20,35);¡¡     ¥µ¥Ö´Ø¿ôWhite_to_Black¤Ë¿ôÃͤòÂåÆþ¤·¤Æ¸Æ¤Ó½Ð¤¹
     White_to_Black(48,20,35);¡¡   //¥µ¥Ö´Ø¿ôWhite_to_Black¤Ë¿ôÃͤòÂåÆþ¤·¤Æ¸Æ¤Ó½Ð¤¹
 }

***¥³¥Ã¥×´ØÏ¢ [#q1feb784]
 #define FAST 50  //¥â¡¼¥¿¡¼¤Î¶¯¤µ¤ÎÄêµÁ(¶¯)
 #define SLOW 30  //¥â¡¼¥¿¡¼¤Î¶¯¤µ¤ÎÄêµÁ(¼å)
 #define FAST 50   //¥â¡¼¥¿¡¼¤Î¶¯¤µ¤ÎÄêµÁ(¶¯)
 #define SLOW 30   //¥â¡¼¥¿¡¼¤Î¶¯¤µ¤ÎÄêµÁ(¼å)
  
 #define CONN 1         //ÄÌ¿®¤ÎÀܳÈÖ¹æ
 #define SIGNALON1 11   //ÄÌ¿®ÍѤΥá¥Ã¥»¡¼¥¸1
 #define SIGNALON2 12   //ÄÌ¿®ÍѤΥá¥Ã¥»¡¼¥¸2
 
 int d;   //d¤òÀ°¿ô¤È¤¹¤ë
 const float diameter=5.45;  //diameter¤òÄê¿ô5.45¤È¤¹¤ë¡£¤³¤ì¤Ï¥¿¥¤¥ä¤Îľ·Â¤Ç¤¢¤ë
 const float tread=11.3;     //tread¤òÄê¿ô11.3¤È¤¹¤ë¡£¤³¤ì¤Ï¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý¤Ç¤¢¤ë¡£
 const float pi=3.1415;      //pi¤òÄê¿ô3.1415¤È¤¹¤ë¡£¤³¤ì¤Ï±ß¼þΨ¤Ç¤¢¤ë¡£
 const float diameter=5.45;   //diameter¤òÄê¿ô5.45¤È¤¹¤ë¡£¤³¤ì¤Ï¥¿¥¤¥ä¤Îľ·Â¤Ç¤¢¤ë
 const float tread=11.3;      //tread¤òÄê¿ô11.3¤È¤¹¤ë¡£¤³¤ì¤Ï¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý¤Ç¤¢¤ë¡£
 const float pi=3.1415;       //pi¤òÄê¿ô3.1415¤È¤¹¤ë¡£¤³¤ì¤Ï±ß¼þΨ¤Ç¤¢¤ë¡£
¤³¤³¤Þ¤ÇÄêµÁ¤Ç¤¢¤ë¡£
 sub keep_cop()   //¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤¿¤Þ¤Þ°Ý»ý¤¹¤ë
 {
     ResetTachoCount(OUT_C);        //¥¢¡¼¥à¤Î²óž³Ñ¤ò¥ê¥»¥Ã¥È
     RotateMotor(OUT_C,-SLOW,50);   //¥â¡¼¥¿¡¼¤ò¶¯¤µSLOW¤Ç50Åٲ󞤵¤»¥¢¡¼¥à¤ò»ý¤Á¾å¤²¤ë
     OnFwd(OUT_C,-20);              //¥¢¡¼¥à¤ò¶¯¤µ20¤Ç»ý¤Á¾å¤²¤ëÊý¸þ¤ËÆ°¤«¤·Â³¤±¤ë
 }
¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤¿¤Þ¤Þ°Ý»ý¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£Ï¢Â³¤Ç»î¹Ô¤·¤¿¤È¤­¤Ï²¿ÅÙ¤«¥¢¡¼¥à¤¬²õ¤ì¤¿¡Ê¾¯¤·ÌµÍý¤ËÆ°¤«¤·Â³¤±¤ë¤¿¤á¡Ë¡£

 sub fwdDist(float d) //µ÷Î¥dcmÁ°¿Ê¤µ¤»¤ë
 {
     long angle=d/(diameter*pi)*360.0;   //dcm¿Ê¤Þ¤»¤ë¤Î¤ËɬÍפʥ¿¥¤¥ä¤Î²óž³Ñ
     RotateMotorEx(OUT_AB,SLOW,angle,0,true,true);  //¥í¥Ü¥Ã¥È¤ò¤½¤Î²óž³Ñ¤À¤±¶¯¤µSLOW¤ÇÆ°¤«¤¹
     }
¥í¥Ü¥Ã¥È¤òǤ°Õ¤Îµ÷Î¥(cm)¤À¤±¿Ê¤Þ¤»¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

 sub turnAng(long ang)   //angÅ٤λþ·×²ó¤ê¤ÎÀû²ó
 {
     long angle=tread/diameter*ang;     //angÅÙ¤ÎÀû²ó¤ËɬÍפʲóž³ÑÅÙ
     RotateMotorEx(OUT_AB,SLOW,angle,100,true,true);  //¥í¥Ü¥Ã¥È¤ò¤½¤Î³ÑÅÙ¤À¤±Àû²ó¤µ¤»¤ë
 }
¥í¥Ü¥Ã¥È¤òǤ°Õ¤Î³ÑÅÙ¤À¤±»þ·×²ó¤ê¤ËÀû²ó¤µ¤»¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
     int searchDirection(long ang)    //¥í¥Ü¥Ã¥È¤¬¤½¤Î»þ¸þ¤¤¤Æ¤¤¤ëÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤǥ³¥Ã¥×¤òõ¤·¤½¤³¤Þ¤Ç¤Îµ÷Î¥¤ò¬Äꤹ¤ë
 {
     long tacho_min;    //ºÇ¤â¶á¤¤µ÷Î¥¤È¤Ê¤ë¥¿¥¤¥ä¤Î²óž¿ô
     int d_min=300;     //ºÇ¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ¡£½½Ê¬Â礭¤¤Ãͤˤ·¤Æ¤ª¤¯
 
     long angle=(tread/diameter)*ang;   //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë
     turnAng(ang/2);            //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
     ResetTachoCount(OUT_AB);   //³ÑÅٷ׬¤ò½é´ü²½
     OnFwdSync(OUT_AB,SLOW,-100);    //È¿»þ·×²ó¤ê¤Ë¶¯¤µSLOW¤ÇÀû²ó
     while(MotorTachoCount(OUT_A)<=angle){  //±¦¤Î¥¿¥¤¥ä¤Î¬Äê³ÑÅÙ¤¬·×»»¤·¤¿³ÑÅÙ¤è¤ê¾®¤µ¤¤´Ö
          if(SensorUS(S3)<d_min){   //¸½ºß¤Îµ÷Î¥¤¬²¾¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¾ì¹ç
            d_min=SensorUS(S3);     //²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë
            tacho_min=MotorTachoCount(OUT_A);  //¤³¤Î»þ¤Î±¦¤Î¥¿¥¤¥ä¤Î²óž¿ô¤òµ­Ï¿¤¹¤ë
 }
 }
     OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE);
 
     until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min);
     Wait(14);     //ÈùÄ´À°
     Off(OUT_AB);
     Wait(500);
     return d_min;
 }
ÀèÀ¸¤Ë¼ø¶ÈÃæÇÛ¤é¤ì¤¿¥×¥ê¥ó¥È¤ò»²¹Í¤Ë¤·¤Æ½ñ¤¤¤¿¡¢¥³¥Ã¥×¤ò¸«¤Ä¤±¤Æ¤½¤³¤Þ¤Ç¤Îµ÷Î¥¤ò¬Äꤹ¤ë¥×¥í¥°¥é¥à¤È¤Ç¤¢¤ë¡£¤·¤«¤·¡¢¤³¤Î¥×¥í¥°¥é¥à¤ò¤Ä¤«¤Ã¤Æ¤â»æ¥³¥Ã¥×¤Î¼êÁ°¤Ç»ß¤Þ¤é¤Ê¤«¤Ã¤¿¤Î¤Ï¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤ò²£¸þ¤­¤Ë¤Ä¤±¤¿¤³¤È¤Ë¤è¤ë¸¡ÃΤΤº¤ì¤Î¤»¤¤¤À¤È¹Í¤¨¤é¤ì¤ë¡£
ÀèÀ¸¤¬¼ø¶ÈÃæ¤ËÇۤä¿¥×¥ê¥ó¥È¤ò»²¹Í¤Ë¤·¤Æ½ñ¤¤¤¿¡¢¥³¥Ã¥×¤ò¸«¤Ä¤±¤Æ¤½¤³¤Þ¤Ç¤Îµ÷Î¥¤ò¬Äꤹ¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

 sub tag()
 sub tag()     //¥³¥Ã¥×¤ò½Å¤Í¤ë
 {
     keep_cop();    //¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤Æ°Ý»ý¤¹¤ë¡£
     d=searchDirection(15);  //¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÃæ¿´¤Ë³ÑÅÙ15ÅÙ¤ÎÈϰϤǻҵ¡¤¬ÃÖ¤¤¤¿¥³¥Ã¥×¤òõ¤¹
     if(d>5.0){     //¬Äꤷ¤¿µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¤È¤­
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);     //»Òµ¡¤ËÄÌ¿®¤·¥á¥Ã¥»¡¼¥¸1¤òÁ÷¤ë¡Ê¿Þ4¡Ë
     Wait(5000);                     //5ÉôÖÂԤġʿÞ5¡Ë
     fwdDist(d-8.0);                 //¬Äꤷ¤¿µ÷Î¥¤Î8­Ñ¼êÁ°¤Ç»ß¤Þ¤ë
     ResetTachoCount(OUT_ABC);       //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotorEx(OUT_AB,-SLOW,40,0,true,true);    //¥¿¥¤¥ä¤ò40Åٲ󞤵¤»¤ÆÁ°¿Ê
     RotateMotor(OUT_C,SLOW,50);                    //¥â¡¼¥¿¤ò50ÅÙÆ°¤«¤·¥¢¡¼¥à¤ò²¼¤²¤ë
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);     //»Òµ¡¤ËÄÌ¿®¤·¥á¥Ã¥»¡¼¥¸2¤òÁ÷¤ë¡Ê¿Þ6¡Ë
     Wait(5000);        //5ÉôÖÂԤġʿÞ7¡Ë
     RotateMotor(OUT_C,SLOW,100);     //¥â¡¼¥¿¤ò100ÅÙÆ°¤«¤·¥¢¡¼¥à¤ò²¼¤²¤ë
     ResetTachoCount(OUT_ABC);        //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotor(OUT_C,SLOW,720);     //¥â¡¼¥¿¤ò720ÅÙÆ°¤«¤·¥¢¡¼¥à¤ò³«¤¯¡Ê¿Þ8¡Ë
     RotateMotorEx(OUT_AB,-SLOW,120,0,true,true);    //¥¿¥¤¥ä¤ò120Åٲ󞤵¤»¤Æ¸åÂà
 }
 }
¥³¥Ã¥×¤ò½Å¤Í¤ë¤¿¤á¤Î¿Æµ¡¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò´Þ¤á¤ëÁ°¤Î¼Â¸³Ãʳ¬¤Ç¤Ï¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ç¥³¥Ã¥×¤ò½Å¤Í¤ë¤³¤È¤ËÀ®¸ù¤·¤¿¡£¥³¥á¥ó¥ÈʸÃæ¤Î¿Þ¤ÎÈÖ¹æ¤Ï[[¥³¥Ã¥×¤ò½Å¤Í¤ëÊýË¡:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#f9944814]]¤ò»²¾È¡£
¥³¥Ã¥×¤ò½Å¤Í¤ë¤¿¤á¤Î¿Æµ¡¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ÄÌ¿®¤ò¹Ô¤Ã¤Æ¤¤¤ë°Ê³°¤ÏÆÃÊ̤ʤâ¤Î¤Ï¤Ê¤¤¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò´Þ¤á¤ëÁ°¤Î¼Â¸³Ãʳ¬¤Ç¤Ï¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ç¥³¥Ã¥×¤ò½Å¤Í¤ë¤³¤È¤ËÀ®¸ù¤·¤¿¡£¥³¥á¥ó¥ÈʸÃæ¤Î¿Þ¤ÎÈÖ¹æ¤Ï[[¥³¥Ã¥×¤ò½Å¤Í¤ëÊýË¡:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#f9944814]]¤ò»²¾È¡£

 sub catch_cop(long ang1)
 sub catch_cop(long ang1)      //¥³¥Ã¥×¤ò¤Ä¤«¤à
 {   
     ResetTachoCount(OUT_C);     //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½
     RotateMotor(OUT_C,-SLOW,ang1);     //¶¯¤µSLOW¤Ç³ÑÅÙang1¤À¤±¥â¡¼¥¿¡¼¤ò²ó¤·ÏÓ¤òÊĤ¸¤ë
 }
ÏÓ¤òǤ°Õ¤Î³ÑÅÙ¤À¤±ÊĤ¸¤ë¥µ¥Ö´Ø¿ô¤Ç¤¢¤ë¡£¥á¥¤¥ó´Ø¿ô¤Ç¤Ï»È¤Ã¤Æ¤¤¤ë¤¬Àè¤Û¤É¤Î¥µ¥Ö´Ø¿ôtag()¤Ç¤Ï˺¤ì¤Æ¤¤¤¿¡£
 sub release_cop(long ang2)
 sub release_cop(long ang2)    //¥³¥Ã¥×¤òÊü¤¹
 {
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,SLOW,ang2);
     ResetTachoCount(OUT_C);     //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½
     RotateMotor(OUT_C,SLOW,ang2);     //¶¯¤µSLOW¤Ç³ÑÅÙang2¤À¤±¥â¡¼¥¿¡¼¤ò²ó¤·ÏÓ¤ò³«¤¯
 }
ÏÓ¤òǤ°Õ¤Î³ÑÅÙ¤À¤±³«¤¯¥µ¥Ö´Ø¿ô¤Ç¤¢¤ë¡£
 sub release_ball()
 sub release_ball()        //¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë
 {   
     ResetTachoCount(OUT_ABC);     //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
     OnFwd(OUT_AB,SLOW);
     Wait(700);      //0.7Éôֶ¯¤µSLOW¤ÇÁ°¿Ê
     Off(OUT_AB);    //Ää»ß
     ResetTachoCount(OUT_C);       //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½¡Ê¤¤¤é¤Ê¤¤¡Ë
     RotateMotor(OUT_C,-SLOW,50);  //¥â¡¼¥¿¡¼¤ò50Åٲ󞤵¤»¥¢¡¼¥à¤ò»ý¤Á¾å¤²¤ë
     OnFwd(OUT_C,-20);        //
     Wait(1000);      //1Éôֻý¤Á¾å¤²¤¿¤Þ¤Þ°Ý»ý¤¹¤ë
     OnFwd(OUT_AB,-SLOW);
     Wait(700);       //¶¯¤µSLOW¤Ç0.7ÉôָåÂह¤ë
     Off(OUT_AB);     //Ää»ß
 }
¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¼Â¸³Ãʳ¬¤Ç¤Ï0.7Éô֤θåÂà¤ÎÂå¤ï¤ê¤Ë²óž³Ñ¤Ç»î¤·¡¢¤½¤Î»þ¤Ï¤¦¤Þ¤¯¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤³¤È¤¬¤Ç¤­¤Æ¤¤¤¿¡£ËÜÈÖÍÑ¤Î¥×¥í¥°¥é¥à¤ËÁȤ߹þ¤ó¤À»þ¤ËÆ°ºî¤¬¤ª¤«¤·¤¤¤È¸À¤ï¤ì¤¿¤Î¤ÇÊѤ¨¤¿¤Î¤À¤¬·ë¶É¾å¼ê¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£
¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¼Â¸³Ãʳ¬¤Ç¤Ï0.7Éô֤θåÂà¤ÎÂå¤ï¤ê¤Ë²óž³Ñ¤Ç»î¤·¡¢¤½¤Î»þ¤Ï¤¦¤Þ¤¯¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤³¤È¤¬¤Ç¤­¤Æ¤¤¤¿¡£ËÜÈÖÍÑ¤Î¥×¥í¥°¥é¥à¤ËÁȤ߹þ¤ó¤À»þ¤ËÆ°ºî¤¬¤ª¤«¤·¤¤¤È¸À¤ï¤ì¤¿¤Î¤ÇÊѤ¨¤¿¤Î¤À¤¬¡¢·ë¶É¾å¼ê¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£
***¥×¥í¥°¥é¥àÁ´ÂÎ [#o46e00ab]
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 #define SO 392 
 #define DO 523 
 #define MI 659 
 #define SO_H 784 
 #define SI 988 
 #define DO_H 1047 
 #define MI_H 1318 
 #define RE 1175 
 #define SO_SH 1568 
 
 sub pose_SE()
 {
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
 }
 sub one_UP_SE() 
 {
     PlayTone(MI,110);Wait(120);
     PlayTone(SO_H,110);Wait(120);
     PlayTone(MI_H,110);Wait(120);
     PlayTone(DO_H,110);Wait(120);
     PlayTone(RE,110);Wait(120);
     PlayTone(SO_SH,110);Wait(120);
 }
 sub coin_SE() 
 {
     PlayTone(SI,90);Wait(100);
     PlayTone(MI_H,140);Wait(150);
 }
 
 sub Start_SE() 
 {
     PlayTone(MI,100);Wait(110);
     PlayTone(MI,100);Wait(250);
     PlayTone(MI,100);Wait(160);
     PlayTone(DO,90);Wait(100);
     PlayTone(MI,90);Wait(230);
     PlayTone(SO_H,90);Wait(420);
     PlayTone(SO,170);Wait(180);
 }
 
 #define FAST 50
 #define SLOW 30
 #define CONN 1
 #define SIGNALON1 11
 #define SIGNALON2 12
 
 int d;
 const float diameter=5.45;
 const float tread=11.3;
 const float pi=3.1415;
 
 sub keep_cop()
 {
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,-SLOW,50);
     OnFwd(OUT_C,-20);
 }
 
 sub fwdDist(float d)
 {
     long angle=d/(diameter*pi)*360.0;
     RotateMotorEx(OUT_AB,SLOW,angle,0,true,true);
 }
 
 sub turnAng(long ang)
 {
     long angle=tread/diameter*ang;
     RotateMotorEx(OUT_AB,SLOW,angle,100,true,true);
 }
 
 int searchDirection(long ang)
 
 {
     long tacho_min;
     int d_min=300;
 
     long angle=(tread/diameter)*ang;
     turnAng(ang/2);
     ResetTachoCount(OUT_AB);
     OnFwdSync(OUT_AB,SLOW,-100);
     while(MotorTachoCount(OUT_A)<=angle){
          if(SensorUS(S3)<d_min){
            d_min=SensorUS(S3);
            tacho_min=MotorTachoCount(OUT_A);
 }
 }
     OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE);
 
     until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min);
     Wait(14);
     Off(OUT_AB);
     Wait(500);
     return d_min;
 }
 
 sub tag()
 {
     keep_cop();
     d=searchDirection(15);
 
     if(d>5.0){
       SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
       Wait(5000);
       fwdDist(d-8.0);
       ResetTachoCount(OUT_ABC);
       RotateMotorEx(OUT_AB,-SLOW,40,0,true,true);
       RotateMotor(OUT_C,SLOW,50);
 
       SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
       Wait(5000);
       RotateMotor(OUT_C,SLOW,100);
       ResetTachoCount(OUT_ABC);
       RotateMotor(OUT_C,SLOW,720);
       RotateMotorEx(OUT_AB,-SLOW,120,0,true,true);
 }
 }
 
 sub catch_cop(long ang1)
 {   
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,-SLOW,ang1);
 }
 
 sub release_cop(long ang2)
 {
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,SLOW,ang2);
 }
 
 sub release_ball()
 {   
     ResetTachoCount(OUT_ABC);
     OnFwd(OUT_AB,SLOW);
     Wait(700);
     Off(OUT_AB);
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,-SLOW,50);
     OnFwd(OUT_C,-20);
     Wait(1000);
     OnFwd(OUT_AB,-SLOW);
     Wait(700);
     Off(OUT_AB);
 }
 
 #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); 
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); 
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); 
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); 
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); 
 
 #define average 45 
 
 sub Stop_Motion() 
 {
     Wait(300); 
     pose_SE(); 
     Wait(1000); 
 }
 
 sub L_Assist_line(int Assist_time)
 {
     long ta=CurrentTick();
     while (CurrentTick()-ta<=Assist_time){
         if (SENSOR_2<average-11) {
             move1
         }else if (SENSOR_2<average-7){
             move2;
         }else if (SENSOR_2<average+7){  
             move3;
         }else if (SENSOR_2<average+11){
             move4;
         }else {
             move5;
         }
     }
     coin_SE();
 }
 
 sub R_Assist_line(int Assist_time) 
 {
     long tb=CurrentTick();
     while (CurrentTick()-tb<=Assist_time){
         if (SENSOR_2<average-11) {
             move5;
         } else if (SENSOR_2<average-7){
             move4;
         } else if (SENSOR_2<average+7){  
             move3;
         } else if (SENSOR_2<average+11){
             move2;
         } else {
             move1;
          }
      }
     coin_SE(); 
 }
 
 sub L_line(int Assist_time,int Stop_time) 
 {
     L_Assist_line(Assist_time);
     long t1=CurrentTick();
     while (CurrentTick()-t1<=Stop_time){
         if (SENSOR_2<average-11) {
             move1;
         } else if (SENSOR_2<average-7){
             move2;
             t1=CurrentTick();
         } else if (SENSOR_2<average+7){  
             move3;
             t1=CurrentTick();
         } else if (SENSOR_2<average+11){
             move4;
             t1=CurrentTick();
         } else {
             move5;
             t1=CurrentTick();
          }
      }
     Off(OUT_AB);
     coin_SE(); 
 }
 
 sub R_line(int Assist_time,int Stop_time)
 {
     R_Assist_line(Assist_time); 
 
     long t2=CurrentTick();
     while (CurrentTick()-t2<=Stop_time){
         if (SENSOR_2<average-11) {
             move5;
         } else if (SENSOR_2<average-8){
             move4;
             t2=CurrentTick();
         } else if (SENSOR_2<average+6){  
             move3;
             t2=CurrentTick();
         } else if (SENSOR_2<average+11){
             move2;
             t2=CurrentTick();
         } else {
             move1;
             t2=CurrentTick();
          }
      }
     Off(OUT_AB);
     coin_SE();
 }
 
 sub White_to_Black(int blight,int A_speed,int B_speed)
 {
     while (SENSOR_2>blight){
          OnFwd(OUT_A,A_speed);
          OnFwd(OUT_B,B_speed);
      }
     Off(OUT_AB);
 }
 
 sub Black_to_White(int blight,int A_speed,int B_speed)
 {
     while (SENSOR_2<blight){
          OnFwd(OUT_A,A_speed);
          OnFwd(OUT_B,B_speed);
      }
     Off(OUT_AB);
 }
 
 #define reverse_move1 OnFwd(OUT_A,-10);OnFwd(OUT_B,-30);
 #define reverse_move2 OnFwd(OUT_A,-54);OnFwd(OUT_B,-50);
 #define reverse_move3 OnFwd(OUT_B,-10);OnFwd(OUT_A,-30);
 
 sub reverse_R_Assist_line(int Assist_time)
 {
     long tc=CurrentTick();
     while (CurrentTick()-tc<=Assist_time){
          if (SENSOR_2<average-7){
            reverse_move3;
         } else if (SENSOR_2<average+7){  
             reverse_move2;
         } else {
             reverse_move1;
          }
      }
 }
 
 sub reverse_R_line(int Assist_time,int Stop_time)
 {
     reverse_R_Assist_line(Assist_time);
     long t3=CurrentTick();
     while (CurrentTick()-t3<=Stop_time){
          if (SENSOR_2<average-7){
            reverse_move3;
         } else if (SENSOR_2<average+7){  
            reverse_move2;
            t3=CurrentTick();
         } else {
            reverse_move1;
         }
      }
     Off(OUT_AB);
 }
 
 sub reverse_Start_Set()
 {
     reverse_move2;
     Start_SE();
     Wait(2000);
     White_to_Black(48,20,35);
 }
 
 task main()
 {
     SetSensorLight(S2);      //¸÷¥»¥ó¥µ¡¼¤òÀßÄê
     SetSensorLowspeed(S3);   //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤òÀßÄê
 
     reverse_Start_Set();     //¸å¤í¸þ¤­¤Ç¥¹¥¿¡¼¥È¤·À֤έ¡¡¢­¢¤Î·ÐÏ©¤ò°ÜÆ°
     L_line(1300,110);        //¥é¥¤¥ó¥È¥ì¡¼¥¹¡ÊÀ֤έ£¤Î·ÐÏ©¡Ë
     OnFwd(OUT_AB,-SLOW);
     Wait(500);          //¸òº¹ÅÀ¤Ç0.5ÉôָåÂà
     Off(OUT_AB);        //Ää»ß
     White_to_Black(43,20,25);       //¸÷¥»¥ó¥µ¡¼¤¬ÃÍ43°Ê²¼¤òÆÀ¤ë¤Þ¤Ç¾¯¤·±¦´ó¤ê¤ËÁ°¿Ê
     White_to_Black(33,20,25);       //¸÷¥»¥ó¥µ¡¼¤¬ÃÍ33°Ê²¼¤òÆÀ¤ë¤Þ¤Ç¾¯¤·±¦´ó¤ê¤ËÁ°¿Ê
     White_to_Black(43,20,25);       //°ÌÃÖ¤òÄ´À°
     White_to_Black(33,20,25);       //°ÌÃÖ¤òÄ´À°
     ResetTachoCount(OUT_A);         //±¦Â¦¤Î¥¿¥¤¥ä¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotor(OUT_A,-SLOW,150);   //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò150ÅÙ¸å¤í¸þ¤­¤Ë²óž¤µ¤»¤ÆÊý¸þž´¹
     d=searchDirection(15);      //¥í¥Ü¥Ã¥È¤òÃæ¿´¤Ë15ÅÙ¤ÎÈϰϤǻ楳¥Ã¥×¤òõ¤·µ÷Î¥¤ò¬Äꤹ¤ë
     if(d>5.0){       //µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¾ì¹ç
       catch_cop(600);       //ÏÓ¤ò¾¯¤·ÊĤ¸¤Æ¤ª¤¯¡ÊÏӤκ¸¤ä±¦¤Ë¥³¥Ã¥×¤¬Æþ¤ë¤È¤Ä¤«¤á¤Ê¤¯¤Ê¤ë¤¿¤á¡Ë
       OnFwd(OUT_AB,SLOW);
       Wait(1000);           //1ÉôÖÁ°¿Ê
       Off(OUT_AB);          //Ää»ß
       catch_cop(500);       //¥³¥Ã¥×¤ò¤Ä¤«¤à
       OnFwd(OUT_AB,-SLOW);
       Wait(400);            //0.4ÉôָåÂà
       Off(OUT_AB);          //Ää»ß
 }                           //­£½ªÎ»¸å¤«¤é¤³¤³¤Þ¤Ç¤¬·ÐÏ©­¤
 }                           //­£½ªÎ»¸å¤«¤é¤³¤³¤Þ¤Ç¤¬À֤ηÐÏ©­¤
     ResetTachoCount(OUT_B);         //º¸Â¦¤Î¥¿¥¤¥ä¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotor(OUT_B,-SLOW,110);   //º¸Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò110ÅÙ¸å¤í¸þ¤­¤Ë²óž¤µ¤»¤ÆÊý¸þž´¹
     release_ball();      //¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¡Ê·ÐÏ©­¥¡Ë
     release_ball();      //¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¡ÊÀ֤ηÐÏ©­¥¡Ë
     ResetTachoCount(OUT_A);       //±¦Â¦¤Î¥¿¥¤¥ä¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotor(OUT_A,-SLOW,130);//±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò130ÅÙ¸å¤í¸þ¤­¤Ë²óž¤µ¤»¤ÆÊý¸þž´¹
     tag();                  //¥³¥Ã¥×¤ò½Å¤Í¤ë¡Ê·ÐÏ©­¦¡Ë
     tag();                  //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀ֤ηÐÏ©­¦¡Ë
     OnFwd(OUT_AB,-SLOW);
     Wait(1000);              //1ÉôָåÂà
     Off(OUT_AB);             //Ää»ß
     White_to_Black(48,35,25);        //¸÷¥»¥ó¥µ¡¼¤¬ÃÍ48°Ê²¼¤òÆÀ¤ë¤Þ¤Ç±¦´ó¤ê¤ËÁ°¿Ê
     L_line(300,130);                 //¥é¥¤¥ó¥È¥ì¡¼¥¹
     Black_to_White(48,0,-30);        //¸÷¥»¥ó¥µ¡¼¤¬ÃÍ48°Ê¾å¤òÆÀ¤ë¤Þ¤Ç¸å¤í¸þ¤­¤Ë»þ·×²ó¤ê¤Ë²óž
     White_to_Black(33,0,-30);        //¸÷¥»¥ó¥µ¡¼¤¬ÃÍ33°Ê²¼¤òÆÀ¤ë¤Þ¤Ç¸å¤í¸þ¤­¤Ë»þ·×²ó¤ê¤Ë²óž
     Off(OUT_AB);             //Ää»ß¡ÊÀ֤ηÐÏ©­§¡Ë
     White_to_Black(48,35,25);        //¹õÀþ¤òõ¤¹¡ÊÀ֤ηÐÏ©­¨¡Ë
     L_line(300,130);                 //¥é¥¤¥ó¥È¥ì¡¼¥¹¡ÊÀ֤ηÐÏ©­©¡Ë
     Black_to_White(48,0,-30);        //¸òº¹ÅÀ¤Ç°ÌÃÖ¤òÄ´À°
     White_to_Black(33,0,-30);        //¸òº¹ÅÀ¤Ç°ÌÃÖ¤òÄ´À°
     d=searchDirection(15);           //¥í¥Ü¥Ã¥È¤òÃæ¿´¤ËÈÏ°Ï15Å٤ǥ³¥Ã¥×¤òõ¤·µ÷Î¥¤ò¬Äꤹ¤ë
     if(d>5.0){       //µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¾ì¹ç
     if(d>5.0){              //µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¾ì¹ç
       catch_cop(600);       //ÏÓ¤ò¾¯¤·ÊĤ¸¤Æ¤ª¤¯¡ÊÏӤκ¸¤ä±¦¤Ë¥³¥Ã¥×¤¬Æþ¤ë¤È¤Ä¤«¤á¤Ê¤¯¤Ê¤ë¤¿¤á¡Ë
       OnFwd(OUT_AB,SLOW);
       Wait(1000);           //1ÉôÖÁ°¿Ê
       Off(OUT_AB);          //Ää»ß
       catch_cop(500);       //¥³¥Ã¥×¤ò¤Ä¤«¤à
       OnFwd(OUT_AB,-SLOW);
       Wait(400);            //0.4ÉôָåÂà
       Off(OUT_AB);          //Ää»ß
 
       Off(OUT_AB);          //Ää»ß¡ÊÀ֤ηÐÏ©­ª¡Ë
 }
     White_to_Black(33,-30,-30);
     L_line(150,130);
     Black_to_White(48,30,30);
     release_ball();
     ResetTachoCount(OUT_A);
     RotateMotor(OUT_A,-SLOW,130);
     tag();                   //¥³¥Ã¥×¤ò½Å¤Í¤ë
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,-SLOW,1100);
     White_to_Black(33,-30,-30);
     Black_to_White(48,-30,-30);
     White_to_Black(33,-30,-30);
     White_to_Black(33,-30,-30);    //¹õÀþ¤òõ¤¹
     L_line(150,130);               //¥é¥¤¥ó¥È¥ì¡¼¥¹
     Black_to_White(48,30,30);      //¸òº¹ÅÀ¤ò±Û¤¨¤ë
     release_ball();                //¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¡ÊÀ֤ηÐÏ©­«¡Ë
     ResetTachoCount(OUT_A);        //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½
     RotateMotor(OUT_A,-SLOW,130);  //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò130ÅÙ²ó¤·Êý¸þž´¹¡ÊÀ֤ηÐÏ©­¬¡Ë
     tag();              //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀ֤ηÐÏ©­­¡Ë
     ResetTachoCount(OUT_C);        //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½
     RotateMotor(OUT_C,-SLOW,1100); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1100ÅÙ²ó¤·ÏÓ¤òÊĤ¸¤ë
     White_to_Black(33,-30,-30);    //°ÌÃÖ¤òÄ´À°
     Black_to_White(48,-30,-30);    //°ÌÃÖ¤òÄ´À°
     White_to_Black(33,-30,-30);    //°ÌÃÖ¤òÄ´À°
     OnFwd(OUT_AB,SLOW);
     Wait(300);
     Off(OUT_AB);
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,SLOW,1200);
     Wait(300);            //0.3ÉôÖÁ°¿Ê
     Off(OUT_AB);          //Ää»ß
     ResetTachoCount(OUT_C);        //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½
     RotateMotor(OUT_C,SLOW,1200); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1100ÅÙ²ó¤·ÏÓ¤ò³«¤¯¡ÊÀ֤ηÐÏ©­®¡Ë
 }

**»Òµ¡ [#u3b39ac6]
***²»³Ú [#q5a855b5]
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***¥é¥¤¥ó¥È¥ì¡¼¥¹´ØÏ¢ [#o06e647d]
¿Æµ¡¤È°Û¤Ê¤ë¤Î¤ÏÄêµÁ¤È¥µ¥Ö´Ø¿ô¤Î°ìÉô¤¬¤Ê¤¤¤³¤È¤È¡¢°Û¤Ê¤ë¥µ¥Ö´Ø¿ô¤¬1¤Ä¤¢¤ë¤³¤È¤Ê¤Î¤ÇÄɲ䵤줿¤â¤Î¤Î¤ßºÜ¤»¤Æ¤ª¤¯¡£Â¾¤Ï¿Æµ¡¤Î[[¥é¥¤¥ó¥È¥ì¡¼¥¹´ØÏ¢:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#td2ff648]]¤ò»²¾È¡£
 sub Start_Set()
 {
     Start_SE();
     move3;
     Wait(600);
     White_to_Black(48,30,5);
     Start_SE();     //¥µ¥Ö´Ø¿ôStart_SE()¤ò¸Æ¤Ó½Ð¤¹
     move3;          //move3¤ò¸Æ¤Ó½Ð¤¹
     Wait(600);      //0.6ÉôÖÂÔ¤Ä
     White_to_Black(48,30,5);    //¹õÀþ¤òõ¤¹
 }

***¥³¥Ã¥×´ØÏ¢ [#mbb4a56f]
¤³¤Á¤é¤â¿Æµ¡¤È°Û¤Ê¤ë¤Î¤ÏÄÌ¿®¤Î¥×¥í¥°¥é¥à¤Î¤ß¤Ê¤Î¤Ç¡¢¤½¤ì¤À¤±ºÜ¤»¤Æ¤ª¤¯¡£Â¾¤Ï¿Æµ¡¤Î[[¥³¥Ã¥×´ØÏ¢:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#q1feb784]]¤ò»²¾È¡£

 sub tag()
 #define SIGNALON 11    //¿Æµ¡¤Ç¤ÏSIGNALON¡Ö1¡×¤Ë¤Ê¤Ã¤Æ¤¤¤¿¤Î¤Ç°ì±þ
¥×¥í¥°¥é¥à¤Ë¤Ï±Æ¶Á¤·¤Ê¤¤¤¬¡¢ÊѤï¤Ã¤Æ¤¤¤¿¤Î¤ÇºÜ¤»¤Æ¤ª¤¯¡£

 sub tag()     //¥³¥Ã¥×¤ò½Å¤Í¤ë
 {
     int msg,counter;
     ResetTachoCount(OUT_ABC);
     RotateMotor(OUT_C,SLOW,1080);
     RotateMotorEx(OUT_AB,-SLOW,360,0,true,true);
     RotateMotor(OUT_C,-SLOW,1080);
     int msg,counter;       //msg,counter¤òÀ°¿ô¤È¤¹¤ë
     ResetTachoCount(OUT_ABC);            //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotor(OUT_C,SLOW,1080);        //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤ò³«¤¯
     RotateMotorEx(OUT_AB,-SLOW,360,0,true,true);       //¸åÂह¤ë
     RotateMotor(OUT_C,-SLOW,1080);       //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤òÊĤ¸¤ë
 
     while(counter==0){
          ReceiveRemoteNumber(MAILBOX1,true,msg);
          if(msg==SIGNALON) {
            ResetTachoCount(OUT_ABC);
            RotateMotor(OUT_C,SLOW,1080);
            RotateMotorEx(OUT_AB,SLOW,120,0,true,true);
            RotateMotor(OUT_C,-SLOW,1080);
            counter++;
     while(counter==0){      //¥«¥¦¥ó¥¿¡¼¤¬0¤Î´Ö·«¤êÊÖ¤¹¡Ê¿Þ4¡Ë
          ReceiveRemoteNumber(MAILBOX1,true,msg);    //MAILBOX1¤ÎÃͤòmsg¤Ë³ÊǼ
          if(msg==SIGNALON){          //msg¤¬SIGNALON¤ËÅù¤·¤¤¤È¤­ 
            ResetTachoCount(OUT_ABC);      //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
            RotateMotor(OUT_C,SLOW,1080);      //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤ò³«¤¯
            RotateMotorEx(OUT_AB,SLOW,120,0,true,true);    //Á°¿Ê¤¹¤ë
            RotateMotor(OUT_C,-SLOW,1080);     //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤òÊĤ¸¤ë
            counter++;                //counter¤Ë1¤ò²Ã¤¨¤ë¡Ê¿Þ5¡Ë
       }
 }
     counter=0;
     counter=0;        //¥«¥¦¥ó¥¿¡¼¤ò0¤Ë¤¹¤ë
 
     while(counter==0){
          ReceiveRemoteNumber(MAILBOX1,true,msg);
          if(msg==SIGNALON2) {
            ResetTachoCount(OUT_ABC);
            RotateMotor(OUT_C,SLOW,360);
            RotateMotorEx(OUT_AB,SLOW,40,0,true,true);
            counter++;
     while(counter==0){      //¥«¥¦¥ó¥¿¡¼¤¬0¤Î´Ö·«¤êÊÖ¤¹¡Ê¿Þ6¡Ë
          ReceiveRemoteNumber(MAILBOX1,true,msg);    //MAILBOX1¤ÎÃͤòmsg¤Ë³ÊǼ
          if(msg==SIGNALON2) {          //msg¤¬SIGNALON2¤ËÅù¤·¤¤¤È¤­ 
            ResetTachoCount(OUT_ABC);      //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
            RotateMotor(OUT_C,SLOW,360);    //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò360ÅÙ²ó¤·ÏÓ¤ò³«¤¯
            RotateMotorEx(OUT_AB,SLOW,40,0,true,true);     //Á°¿Ê¤¹¤ë¡Ê¿Þ7¡Ë
            counter++;                //counter¤Ë1¤ò²Ã¤¨¤ë
 }
 }
     counter=0;
     ResetTachoCount(OUT_ABC);
     RotateMotor(OUT_C,SLOW,720);
     RotateMotorEx(OUT_AB,-SLOW,120,0,true,true);
     counter=0;        //¥«¥¦¥ó¥¿¡¼¤ò0¤Ë¤¹¤ë
     ResetTachoCount(OUT_ABC);      //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotor(OUT_C,SLOW,720);    //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò720ÅÙ²ó¤·ÏÓ¤ò³«¤¯¡Ê¿Þ8¡Ë
     RotateMotorEx(OUT_AB,-SLOW,120,0,true,true);    //¸åÂह¤ë
 }
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 #define SO 392
 #define DO 523
 #define MI 659
 #define SO_H 784
 #define SI 988
 #define DO_H 1047
 #define MI_H 1318
 #define RE 1175
 #define SO_SH 1568

 
 #define SIGNALON 11
 #define SIGNALON2 12
 #define SLOW 30

 
 const float diameter=5.45;
 const float tread=11.3;
 const float pi=3.1415;

 
 int d;

 
 sub fwdDist(float d)
 {
     long angle=d/(diameter*pi)*360.0;
     RotateMotorEx(OUT_AB,SLOW,angle,0,true,true);
 }

 
 sub turnAng(long ang)
 {
     long angle=tread/diameter*ang;
     RotateMotorEx(OUT_AB,SLOW,angle,100,true,true);
 }

 
 int searchDirection(long ang)
 {
     long tacho_min;
     int d_min=300;

 
     long angle=(tread/diameter)*ang;
     turnAng(ang/2);
     ResetTachoCount(OUT_AB);
     OnFwdSync(OUT_AB,SLOW,-100);
     while(MotorTachoCount(OUT_A)<=angle){
          if(SensorUS(S3)<d_min){
            d_min=SensorUS(S3);
            tacho_min=MotorTachoCount(OUT_A);
 }
 }
     OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE);

     until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min);
          Wait(14);
          Off(OUT_AB);
          Wait(500);
          return d_min;
 }

 
 sub tag()
 {
     int msg,counter;
     ResetTachoCount(OUT_ABC);
     RotateMotor(OUT_C,SLOW,1080);
     RotateMotorEx(OUT_AB,-SLOW,360,0,true,true);
     RotateMotor(OUT_C,-SLOW,1080);
 
     while(counter==0){
          ReceiveRemoteNumber(MAILBOX1,true,msg);
          if(msg==SIGNALON) {
            ResetTachoCount(OUT_ABC);
            RotateMotor(OUT_C,SLOW,1080);
            RotateMotorEx(OUT_AB,SLOW,120,0,true,true);
            RotateMotor(OUT_C,-SLOW,1080);
            counter++;
       }
 }
     counter=0;
     while(counter==0){
          ReceiveRemoteNumber(MAILBOX1,true,msg);
          if(msg==SIGNALON2) {
            ResetTachoCount(OUT_ABC);
            RotateMotor(OUT_C,SLOW,360);
            RotateMotorEx(OUT_AB,SLOW,40,0,true,true);
            counter++;
 }
 }
     counter=0;
     ResetTachoCount(OUT_ABC);
     RotateMotor(OUT_C,SLOW,720);
     RotateMotorEx(OUT_AB,-SLOW,120,0,true,true);
 }

 
 sub pose_SE()
 {
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
 }

 
 sub one_UP_SE()
 {
     PlayTone(MI,110);Wait(120);
     PlayTone(SO_H,110);Wait(120);
     PlayTone(MI_H,110);Wait(120);
     PlayTone(DO_H,110);Wait(120);
     PlayTone(RE,110);Wait(120);
     PlayTone(SO_SH,110);Wait(120);

 }

 
 sub coin_SE()
 {
     PlayTone(SI,90);Wait(100);
     PlayTone(MI_H,140);Wait(150);
 }

 
 sub Start_SE()
 {
     PlayTone(MI,100);Wait(110);
     PlayTone(MI,100);Wait(250);
     PlayTone(MI,100);Wait(160);
     PlayTone(DO,90);Wait(100);
     PlayTone(MI,90);Wait(230);
     PlayTone(SO_H,90);Wait(420);
     PlayTone(SO,170);Wait(180);
 }

 
 #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35);
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20);
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54);
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20);
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35);

 
 #define average 45

 
 sub Stop_Motion()
 {
     Wait(300);
     pose_SE();
     Wait(1000);
 }

 
 sub L_Assist_line(int Assist_time)
 {
     long ta=CurrentTick();
     while (CurrentTick()-ta<=Assist_time){
         if(SENSOR_2<average-11) {
           move1
        }else if (SENSOR_2<average-7){
           move2;
        }else if (SENSOR_2<average+7){  
            move3;
        }else if (SENSOR_2<average+11){
             move4;
        }else {
             move5;
          }
      }
     coin_SE();
 }

 
 sub R_Assist_line(int Assist_time)
 {
     long tb=CurrentTick();
     while (CurrentTick()-tb<=Assist_time){
          if(SENSOR_2<average-11) {
             move5;
         }else if(SENSOR_2<average-7){
             move4;
         }else if(SENSOR_2<average+7){  
             move3;
         }else if(SENSOR_2<average+11){
             move2;
         }else {
             move1;
         }
      }
     coin_SE();
 }

 
 sub L_line(int Assist_time,int Stop_time)
 {
     L_Assist_line(Assist_time);
     long t1=CurrentTick();
     while (CurrentTick()-t1<=Stop_time){
         if (SENSOR_2<average-11) {
             move1;
         } else if (SENSOR_2<average-7){
             move2;
             t1=CurrentTick();
         } else if (SENSOR_2<average+7){  
             move3;
             t1=CurrentTick();
         } else if (SENSOR_2<average+11){
             move4;
             t1=CurrentTick();
         } else {
             move5;
             t1=CurrentTick();
          }
      }
     Off(OUT_AB);
     coin_SE();
 }

 
 sub R_line(int Assist_time,int Stop_time)
 {
     R_Assist_line(Assist_time);
  
     long t2=CurrentTick();
     while (CurrentTick()-t2<=Stop_time){
         if (SENSOR_2<average-11) {
             move5;
         } else if (SENSOR_2<average-8){
             move4;
             t2=CurrentTick();
         } else if (SENSOR_2<average+6){  
             move3;
             t2=CurrentTick();
         } else if (SENSOR_2<average+11){
             move2;
             t2=CurrentTick();
         } else {
             move1;
             t2=CurrentTick();
          }
      }
     Off(OUT_AB);
     coin_SE();
 }

 
 sub White_to_Black(int blight,int A_speed,int B_speed)
 {
     while (SENSOR_2>blight){
          OnFwd(OUT_A,A_speed);
          OnFwd(OUT_B,B_speed);
      }
     Off(OUT_AB);
 }

 
 sub Black_to_White(int blight,int A_speed,int B_speed)
 {
     while (SENSOR_2<blight){
          OnFwd(OUT_A,A_speed);
          OnFwd(OUT_B,B_speed);
      }
     Off(OUT_AB);
 }

 
 sub Start_Set()
 {
     Start_SE();
     move3;
     Wait(600);
     White_to_Black(48,30,5);
 }

 
 sub catch_cop(long ang1)
 {   
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,-SLOW,ang1);
 }

 
 sub release_cop(long ang2)
 {
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,SLOW,ang2);
 }

 
 sub release_ball()
 {   
     ResetTachoCount(OUT_ABC);
     OnFwd(OUT_AB,SLOW);
     Wait(700);
     Off(OUT_AB);
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,-SLOW,50);
     OnFwd(OUT_C,-20);
     Wait(1000);
     OnFwd(OUT_AB,-SLOW);
     Wait(700);
     Off(OUT_AB);
 }

 
 sub keep_cop()
 {
     ResetTachoCount(OUT_C);
     RotateMotor(OUT_C,-SLOW,50);
     OnFwd(OUT_C,-20);
 }

 
 task main()
 {
     SetSensorLight(S2);        //¸÷¥»¥ó¥µ¡¼¤òÀßÄê
     SetSensorLowspeed(S3);     //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤òÀßÄê
     Start_Set();     
     R_line(300,150);           //Á°¿Ê¸å¥é¥¤¥ó¥È¥ì¡¼¥¹
     d=searchDirection(15);     //¥í¥Ü¥Ã¥È¤òÃæ¿´¤Ë15ÅÙ¤ÎÈϰϤǥ³¥Ã¥×¤òõ¤¹
     if(d>5.0){          //µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¾ì¹ç
       catch_cop(700);   //ÏÓ¤ò¾¯¤·ÊĤ¸¤Æ¤ª¤¯¡ÊÏӤκ¸¤ä±¦¤Ë¥³¥Ã¥×¤¬Æþ¤ë¤È¤Ä¤«¤á¤Ê¤¯¤Ê¤ë¤¿¤á¡Ë
       OnFwd(OUT_AB,SLOW);
       Wait(1400);        //1.4ÉôÖÁ°¿Ê
       Off(OUT_AB);       //Ää»ß
       catch_cop(300);    //¥³¥Ã¥×¤ò¤Ä¤«¤à
       OnFwd(OUT_AB,-SLOW);
       Wait(100);          //0.1ÉôָåÂà
       Off(OUT_AB);        //Ää»ß¡ÊÀĤηÐÏ©­¡¡Ë
 }
     ResetTachoCount(OUT_A);       //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½
     RotateMotor(OUT_A,-SLOW,370);   //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò370ÅÙ¸å¤í¤Ë²ó¤·Êý¸þž´¹
     OnFwd(OUT_AB,SLOW);
     Wait(600);            //0.6ÉôÖÁ°¿Ê
     Off(OUT_AB);          //Ää»ß
     catch_cop(40);        //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò40ÅÙ²ó¤·¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë
     OnFwd(OUT_C,-SLOW); 
     Wait(1000);      //»ý¤Á¾å¤²¤¿¤Þ¤Þ1Éôְݻý¤¹¤ë
     Off(OUT_C);      //Ää»ß
     OnFwd(OUT_AB,-SLOW);
     Wait(1000);      //1ÉôָåÂà
     Off(OUT_AB);     //Ää»ß¡ÊÀĤηÐÏ©­¢¡Ë
     White_to_Black(33,35,15);     
     Black_to_White(48,35,15);
     White_to_Black(33,40,25);
     Black_to_White(48,-30,0);
     White_to_Black(33,-30,0);
     Black_to_White(50,0,-30);
     White_to_Black(33,35,30);
     Black_to_White(48,35,30);    //8¤Ä¤Î¥µ¥Ö´Ø¿ô¤ÇÎдݤÎÃÏÅÀ¤Ë°ÜÆ°¡ÊÀĤηÐÏ©­£¡Ë
     release_cop(50);
     tag();         //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀĤηÐÏ©­¤¡Ë
     keep_cop();    //¥³¥Ã¥×¤ò»ý¤Á¾å¤²°Ý»ý¤¹¤ë
     tag();         //¥³¥Ã¥×¤ò½Å¤Í¤ë
     tag();         //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀĤηÐÏ©­¥¡Ë
     OnFwd(OUT_AB,-SLOW);
     Wait(1000);      //1ÉôָåÂà
     Off(OUT_AB);     //Ää»ß
 }
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