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     d=searchDirection(15);
     if(d>5.0){
         catch_cop(700);
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         Wait(1400);
         Off(OUT_AB);
         catch_cop(300);
         OnFwd(OUT_AB,-SLOW);
         Wait(100);
         Off(OUT_AB);
     }   

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 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);
     }
 }   

¡»»Òµ¡(º¸¤Îµ¡ÂÎ)

 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);
 }



** º¸Â¦µ¡ÂÎ(»Òµ¡)¤Î¥×¥í¥°¥é¥à [#o464f4c8]

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 #define SO 392                                                        //¡ù
 #define DO 523                                                        //¡ù
 #define MI 659                                                        //¡ù
 #define SO_H 784                                                      //¡ù
 #define SI 988                                                        //¡ù
 #define DO_H 1047                                                     //¡ù
 #define MI_H 1318                                                     //¡ù
 #define RE 1175                                                       //¡ù
 #define SO_SH 1568                                                    //¡ù
 
 #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;                                                         //¢¨
              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){                                                    //¢¨
     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()                                                         //¡ù
     PlayTone(MI_H,90);Wait(100);                                      //¡ù
     PlayTone(DO_H,90);Wait(100);                                      //¡ù
     PlayTone(MI_H,90);Wait(100);                                      //¡ù
     PlayTone(DO_H,90);Wait(100);                                      //¡ù
 }                                                                     //¡ù
 sub one_UP_SE()                                                       //¡ù
 {                                                                     //¡ù
     PlayTone(MI,110);Wait(120);                                       //¡ù
     PlayTone(SO_H,110);Wait(120);                                     //¡ù
     PlayTone(MI_H,110);Wait(120);                                     //¡ù
     PlayTone(DO_H,110);Wait(120);                                     //¡ù
     PlayTone(RE,110);Wait(120);                                       //¡ù
     PlayTone(SO_SH,110);Wait(120);                                    //¡ù
 }                                                                     //¡ù
 sub coin_SE()                                                         //¡ù
 {                                                                     //¡ù
     PlayTone(SI,90);Wait(100);                                        //¡ù
     PlayTone(MI_H,140);Wait(150);                                     //¡ù
 }                                                                     //¡ù
 sub Start_SE()                                                        //¡ù
 {                                                                     //¡ù
     PlayTone(MI,100);Wait(110);                                       //¡ù
     PlayTone(MI,100);Wait(250);                                       //¡ù
     PlayTone(MI,100);Wait(160);                                       //¡ù
     PlayTone(DO,90);Wait(100);                                        //¡ù
     PlayTone(MI,90);Wait(230);                                        //¡ù
     PlayTone(SO_H,90);Wait(420);                                      //¡ù
     PlayTone(SO,170);Wait(180);                                       //¡ù
 }                                                                     //¡ù
 
 
 #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35);                       //¡ù
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20);                       //¡ù
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54);                        //¡ù
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20);                       //¡ù
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35);                       //¡ù
 #define average 45                                                    //¡ù
 
 
 sub Stop_Motion()                                                     //¡ù
 {                                                                     //¡ù
     Wait(300);                                                        //¡ù
     pose_SE();                                                        //¡ù
     Wait(1000);                                                       //¡ù
 }                                                                     //¡ù
 sub L_Assist_line(int Assist_time)                                    //¡ù
 {                                                                     //¡ù
     long ta=CurrentTick();                                            //¡ù
     while (CurrentTick()-ta<=Assist_time){                            //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move1                                                     //¡ù
         }else if (SENSOR_2<average-7){                                //¡ù
             move2;                                                    //¡ù
         } else if (SENSOR_2<average+7){                               //¡ù
             move3;                                                    //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move4;                                                    //¡ù
         } else {                                                      //¡ù
             move5;                                                    //¡ù
         }                                                             //¡ù
      }                                                                //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub R_Assist_line(int Assist_time)                                    //¡ù
 {                                                                     //¡ù
     long tb=CurrentTick();                                            //¡ù
     while (CurrentTick()-tb<=Assist_time){                            //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move5;                                                    //¡ù
         } else if (SENSOR_2<average-7){                               //¡ù
             move4;                                                    //¡ù
         } else if (SENSOR_2<average+7){                               //¡ù
             move3;                                                    //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move2;                                                    //¡ù
         } else {                                                      //¡ù
             move1;                                                    //¡ù
         }                                                             //¡ù
      }                                                                //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub L_line(int Assist_time,int Stop_time)                             //¡ù
 {                                                                     //¡ù
     L_Assist_line(Assist_time);                                       //¡ù
     long t1=CurrentTick();                                            //¡ù
     while (CurrentTick()-t1<=Stop_time){                              //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move1;                                                    //¡ù
         } else if (SENSOR_2<average-7){                               //¡ù
             move2;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+7){                               //¡ù
             move3;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move4;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
         } else {                                                      //¡ù
             move5;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
          }                                                            //¡ù
      }                                                   ¡¡¡¡¡¡¡¡¡¡¡¡ //¡ù
     Off(OUT_AB);                                                      //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub R_line(int Assist_time,int Stop_time)                             //¡ù
 {                                                                     //¡ù
     R_Assist_line(Assist_time);                                       //¡ù
                                                                       //¡ù
     long t2=CurrentTick();                                            //¡ù
     while (CurrentTick()-t2<=Stop_time){                              //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move5;                                                    //¡ù
         } else if (SENSOR_2<average-8){                               //¡ù
             move4;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+6){                               //¡ù
             move3;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move2;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         } else {                                                      //¡ù
             move1;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         }                                                             //¡ù
      }                                                                //¡ù
     Off(OUT_AB);                                                      //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub White_to_Black(int blight,int A_speed,int B_speed)                //¡ù
 {                                                                     //¡ù
     while (SENSOR_2>blight){                                          //¡ù
         OnFwd(OUT_A,A_speed);                                         //¡ù
         OnFwd(OUT_B,B_speed);                                         //¡ù
      }                                                                //¡ù
     Off(OUT_AB);                                                      //¡ù
 }                                                                     //¡ù
 sub Black_to_White(int blight,int A_speed,int B_speed)                //¡ù
 {                                                                     //¡ù
     while (SENSOR_2<blight){                                          //¡ù
         OnFwd(OUT_A,A_speed);                                         //¡ù
         OnFwd(OUT_B,B_speed);                                         //¡ù
      }                                                                //¡ù
     Off(OUT_AB);                                                      //¡ù
 }                                                                     //¡ù
 sub Start_Set()                                                       //¡ù
 {                                                                   //­¡¤Ë¤Æ²òÀâ
     Start_SE();                                                     //­¡¤Ë¤Æ²òÀâ
     move3;                                                          //­¡¤Ë¤Æ²òÀâ
     Wait(600);                                                      //­¡¤Ë¤Æ²òÀâ
     White_to_Black(48,30,5);                                        //­¡¤Ë¤Æ²òÀâ
 }                                                                   //­¡¤Ë¤Æ²òÀâ
 
 
 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¤Îµ¯Æ°
     SetSensorLowspeed(S3);                                          //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤Îµ¯Æ°
     Start_Set();                                                    //­¡¤Ë¤Æ²òÀâ
     R_line(300,150);                                                //­¡¤Ë¤Æ²òÀâ
 
     d=searchDirection(15);                                            //¢¨
     if(d>5.0){                                                        //¢¨
         catch_cop(700);                                               //¢¨
         OnFwd(OUT_AB,SLOW);                                           //¢¨
         Wait(1400);                                                   //¢¨
         Off(OUT_AB);                                                  //¢¨
         catch_cop(300);                                               //¢¨
         OnFwd(OUT_AB,-SLOW);                                          //¢¨
         Wait(100);                                                    //¢¨
         Off(OUT_AB);                                                  //¢¨
     }                                                                 //¢¨
     ResetTachoCount(OUT_A);                                           //¢¨
     RotateMotor(OUT_A,-SLOW,370);                                     //¢¨
     ResetTachoCount(OUT_A);                                           //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
     RotateMotor(OUT_A,-SLOW,370);                                     //¢¨(¥â¡¼¥¿¡¼A¤ò370Åٲ󞤵¤»¤ë¡£)
     OnFwd(OUT_AB,SLOW);                                               //¢¨
     Wait(600);                                                        //¢¨
     Off(OUT_AB);                                                      //¢¨
     catch_cop(40);                                                    //¢¨
     OnFwd(OUT_C,-SLOW);                                               //¢¨
     Wait(1000);                                                       //¢¨
     Off(OUT_C);                                                       //¢¨
 
     OnFwd(OUT_AB,-SLOW);                                            //­¢¤Ë¤Æ²òÀâ
     Wait(1000);                                                     //­¢¤Ë¤Æ²òÀâ
     Off(OUT_AB);                                                    //­¢¤Ë¤Æ²òÀâ
     White_to_Black(33,35,15);                                       //­¢¤Ë¤Æ²òÀâ
     Black_to_White(48,35,15);                                       //­¢¤Ë¤Æ²òÀâ
     White_to_Black(33,40,25);                                       //­¢¤Ë¤Æ²òÀâ
     Black_to_White(48,-30,0);                                       //­¢¤Ë¤Æ²òÀâ
     White_to_Black(33,-30,0);                                       //­¢¤Ë¤Æ²òÀâ
     Black_to_White(50,0,-30);                                       //­¢¤Ë¤Æ²òÀâ
     White_to_Black(33,35,30);                                       //­¢¤Ë¤Æ²òÀâ
     Black_to_White(48,35,30);                                       //­¢¤Ë¤Æ²òÀâ
 
     release_cop(50);                                                  //¢¨
     tag();                                                            //¢¨
     release_cop(50);                                                  //¢¨(»æ¥³¥Ã¥×¤ò¤Ï¤Ê¤¹)
     tag();                                                            //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
     keep_cop();                                                       //¢¨
     tag();                                                            //¢¨
     tag();                                                            //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
     OnFwd(OUT_AB,-SLOW);                                              //¢¨
     Wait(1000);                                                       //¢¨
     Off(OUT_AB);                                                      //¢¨
 }

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*** º¸Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¡ [#qdc2677e]
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 sub Start_Set()                 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     Start_SE();                 //¥¹¥¿¡¼¥È¤ÎSE
     move3;                      //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
     Wait(600);
     White_to_Black(48,30,5);    //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶­³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤­¤ë
 }

     Start_Set();
     R_line(300,150);

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     OnFwd(OUT_AB,-SLOW);
     Wait(1000);
     Off(OUT_AB);

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     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);

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 #define SO 392                                                        //¡ù
 #define DO 523                                                        //¡ù
 #define MI 659                                                        //¡ù
 #define SO_H 784                                                      //¡ù
 #define SI 988                                                        //¡ù
 #define DO_H 1047                                                     //¡ù
 #define MI_H 1318                                                     //¡ù
 #define RE 1175                                                       //¡ù
 #define SO_SH 1568                                                    //¡ù
 sub pose_SE()                                                         //¡ù
     PlayTone(MI_H,90);Wait(100);                                      //¡ù
     PlayTone(DO_H,90);Wait(100);                                      //¡ù
     PlayTone(MI_H,90);Wait(100);                                      //¡ù
     PlayTone(DO_H,90);Wait(100);                                      //¡ù
 }                                                                     //¡ù
 sub one_UP_SE()                                                       //¡ù
 {                                                                     //¡ù
     PlayTone(MI,110);Wait(120);                                       //¡ù
     PlayTone(SO_H,110);Wait(120);                                     //¡ù
     PlayTone(MI_H,110);Wait(120);                                     //¡ù
     PlayTone(DO_H,110);Wait(120);                                     //¡ù
     PlayTone(RE,110);Wait(120);                                       //¡ù
     PlayTone(SO_SH,110);Wait(120);                                    //¡ù
 }                                                                     //¡ù
 sub coin_SE()                                                         //¡ù
 {                                                                     //¡ù
     PlayTone(SI,90);Wait(100);                                        //¡ù
     PlayTone(MI_H,140);Wait(150);                                     //¡ù
 }                                                                     //¡ù
 sub Start_SE()                                                        //¡ù
 {                                                                     //¡ù
     PlayTone(MI,100);Wait(110);                                       //¡ù
     PlayTone(MI,100);Wait(250);                                       //¡ù
     PlayTone(MI,100);Wait(160);                                       //¡ù
     PlayTone(DO,90);Wait(100);                                        //¡ù
     PlayTone(MI,90);Wait(230);                                        //¡ù
     PlayTone(SO_H,90);Wait(420);                                      //¡ù
     PlayTone(SO,170);Wait(180);                                       //¡ù
 }                                                                     //¡ù  
 
 #define FAST 50                                                       //¢¨
 #define SLOW 30                                                       //¢¨
 #define CONN 1                                                        //¢¨
 #define SIGNALON1 11                                                  //¢¨
 #define SIGNALON2 12                                                  //¢¨
                                                                       //¢¨
 const float diameter=5.45;                                            //¢¨
 const float tread=11.3;                                               //¢¨
 const float pi=3.1415;                                                //¢¨
                                                                       //¢¨
 int d;                                                                //¢¨
                                                                       //¢¨
 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);                       //¡ù
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20);                       //¡ù
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54);                        //¡ù
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20);                       //¡ù
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35);                       //¡ù
 #define average 45                                                    //¡ù
 
 
 sub Stop_Motion()                                                     //¡ù
 {                                                                     //¡ù
     Wait(300);                                                        //¡ù
     pose_SE();                                                        //¡ù
     Wait(1000);                                                       //¡ù
 }                                                                     //¡ù
 sub L_Assist_line(int Assist_time)                                    //¡ù
 {                                                                     //¡ù
     long ta=CurrentTick();                                            //¡ù
     while (CurrentTick()-ta<=Assist_time){                            //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move1                                                     //¡ù
         }else if (SENSOR_2<average-7){                                //¡ù
             move2;                                                    //¡ù
         } else if (SENSOR_2<average+7){                               //¡ù
             move3;                                                    //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move4;                                                    //¡ù
         } else {                                                      //¡ù
             move5;                                                    //¡ù
         }                                                             //¡ù
      }                                                                //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub R_Assist_line(int Assist_time)                                    //¡ù
 {                                                                     //¡ù
     long tb=CurrentTick();                                            //¡ù
     while (CurrentTick()-tb<=Assist_time){                            //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move5;                                                    //¡ù
         } else if (SENSOR_2<average-7){                               //¡ù
             move4;                                                    //¡ù
         } else if (SENSOR_2<average+7){                               //¡ù
             move3;                                                    //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move2;                                                    //¡ù
         } else {                                                      //¡ù
             move1;                                                    //¡ù
         }                                                             //¡ù
      }                                                                //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub L_line(int Assist_time,int Stop_time)                             //¡ù
 {                                                                     //¡ù
     L_Assist_line(Assist_time);                                       //¡ù
     long t1=CurrentTick();                                            //¡ù
     while (CurrentTick()-t1<=Stop_time){                              //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move1;                                                    //¡ù
         } else if (SENSOR_2<average-7){                               //¡ù
             move2;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+7){                               //¡ù
             move3;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move4;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
         } else {                                                      //¡ù
             move5;                                                    //¡ù
             t1=CurrentTick();                                         //¡ù
          }                                                            //¡ù
      }                                                   ¡¡¡¡¡¡¡¡¡¡¡¡ //¡ù
     Off(OUT_AB);                                                      //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub R_line(int Assist_time,int Stop_time)                             //¡ù
 {                                                                     //¡ù
     R_Assist_line(Assist_time);                                       //¡ù
                                                                       //¡ù
     long t2=CurrentTick();                                            //¡ù
     while (CurrentTick()-t2<=Stop_time){                              //¡ù
         if (SENSOR_2<average-11) {                                    //¡ù
             move5;                                                    //¡ù
         } else if (SENSOR_2<average-8){                               //¡ù
             move4;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+6){                               //¡ù
             move3;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         } else if (SENSOR_2<average+11){                              //¡ù
             move2;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         } else {                                                      //¡ù
             move1;                                                    //¡ù
             t2=CurrentTick();                                         //¡ù
         }                                                             //¡ù
      }                                                                //¡ù
     Off(OUT_AB);                                                      //¡ù
     coin_SE();                                                        //¡ù
 }                                                                     //¡ù
 sub White_to_Black(int blight,int A_speed,int B_speed)                //¡ù
 {                                                                     //¡ù
     while (SENSOR_2>blight){                                          //¡ù
         OnFwd(OUT_A,A_speed);                                         //¡ù
         OnFwd(OUT_B,B_speed);                                         //¡ù
      }                                                                //¡ù
     Off(OUT_AB);                                                      //¡ù
 }                                                                     //¡ù
 sub Black_to_White(int blight,int A_speed,int B_speed)                //¡ù
 {                                                                     //¡ù
     while (SENSOR_2<blight){                                          //¡ù
         OnFwd(OUT_A,A_speed);                                         //¡ù
         OnFwd(OUT_B,B_speed);                                         //¡ù
      }                                                                //¡ù
     Off(OUT_AB);                                                      //¡ù
 }                                                                     //¡ù
 
 
 #define reverse_move OnFwd(OUT_A,-54);OnFwd(OUT_B,-50);             //­¡¤Ë¤Æ²òÀâ
                                                                     //­¡¤Ë¤Æ²òÀâ
 sub reverse_Start_Set()                                             //­¡¤Ë¤Æ²òÀâ
 {                                                                   //­¡¤Ë¤Æ²òÀâ
    reverse_move;                                                    //­¡¤Ë¤Æ²òÀâ
    Start_SE();                                                      //­¡¤Ë¤Æ²òÀâ
    Wait(2000);                                                      //­¡¤Ë¤Æ²òÀâ
    White_to_Black(48,20,35);                                        //­¡¤Ë¤Æ²òÀâ
 }                                                                   //­¡¤Ë¤Æ²òÀâ
 
 task main()
 {
     SetSensorLight(S2);                                             //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ°
     SetSensorLowspeed(S3);                                          //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤Îµ¯Æ°
     reverse_Start_Set();                                            //­¡¤Ë¤Æ²òÀâ
     L_line(1300,110);                                               //­¡¤Ë¤Æ²òÀâ
 
     ResetTachoCount(OUT_A);                                           //¢¨
     RotateMotor(OUT_A,-SLOW,150);                                     //¢¨ 
     ResetTachoCount(OUT_A);                                           //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
     RotateMotor(OUT_A,-SLOW,150);                                     //¢¨(¥â¡¼¥¿¡¼A¤ò¡Ý150ÅÙ²óž)
     d=searchDirection(15);                                            //¢¨
     if(d>5.0){                                                        //¢¨
         catch_cop(600);                                               //¢¨
         OnFwd(OUT_AB,SLOW);                                           //¢¨
         Wait(1000);                                                   //¢¨
         Off(OUT_AB);                                                  //¢¨
         catch_cop(500);                                               //¢¨
         OnFwd(OUT_AB,-SLOW);                                          //¢¨
         Wait(400);                                                    //¢¨
         Off(OUT_AB);                                                  //¢¨
     }                                                                 //¢¨
     ResetTachoCount(OUT_B);                                           //¢¨
     RotateMotor(OUT_B,-SLOW,110);                                     //¢¨
     ResetTachoCount(OUT_B);                                           //¢¨(¥â¡¼¥¿¡¼B¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
     RotateMotor(OUT_B,-SLOW,110);                                     //¢¨(¥â¡¼¥¿¡¼B¤ò¡Ý110ÅÙ²óž)
     release_ball();                                                   //¢¨
     RsetTachoCount(OUT_A);                                            //¢¨
     RotateMotor(OUT_A,-SLOW,130);                                     //¢¨
     tag();                                                            //¢¨
     RsetTachoCount(OUT_A);                                            //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
     RotateMotor(OUT_A,-SLOW,130);                                     //¢¨(¥â¡¼¥¿¡¼A¤ò¡Ý130ÅÙ²óž)
     tag();                                                            //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
 
     OnFwd(OUT_AB,-SLOW);                                            //­¢¤Ë¤Æ²òÀâ
     Wait(1000);                                                     //­¢¤Ë¤Æ²òÀâ
     Off(OUT_AB);                                                    //­¢¤Ë¤Æ²òÀâ
     White_to_Black(48,35,25);                                       //­¢¤Ë¤Æ²òÀâ
     L_line(300,130);                                                //­¢¤Ë¤Æ²òÀâ
     Black_to_White(48,0,-30);                                       //­¢¤Ë¤Æ²òÀâ
     White_to_Black(33,0,-30);                                       //­¢¤Ë¤Æ²òÀâ
 
     d=searchDirection(15);                                            //¢¨
     if(d>5.0){                                                        //¢¨
         catch_cop(600);                                               //¢¨
         OnFwd(OUT_AB,SLOW);                                           //¢¨
         Wait(1000);                                                   //¢¨
         Off(OUT_AB);                                                  //¢¨
         catch_cop(500);                                               //¢¨
         OnFwd(OUT_AB,-SLOW);                                          //¢¨
         Wait(400);                                                    //¢¨
         Off(OUT_AB);                                                  //¢¨
     }                                                                 //¢¨
 
     White_to_Black(33,-30,-30);                                     //­£¤Ë¤Æ²òÀâ
     L_line(150,130);                                                //­£¤Ë¤Æ²òÀâ
     Black_to_White(48,30,30);                                       //­£¤Ë¤Æ²òÀâ
     release_ball();                                                 //­£¤Ë¤Æ²òÀâ
  
     ResetTachoCount(OUT_A);                                           //¢¨
     RotateMotor(OUT_A,-SLOW,130);                                     //¢¨
     tag();                                                            //¢¨
     ResetTachoCount(OUT_C);                                           //¢¨
     RotateMotor(OUT_C,-SLOW,1100);                                    //¢¨
     ResetTachoCount(OUT_A);                                           //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
     RotateMotor(OUT_A,-SLOW,130);                                     //¢¨(¥â¡¼¥¿¡¼A¤ò¡Ý130ÅÙ²óž)
     tag();                                                            //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
     ResetTachoCount(OUT_C);                                           //¢¨(¥â¡¼¥¿¡¼C¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
     RotateMotor(OUT_C,-SLOW,1100);                                    //¢¨(¥â¡¼¥¿¡¼C¤ò¡Ý1100ÅÙ²óž)
 
     White_to_Black(33,-30,-30);                                     //­¤¤Ë¤Æ²òÀâ
     Black_to_White(48,-30,-30);                                     //­¤¤Ë¤Æ²òÀâ
     White_to_Black(33,-30,-30);                                     //­¤¤Ë¤Æ²òÀâ
     OnFwd(OUT_AB,SLOW);                                             //­¤¤Ë¤Æ²òÀâ
     Wait(300);                                                      //­¤¤Ë¤Æ²òÀâ
     Off(OUT_AB);                                                    //­¤¤Ë¤Æ²òÀâ
     ResetTachoCount(OUT_C);                                         //­¤¤Ë¤Æ²òÀâ
     RotateMotor(OUT_C,SLOW,1200);                                   //­¤¤Ë¤Æ²òÀâ
 }


*** ±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¡ [#e122a2ce]
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 #define reverse_move OnFwd(OUT_A,-54);OnFwd(OUT_B,-50);
 
 sub reverse_Start_Set()
 {
    reverse_move;
    Start_SE();
    Wait(2000);
    White_to_Black(48,20,35);
 }

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    reverse_Start_Set();
    L_line(1300,110);

&ref(2017b/Member/riko/Mission3/,400x300,);
&ref(2017b/Member/riko/Mission3/±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¡.PNG,400x300,±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¡);

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    OnFwd(OUT_AB,-SLOW);
    Wait(1000);
    Off(OUT_AB);
    White_to_Black(48,35,25);
    L_line(300,130);
    Black_to_White(48,0,-30);
    White_to_Black(33,0,-30);

&ref(2017b/Member/riko/Mission3/,400x300,);
&ref(2017b/Member/riko/Mission3/±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¢.PNG,400x300,±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¢);

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*** ±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­£ [#t295b938]
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    White_to_Black(33,-30,-30);
    L_line(150,130);
    Black_to_White(48,30,30);
    release_ball();

&ref(2017b/Member/riko/Mission3/,400x300,);
&ref(2017b/Member/riko/Mission3/±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­£.PNG,400x300,±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­£);

Æ°¤­¤È¤·¤Æ¤Ï¥Ð¥Ã¥¯¤Ë¤Æ¹õÀþ¤òõ¤·¡¢¤½¤Î¤Þ¤Þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¸òº¹ÅÀ¤òȯ¸«¡£Á°¤Ë¾¯¤·¿Ê¤ó¤À¸å¡¢»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë¤³¤È¤Ç¥Ô¥ó¥Ý¥ó¶Ì¤ò³ä¤ê¤Ð¤·Æâ¤Ë½Ð¤¹¡£
*** ±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¤ [#v3c280da]
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    White_to_Black(33,-30,-30);
    Black_to_White(48,-30,-30);
    White_to_Black(33,-30,-30);
    OnFwd(OUT_AB,SLOW);
    Wait(300);
    Off(OUT_AB);
    ResetTachoCount(OUT_C);
    RotateMotor(OUT_C,SLOW,1200);

&ref(2017b/Member/riko/Mission3/,400x300,);
&ref(2017b/Member/riko/Mission3/±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¤.PNG,400x300,±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ­¤);

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* È¿¾Ê¡¦´¶ÁÛ [#w4d930a0]
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