#contents
   #define rightSENKAI OnFwd(OUT_A);OnRev(OUT_C);
   #define rightMAGARU OnFwd(OUT_A);Off(OUT_C);
   #define leftSENKAI OnFwd(OUT_C);OnRev(OUT_A);
   #define leftMAGARU OnFwd(OUT_C);Off(OUT_A);
   #define middle 41
   #define carb 41
   #define ch OnFwd(OUT_B);Wait(10);Off(OUT_B);
   #define re OnRev(OUT_B);Wait(5);Off(OUT_B);
   #define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);
   #define back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC);
   #define TURN_RIGHT OnFwd(OUT_A);OnRev(OUT_C);until(SENSOR_2<=40);Off(OUT_AC);
   #define TURN_LEFT OnFwd(OUT_C);OnRev(OUT_A);until(SENSOR_2>=50);Off(OUT_AC);
   #define cross_stop Off(OUT_AC);Wait(100);

* ロボット本体の説明 [#feff4d29]
#ref(2017b/Member/kuwa/Mission1/im4.jpg,30%);











*プログラム[#sb3f8163]
  sub r()
 {
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while(FastTimer(0)<=21)
   {
      if(SENSOR_2>middle+5)    
   {
      rightSENKAI
      ClearTimer(0);
   }
     else if(SENSOR_2>middle+3)    
   {
      rightMAGARU
      ClearTimer(0);
   }
     else if(SENSOR_2>middle)   
   {
      OnFwd(OUT_AC);
      ClearTimer(0);
   }
     else if(SENSOR_2>middle-3)    
   {
     leftMAGARU
     ClearTimer(0);
   }
     else    
   {
     leftSENKAI
    }
  }
     Off(OUT_AC);
 }



 task main ()
 {r();
 cross_stop;//B
 go(35);
 r();
 cross_stop;//C
 leftSENKAI;
 Wait(30);
 r();
 cross_stop;//F
 go(35);
 r();
 cross_stop;//2cb
 go(25);
 l();
 cross_stop;//R
 rightSENKAI;
 Wait(30);
 l();
 cross_stop;//P
 ch;
 go(25);
 l();//Q
 go(20);
 r();
 cross_stop;//S
 go(30);
 r();
 cross_stop;//S2
 go(50);
 rightSENKAI;
 Wait(65);
 l();
 cross_stop;//F
 ch;
 rightSENKAI;
 Wait(160);
 re;
 back(45);
 leftSENKAI;
 Wait(160);
 r();
 cross_stop;//C
 leftSENKAI;
 Wait(90);
 go(90);
 
 }

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