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 #define signal_catch 1
 #define signal_release 2
 #define signal_end 3

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 sub CATCH()
 {
     ClearMessage();
     until(Message()==signal_catch);//signal_catch¤¬Á÷¤é¤ì¤ë¤Þ¤ÇÂÔµ¡
     //  ¥¢¡¼¥à¤ò²¼¤²¤ë     
     OnFwd(OUT_B);
     Wait(30);
     Off(OUT_B);
     Wait(100);
     SetPower(OUT_A,2);
     // ¤Ä¤«¤à
     OnRev(OUT_A);
     Wait(90);
     Off(OUT_A);
     Wait(100);
     //  ¾å¤²¤ë
     OnRev(OUT_B);
     Wait(50);
     Off(OUT_B);
     Wait(100);
     //  ¼ê¤ò¸µ¤ËÌ᤹
     OnFwd(OUT_A);
     Wait(90);
     Off(OUT_A);
     Wait(100);
     // ¥³¥ó¥Ù¥¢¡¼¤Ç±ü¤ØÁ÷¤ë
     OnFwd(OUT_C);
     Wait(200);
     Off(OUT_C);
     Wait(100);
     SendMessage(signal_end);//Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
 }

SendMesssge(signal_end)¤Ï¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤é­¤Î¥×¥í¥°¥é¥à¤òºÆ³«¤µ¤»¤ë¤¿¤á¤Î¥á¥Ã¥»¡¼¥¸¤Ç¤¹¡¥Â­¤Î¥×¥í¥°¥é¥à¤Ë¤Ïuntil(Message()==signal_end)¤¬Æþ¤Ã¤Æ¤¤¤Æ¡¤¥¢¡¼¥à¤¬Æ°¤­½ª¤ï¤Ã¤Æ¤«¤é­¤¬Æ°¤­»Ï¤á¤Þ¤¹¡¥

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 sub release()
 {
     ClearMessage();
     until(Message()==signal_release);  //signal_release¤¬Á÷¤é¤ì¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡
     //  ¥¢¡¼¥à²¼¤²¤ë
     OnFwd(OUT_B);
     Wait(30);
     Off(OUT_B);
     Wait(100);
     // ¥³¥ó¥Ù¥¢¡¼¤ÇÁ°¤ØÁ÷¤ë
     OnRev(OUT_C);
     Wait(200);
     Off(OUT_C);
     Wait(100);
     //  ¥¢¡¼¥à¾å¤²¤ë
     OnRev(OUT_B);
     Wait(50);
     Off(OUT_B);
     Wait(100);
     SendMessage(signal_end);//Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
 }

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 task main()
 {
     ClearMessage();
     CATCH();//L'¤Ç¤Ä¤«¤à­¡
     release();//J'¤Ç¥ê¥ê¡¼¥¹­£
     CATCH();//L¤Ç¤Ä¤«¤à­¥
     CATCH();//J¤Ç¥ê¥ê¥Ñ¥Ã¥¯¤«¤é¤Ä¤«¤à­¨
     CATCH();
     ClearMessage();
     until(Message()==signal_release);//­ª 
     //  ²¼¤¬¤ë
     OnFwd(OUT_B);
     Wait(30);
     Off(OUT_B);
     Wait(100);
     // Á°¤ØÁ÷¤ë
     OnRev(OUT_C);
     Wait(200);
     Off(OUT_C);
     Wait(100);
     //  ¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë
     OnRev(OUT_BC);
     Wait(50);
     Off(OUT_BC);
     Wait(100);
     SendMessage(signal_end);
 }
ºÇ¸å¤Î¡Ö²¼¤¬¤ë¡×¡ÖÁ°¤ØÁ÷¤ë¡×¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ÈƱ¤¸¤Ç¤¹¡¥¤Ç¤¹¤¬¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ò»È¤¦¤È¡¤¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ëÁ°¤ËÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡¥¤½¤ì¤òËɤ°¤¿¤á¤Ë¡¤¡Ö¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë¡×¤òÆþ¤ì¡¤¥¢¡¼¥à¤ò¾å¤²¤ë¤Î¤ÈƱ»þ¤Ë¥³¥ó¥Ù¥¢¡¼¤âÆ°¤«¤·¤Æ¤¤¤Þ¤¹¡¥

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¸÷¥»¥ó¥µ¡¼¤ÎÃÍ¡¤´ðËÜŪ¤ÊÆ°ºî¡¤¥á¥Ã¥»¡¼¥¸¤ÎÃͤòÄêµÁ¤·¤Þ¤¹¡¥
 
 #define black 40
 #define gray_black 44
 #define gray 47
 #define gray_white 50
 #define white 60
 #define go_ahead OnFwd(OUT_AC);
 #define turn_left OnFwd(OUT_A);Off(OUT_C);
 #define turn_right OnFwd(OUT_C);Off(OUT_A);
 #define circling_left OnRev(OUT_C);OnFwd(OUT_A);
 #define circling_right OnRev(OUT_A);OnFwd(OUT_C);

 #define signal_catch 1
 #define signal_release 2
 #define signal_end 3

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 int t;

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 sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹
 {
     SetSensor(SENSOR_2,SENSOR_LIGHT);
     ClearTimer(0);
     while(FastTimer(0)<t)
         {
         if(SENSOR_2<black)
             {
             circling_right;
             }
         else if(SENSOR_2<gray_black)
             {
             turn_right;
             }
         else if(SENSOR_2<gray)
             {
             go_ahead;
             }
         else if(SENSOR_2<gray_white)
             {
             turn_left;
             }
         else if(SENSOR_2<white)
             {
             circling_left;
             }
         }
     Off(OUT_AC);
     Wait(100);
 }

***¥á¥¤¥ó¥×¥í¥°¥é¥à [#b7dd221b]
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:A'¤ò¥¹¥¿¡¼¥È¤·¤Æ1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç|
 task main()
 {
     ClearMessage();
     //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     //¹õ¤Ê¤éľ¿Ê
     while(SENSOR_2<gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     while(SENSOR_2<gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);//K'ÉÕ¶á¤ËÅþã
     t=90;follow_line();//¢¨£²
     Wait(100);
     SendMessage(signal_catch);//  L'¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë­¡
     ClearMessage();
     until(Message()==signal_end);//¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡
     //90¡ëº¸Àû²ó­¢
     circling_left;
     Wait(102);
     Off(OUT_AC);
     // ¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë­£
     SendMessage(signal_release);
     ClearMessage();
     until(Message()==signal_end);
¡¡¡¡ 
:2¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç|
     //¸å¤í¤Ë²¼¤¬¤ë
     OnRev(OUT_AC);
     Wait(30);
     Off(OUT_AC);
     //90¡ëº¸Àû²ó­¤
     circling_left;
     Wait(102);
     Off(OUT_AC);
     //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     //¹õ¤Ê¤éľ¿Ê
     while(SENSOR_2<gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     while(SENSOR_2<gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     turn_right;//±¦¤Ë²óž
     Wait(100);
     //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     //¹õ¤Ê¤éľ¿Ê
     while(SENSOR_2<gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     t=150;follow_line();//¢¨£²
     SendMessage(signal_catch);// L¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë­¥
     ClearMessage() ;
     until(Message()==signal_end);

:¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç|
     //90¡ëº¸Àû²ó­¦
     circling_left;
     Wait(102);
     Off(OUT_AC);
     //¸å¤í¤Ë²¼¤¬¤ë­§
     OnRev(OUT_AC);
     Wait(23);
     Off(OUT_AC);
     SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣱ­¨
     ClearMessage();
     until(Message()==signal_end);
     Wait(100);
     SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣲ
     ClearMessage(); 
     until(Message()==signal_end);

:3¤Ä¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç|
     //¸å¤í¤Ë²¼¤¬¤ë
     OnRev(OUT_AC);
     Wait(90);
     Off(OUT_AC);
     //90¡ëº¸Àû²ó­©
     circling_left;
     Wait(102);
     Off(OUT_AC);
     //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     //¹õ¤Ê¤éľ¿Ê
     while(SENSOR_2<gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     while(SENSOR_2>gray)
           {OnFwd(OUT_AC);}
        Off(OUT_AC);
        Wait(100);
     SendMessage(signal_release);//¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë­ª
     ClearMessage();
     until(Message()==signal_end);
     //¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¸å¤í¤Ë²¼¤¬¤ë
     OnRev(OUT_AC);
     Wait(100);
     Off(OUT_AC);
 }

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