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#define THRESHOLD 5£´
#define THRESHOLD 5£´                   //¤·¤­¤¤ÃÍ
#define SPEED 30
#define speed 20
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define LEFT OnRL(speed,-speed);
#define left OnRL(speed,0);
#define straight OnRL(SPEED,SPEED);
#define right OnRL(0,speed);
#define RIGHT OnRL(-speed,speed);
#define LEFT OnRL(speed,-speed);¡¡¡¡¡¡//º¸Àû²ó
#define left OnRL(speed,0);¡¡¡¡¡¡¡¡//º¸ÀÞ
#define straight OnRL(SPEED,SPEED);¡¡¡¡//ľ¿Ê
#define right OnRL(0,speed);¡¡¡¡¡¡//±¦ÀÞ
#define RIGHT OnRL(-speed,speed);¡¡¡¡¡¡¡¡//±¦Àû²ó
#define STEP 1
#define nMAX 300
#define short_break Off(OUT_BC);Wait(1000);
#define nMAX 300            
#define short_break Off(OUT_BC);Wait(1000);¡¡¡¡¡¡¡¡//¾®µÙ»ß
#define CROSS_TIME 700
#define cross_line OnFwd(OUT_BC,speed);Wait(CROSS_TIME);short_break;
#define turn_time 3000
#define turn_left LEFT;Wait(turn_time);short_break;
#define turn_right RIGHT;Wait(turn_time);short_break;
#define kaiten OnRL(SPEED,-SPEED);
#define kaiten_time 5500
#define arm_up OnRev(OUT_A,SPEED);Wait(500);Off(OUT_A);
#define kaiten_time 5500¡¡¡¡¡¡¡¡¡¡//360¡ë²óž¤¹¤ë¤Î¤Ë¤«¤«¤ë»þ´Ö
#define arm_up OnRev(OUT_A,SPEED);Wait(500);Off(OUT_A);¡¡¡¡¡¡//ºô¤ò¾å¤²¤ë



sub kousaten_trace()
{
sub kousaten_trace()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å²£ÃǤ¹¤ë
 {
    SetSensorLight(S3);
    int nOnline=0;

   while (nOnline < nMAX) {
   while (nOnline < nMAX) {                          //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ
    if (SENSOR_3 < THRESHOLD-10) {
     RIGHT;
     nOnline++;}
    else {
     if (SENSOR_3 < THRESHOLD-3) {right;}
     else if (SENSOR_3 < THRESHOLD+2) {straight;}
     else if (SENSOR_3 < THRESHOLD+6) {left;}
     else {LEFT;}
     nOnline=0;}
    Wait(STEP);
   }
   short_break;
   LEFT;
   Wait(nMAX*STEP);
   cross_line;
   nOnline=0;
  }

sub kousaten_usetsu()
{
sub kousaten_usetsu()¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å±¦ÀÞ¤¹¤ë
 {
    SetSensorLight(S3);
    int nOnline=0;

   while (nOnline < nMAX) {
   while (nOnline < nMAX) {                    //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ
    if (SENSOR_3 < THRESHOLD-8) {
     LEFT;
     nOnline++;}
    else {
     if (SENSOR_3 < THRESHOLD-3) {left;}
     else if (SENSOR_3 < THRESHOLD+2) {straight;}
     else if (SENSOR_3 < THRESHOLD+6) {right;}
     else {RIGHT;}
     nOnline=0;}
    Wait(STEP);
   }
   short_break;
   RIGHT;
   Wait(nMAX*STEP);
   turn_right;
   nOnline=0;
  }

sub kousaten_teishi()
{
sub kousaten_teishi()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é1ÉôÖÄä»ß¤·¤¿¸åºÆȯ¿Ê
 {
    SetSensorLight(S3);
    int nOnline=0;

   while (nOnline < nMAX) {
    if (SENSOR_3 < THRESHOLD-8) {
     LEFT;
     nOnline++;}
    else {
     if (SENSOR_3 < THRESHOLD-3) {left;}
     else if (SENSOR_3 < THRESHOLD+2) {straight;}
     else if (SENSOR_3 < THRESHOLD+6) {right;}
     else {RIGHT;}
     nOnline=0;}
    Wait(STEP);
   }
   short_break;
   nOnline=0;
  }

sub serch_kan()
{
 SetSensorLowspeed(S4);
 long t10,t11;
 int L=10000;
 while(CurrentTick()-t10<=kaiten_time){
  OnRL(speed,-speed);
  if(SensorUS(S4)<L)
  {
   L=SensorUS(S4);
   t11=CurrentTick()-t10;
sub serch_kan()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡360¡ë²óž¤·¤Æ¾ã³²Êª(´Ì)¤ò¸«¤Ä¤±½Ð¤·¤½¤ÎÊý¸þ¤Ë¸þ¤«¤¦
 {
  SetSensorLowspeed(S4);
  long t10,t11;         ¡¡ 
  int L=10000;¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®ÃÍ
  t10=CurrentTick();     //²óžÁ°¤Î»þ¹ï
  while(CurrentTick()-t10<=kaiten_time){
   OnRL(speed,-speed);
   if(SensorUS(S4)<L)
   {
    L=SensorUS(S4);
    t11=CurrentTick()-t10;¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤè¤ê¶á¤¤¤â¤Î¤ò¸«¤Ä¤±¤¿»þ¤Î»þ´Ö
   }
  }
 }
 OnRL(-speed,speed);
 Wait(kaiten_time-t11);
 Off(OUT_BC);
 }


sub shoot()
{
  OnRL(-speed,speed);
  Wait(kaiten_time-t11);
  Off(OUT_BC);
  }
 
 
sub shoot()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥·¥å¡¼¥È(ÂÎÅö¤¿¤ê)¤ò¤¹¤ë
 {
  arm_up;
  OnFwd(OUT_BC,100);
  Wait(200);
  Off(OUT_BC);
  OnRev(OUT_BC,100);
  Wait(100);
  Off(OUT_BC);
  }

task main()
{
 SetSensorLight(S3);
 SetSensorLowspeed(S4);
 long t0,t1,t2,t3;
 t0=CurrentTick();
 while(CurrentTick()-t0<=15000){
     if(SENSOR_3<THRESHOLD-8){RIGHT;}
     else if(SENSOR_3<THRESHOLD-3){right;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){left;}
     else{LEFT;}
    Wait(STEP);
    }
 kousaten_trace();
 t1=CurrentTick();
 while(CurrentTick()-t1<=15000){
     if(SENSOR_3<THRESHOLD-8){RIGHT;}
     else if(SENSOR_3<THRESHOLD-3){right;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){left;}
     else{LEFT;}
    Wait(STEP);
    }
 serch_kan();
 shoot();
 t2=CurrentTick();
 while(CurrentTick()-t2<=18000){
     if(SENSOR_3<THRESHOLD-8){LEFT;}
     else if(SENSOR_3<THRESHOLD-3){left;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){right;}
     else{RIGHT;}
    Wait(STEP);
    }
 kousaten_teishi();
 t3=CurrentTick();
 while(CurrentTick()-t3<=50000){
     if(SENSOR_3<THRESHOLD-8){LEFT;}
     else if(SENSOR_3<THRESHOLD-3){left;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){right;}
     else{RIGHT;}
    Wait(STEP);
    }
 kousaten_usetsu();
 kousaten_trace();
 OnFwd(OUT_BC,30);
 Wait(2000);
 Off(OUT_BC);
 }
 {
  SetSensorLight(S3);
  SetSensorLowspeed(S4);
  long t0,t1,t2,t3;         //¤½¤ì¤¾¤ì¤Î»þ´Ö¤òÄêµÁ
  t0=CurrentTick();¡¡¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤·¤¿»þ´Ö¤òt0¤È¤¹¤ë
  while(CurrentTick()-t0<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
      if(SENSOR_3<THRESHOLD-8){RIGHT;}
      else if(SENSOR_3<THRESHOLD-3){right;}
      else if(SENSOR_3<THRESHOLD+2){straight;}
      else if(SENSOR_3<THRESHOLD+6){left;}
      else{LEFT;}
     Wait(STEP);
     }
  kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀK¤òȯ¸«¤·¤¿¤é²£ÃÇ¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¡
  t1=CurrentTick();¡¡¡¡¡¡¡¡//KÃÏÅÀ¤ò²£ÃǤ·¤¿¤é¤½¤Î»þ´Ö¤òt1¤È¤¹¤ë
  while(CurrentTick()-t1<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
      if(SENSOR_3<THRESHOLD-8){RIGHT;}
      else if(SENSOR_3<THRESHOLD-3){right;}
      else if(SENSOR_3<THRESHOLD+2){straight;}
      else if(SENSOR_3<THRESHOLD+6){left;}
      else{LEFT;}
     Wait(STEP);
     }
  serch_kan();¡¡¡¡¡¡¡¡//´Ì¤òõ¤¹¡£¸«¤Ä¤±¤¿¤é¥Ü¡¼¥ë¤ËÂÎÅö¤¿¤ê¤·¤Æ¥·¥å¡¼¥È¤¹¤ë
  shoot();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¡¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¢
  t2=CurrentTick();
  while(CurrentTick()-t2<=18000){
      if(SENSOR_3<THRESHOLD-8){LEFT;}
      else if(SENSOR_3<THRESHOLD-3){left;}
      else if(SENSOR_3<THRESHOLD+2){straight;}
      else if(SENSOR_3<THRESHOLD+6){right;}
      else{RIGHT;}
     Wait(STEP);
     }
  kousaten_teishi();¡¡¡¡//¸òº¹ÅÀG¤òȯ¸«¤·¤¿¤é°ì»þÄä»ß¡¡¡¡¡¡¡¡¡¡¡¡//­¢¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­£
  t3=CurrentTick();¡¡¡¡¡¡//ÃÏÅÀG¤ò½Ðȯ¤¹¤ë»þ´Ö¤òt3¤È¤¹¤ë
  while(CurrentTick()-t3<=40000){¡¡¡¡¡¡¡¡¡¡¡¡//40Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
      if(SENSOR_3<THRESHOLD-8){LEFT;}
      else if(SENSOR_3<THRESHOLD-3){left;}
      else if(SENSOR_3<THRESHOLD+2){straight;}
      else if(SENSOR_3<THRESHOLD+6){right;}
      else{RIGHT;}
     Wait(STEP);
     }
  kousaten_usetsu();¡¡¡¡¡¡//¸òº¹ÅÀE¤òȯ¸«¤·¤¿¤é±¦ÀÞ¡¡¡¡¡¡¡¡//­£¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¤
  kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀL¤òȯ¸«¤·¤¿¤é²£ÃÇ
  OnFwd(OUT_BC,SPEED);¡¡¡¡¡¡Á°¿Ê¤·¤ÆÏÈÆâ¤ËÆþ¤ë
  Wait(2000);
  Off(OUT_BC);
  }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¤¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¥



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