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    task main(){
         RotateMotor(OUT_BC,-40,90);  //¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ë
    }

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    task main(){
         RotateMotor(OUT_BC,10,90);
         Wait(300);
         Off(OUT_BC);
         ResetTachoCount(OUT_BC);
    }

-¥Ï¥ó¥É¤òÊĤ¸¤ë(¥×¥í¥°¥é¥à̾[hand_close])

    task main(){
         RotateMotor(OUT_A,-30,320);  //¥Ü¡¼¥ë¤òÄϤà
         Wait(300);
         RotateMotor(OUT_BC,-40,15);
         Off(OUT_ABC);
    }

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    task main(){
         RotateMotor(OUT_A,30,320);  //¥Ü¡¼¥ë¤òÊü¤¹
    }

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    #define fw Off(OUT_BC);OnFwd(OUT_BC,30); // ľ¿Ê
    #define lt Off(OUT_BC);OnFwd(OUT_B,35);  // º¸²ó
    #define rt Off(OUT_BC);OnFwd(OUT_C,35);  // ±¦²ó
    #define rrt Off(OUT_BC);OnFwd(OUT_C,20);OnFwd(OUT_B,-60); // ±¦Àû²ó
    #define llt Off(OUT_BC);OnFwd(OUT_B,20);OnFwd(OUT_C,-60); // º¸Àû²ó
    #define wait_sec Off(OUT_BC);Wait(1000);                  //°ì»þÄä»ß
    #define mini_go Off(OUT_BC);OnFwd(OUT_BC,30);Wait(1500);Off(OUT_BC); //¾¯¤·Ä¾¿Ê
    #define def_arm_up until(BluetoothStatus(conn)==NO_ERR);   //¥¢¡¼¥à¤ò¾å¤²¤ë
                       RemoteStartProgram(conn,"arm_up.rxe");
                       Wait(4000);
    #define def_arm_down until(BluetoothStatus(conn)==NO_ERR);   //¥¢¡¼¥à¤ò²¼¤²¤ë
                         RemoteStartProgram(conn,"arm_down.rxe");
                         Wait(4000);
    #define def_hand_close until(BluetoothStatus(conn)==NO_ERR);   //¥Ü¡¼¥ë¤òÄϤà
                           RemoteStartProgram(conn,"hand_close.rxe");
                           Wait(4000);
    #define def_hand_open until(BluetoothStatus(conn)==NO_ERR);   //¥Ü¡¼¥ë¤òÊü¤¹
                          RemoteStartProgram(conn,"hand_open.rxe");
                          Wait(4000);


-ÄêµÁ´Ø¿ô
    const float tire_diameter = 5.75;    //¥¿¥¤¥ä¤Îľ·Â
    const float tire_axis = 17.7;        //¥¿¥¤¥ä´Ö¤Îµ÷Î¥
    const int gear_ratio = 6;            //¥®¥¢Èæ
    const float pi = 3.14159;            //±ß¼þΨ
    const int en = 360;                  //±ß 360ÅÙ


***NXT´Ö¤ÎÄÌ¿® [#m05b21a9]
    until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥¢¡¼¥à¤ò¾å¤²¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
        RemoteStartProgram(CONN,"arm_up.rxe");
        Wait(4000);

    until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥¢¡¼¥à¤ò²¼¤²¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
        RemoteStartProgram(CONN,"arm_down.rxe");
        Wait(4000);

    until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥Ï¥ó¥É¤òÊĤ¸¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
        RemoteStartProgram(CONN,"hand_close.rxe");
        Wait(4000);

    until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥Ï¥ó¥É¤ò³«¤±¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
        RemoteStartProgram(CONN,"hand_open.rxe");¡¡
        Wait(4000);

[until(BluetoothStatus(CONN)==NO_ERR);]¤ÏNXTƱ»Î¤¬·Ò¤¬¤Ã¤Æ¤¤¤Ê¤¤¤È°Ê²¼¤ÎÆ°ºî¤ò¹Ô¤ï¤Ê¤¤¤è¤¦¤ËÀ©¸Â¤¹¤ë¾ò·ïʸ¤Ç¤¢¤ë¡£

***¥é¥¤¥ó¥È¥ì¡¼¥¹ [#k104eca1]
-¸òº¹ÅÀ¤ÎÄ̲á
    void blk_selection(int blk_select){
        if(blk_select!=1){¡¡¡¡//blk_select¤¬1¤Ê¤é
            wait_sec;         //Ää»ß¤¹¤ë
        }
        if(blk_select!=0){    //blk_select¤¬0¤Ê¤é
            mini_go;          //Ä̲᤹¤ë
        }
    }


    void follow_line(int bw_time,long min_t,int blk_cnt,string invert_info,string sensor_switch){
        SetSensorLight(S1);    //¸÷¥»¥ó¥µÄêµÁ
        int right_var;         //¸÷¥»¥ó¥µÃÍÍÑÊÑ¿ô
        SetSensorLowspeed(S3); //Ķ²»ÇÈ¥»¥ó¥µÄêµÁ
        long t0,t1,start_t; // t0,t1,start_t »þ´ÖÊÑ¿ô¤ÎÄêµÁ
        t1=CurrentTick(); //¡¡º£¤½¤Î»þ¤Î»þ¹ï
        t0=CurrentTick(); //¡¡Ä¾¿Ê½ªÎ»¡¦±¦º¸ÀÞ³«»Ï»þ¹ï
        start_t=CurrentTick(); // ¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï»þ¹ï
        while(t1-start_t<min_t || min_t<0){¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï¤«¤é»ØÄꤷ¤¿»þ´Ö[min_t]°ÊÆâ¤Ç·«¤êÊÖ¤¹
            if(sensor_switch=="on"){   //sensor_switch¤Ëon¤ò»ØÄꤷ¤Æ¤¤¤¿¤é
                 if(SensorUS(S3)<16){  //S3¤¬16­Ñ°ÊÆâ¤Ë¾ã³²Êª¤òõÃΤ·¤¿¤é
                      break;¡¡¡¡¡¡¡¡¡¡ //whileʸ¤«¤éÈ´¤±½Ð¤¹ ¡¡¡¡¡¡
                 }
            }
            right_var = SENSOR_1; // ¸÷¥»¥ó¥µÃÍÂåÆþ
            if(invert_info=="on"){  //invert_info¤Ëoff¤ò»ØÄꤷ¤¿¤éº¸¤Î¶­Ìܤò¥È¥ì¡¼¥¹¤¹¤ë¡¡
                 right_var = right_var*(-1)+91;} //on¤ò»ØÄꤷ¤¿¤é¸÷¥»¥ó¥µ¤ÎÃͤòȿž¤µ¤»¤Æ±¦¤Î¶­Ìܤò¥È¥ì¡¼¥¹
            if (right_var>50){
                if (t1-t0>bw_time){ //¡¡±¦²ó¤Ç»ØÄꤷ¤¿»þ´Ö[bw_time]°Ê¾å¤Î¤È¤­±¦Àû²ó
                      if (blk_cnt>=0 && blk_cnt<=2 && invert_info=="on"){¡¡//¸òº¹ÅÀ¤ÎÄ̲᤬Ää»ß¤«Ä̲á¤Ç¤¢¤ê¡¢±¦¤Î¶­Ìܤò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¿¤Ê¤é
                             blk_selection(blk_cnt); //blk_cnt¤Ë»ØÄꤵ¤ì¤¿¿ô»ú¤ËŬ¤·¤¿Æ°ºî¤ò¹Ô¤¤
                             break;  //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤¹¤ë
                       }else{
                           rrt;}
                }else{        //¡¡±¦²ó
                      rt;}
            }else if (right_var>40){
                fw;
                t0=CurrentTick(); //ľ¿Ê½ªÎ»¡¦±¦º¸ÀÞ³«»Ï»þ¹ï¡¡
            }else{
                if (t1-t0>bw_time){   //¡¡º¸²ó¤Ç bw_time[ms]  °Ê¾å¤Î¤È¤­º¸Àû²ó
                      if (blk_cnt>=0 && blk_cnt<=2 && invert_info!="on") {
                             blk_selection(blk_cnt);
                             break;
                       }else{
                           llt;}
                }else{            //¡¡º¸²ó
                      lt;}}
        t1=CurrentTick();    //º£¤½¤Î»þ¤Î»þ¹ï
        }Off(OUT_BC);
    }


***´Ì¤Îº÷Ũ [#v85d66c0]
    void search_throw(string side_select,float rotate_angle){ 
        SetSensorLowspeed(S2);   //Ķ²»ÇÈ¥»¥ó¥µÄêµÁ
        int d_min=1000,d_gosa=11,side_flag=0;
        long ang_min=0,angle=0,d_angle=0;
        if (side_select=="right"){       //right¤ò»ØÄꤷ¤Æ¤¤¤ì¤Ð±¦Àû²ó
           side_flag=1;
        }else if(side_select=="left"){   //left¤ò»ØÄꤷ¤Æ¤¤¤ì¤Ðº¸Àû²ó
              side_flag=-1;
        }
        ResetTachoCount(OUT_BC);
        OnFwdSync(OUT_BC,30,100*side_flag);
        while(((tire_diameter/(tire_axis*gear_ratio))*MotorTachoCount(OUT_C)*side_flag)<=rotate_angle){   //»ØÄꤷ¤¿³ÑÅÙ[rotate_angle]ʬÀû²ó
            if(d_min>d_min>SensorUS(S2)){
                d_min=SensorUS(S2);    //µ÷Î¥¤ÎºÇ¾®Ã͹¹¿·
                angle=MotorTachoCount(OUT_C);
            }
        }
        ang_min=MotorTachoCount(OUT_C)-angle;
        Off(OUT_BC);
        Wait(1000);
        ResetTachoCount(OUT_BC);
        RotateMotorEx(OUT_BC, 40, ang_min, -100*side_flag, true, true);//ʪÂΤÎÊý¤ò¸þ¤¯
        Off(OUT_BC);
        ResetTachoCount(OUT_BC);
        if(7<SensorUS(S2)){¡¡¡¡//µ÷Î¥¤¬7­Ñ°Ê²¼¤Ë¤Ê¤ë¤Þ¤Ç
            OnFwd(OUT_BC,40);     //ʪÂΤÎÊý¤Ë¶á¤Å¤¯
            while(7<SensorUS(S2) || 40>(pi*tire_diameter*MotorTachoCount(OUT_C))/en*gear_ratio){
                d_angle=MotorTachoCount(OUT_C);   //ʪÂΤ˶á¤Å¤¤¤¿Ê¬¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤òµ­Ï¿
            }
            Off(OUT_BC);
            RotateMotor(OUT_BC,30,en*2*gear_ratio/(pi*tire_diameter));   
        } 
        def_arm_up;¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë
        RotateMotor(OUT_BC,30,en*d_gosa*gear_ratio/(pi*tire_diameter));¡¡¡¡//µ÷Î¥¤ÎÈùÄ´À°
        Wait(700);
        def_hand_open;¡¡¡¡//¥Ü¡¼¥ë¤òÊü¤¹
        RotateMotor(OUT_BC,-30,en*d_gosa*gear_ratio/(pi*tire_diameter)+d_angle);¡¡¡¡//¶á¤Å¤¤¤¿Ê¬Ìá¤ë
        def_arm_down;¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
        ResetTachoCount(OUT_BC);
        RotateMotorEx(OUT_BC, 40, angle, -100*side_flag, true, true);//¸µ¤Î¸þ¤­¤ØÌ᤹
        Off(OUT_BC);
    }

***¥×¥í¥°¥é¥àÁ´ÂÎ [#ua423fd3]
    task main(){          
        string invert_str="off";
        int b_tyokusin=10,r_back=22;¡¡//ľ¿Ê¤¹¤ëµ÷Î¥¤È¸åÂह¤ëµ÷Î¥¤òÄêµÁ
        follow_line(1200, -1,1,invert_str,"off");¡¡//Y¤«¤é½Ð¤ÆÀĥܡ¼¥ë¤Ø¸þ¤«¤¦
        follow_line(800, -1,0,invert_str,"off");
        def_hand_close;¡¡//Àĥܡ¼¥ë¤òÄϤà
        ResetTachoCount(OUT_BC);
        RotateMotor(OUT_BC,30,en*b_tyokusin*gear_ratio/(pi*tire_diameter)); //±ß¤ÎÃæ¤ËÆþ¤ë
        Off(OUT_BC);
        search_throw("right",55.0);¡¡//±¦Àû²ó³ÑÅÙ55Å٤Ǻ÷Ũ
        Wait(2000);
        RotateMotor(OUT_BC,-30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));¡¡//±ß¤«¤é½Ð¤ë
        Off(OUT_BC);
        def_arm_up;¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë
        RotateMotor(OUT_BC,-30,en*r_back*gear_ratio/(pi*tire_diameter));¡¡//E¤Î¸òº¹ÅÀ¤Þ¤Ç¸åÂह¤ë
        follow_line(600,1200000,-1,invert_str,"on");  //E¤«¤éF¤Ø¸þ¤«¤¤µÞ¥«¡¼¥Ö¤Ø¹Ô¤¯ 
        follow_line(600,1200000,-1,invert_str,"on");  //E¤«¤éF¤Ø¸þ¤«¤¤µÞ¥«¡¼¥Ö¤Ø¹Ô¤­¡¢À֥ܡ¼¥ë¤òǧ¼±¤·¤¿¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ª¤¨¤ë 
        RotateMotor(OUT_BC,-30,en*3*gear_ratio/(pi*tire_diameter));¡¡//3¥»¥ó¥Á²¼¤¬¤ë
        def_arm_down; //¥¢¡¼¥à¤ò²¼¤²¤ë
        def_hand_close; //À֥ܡ¼¥ë¤òÄϤà
        search_throw("left",270);¡¡//º¸Àû²ó270Å٤Ǻ÷Ũ
        Wait(1000);Off(OUT_BC);
    }
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