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**¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#tae93a47]


#define THRESHOLD 5£´
#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 STEP 1
#define nMAX 300
#define short_break Off(OUT_BC);Wait(1000);
#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);



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

   while (nOnline < nMAX) {
    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()¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å±¦ÀÞ¤¹¤ë
{
    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;
   RIGHT;
   Wait(nMAX*STEP);
   turn_right;
   nOnline=0;
  }

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()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡360¡ë²óž¤·¤Æ¾ã³²Êª(´Ì)¤ò¸«¤Ä¤±½Ð¤·¤½¤ÎÊý¸þ¤Ë¸þ¤«¤¦
{
 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;
  }
 }
 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);
  }

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();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¡
 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();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¡¤«¤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();¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¢¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­£
 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();¡¡¡¡¡¡¡¡¡¡¡¡//­£¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¤
 kousaten_trace();
 OnFwd(OUT_BC,SPEED);
 Wait(2000);
 Off(OUT_BC);
 }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¤¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¥

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