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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);
 OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);//  ²¼¤¬¤ë
 SetPower(OUT_A,2);
 OnRev(OUT_A);Wait(90);Off(OUT_A);Wait(100);// ÄϤà
 OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);//  ¾å¤¬¤ë
 OnFwd(OUT_A);Wait(90);Off(OUT_A);Wait(100);//  ¼ê¤ò¸µ¤ËÌ᤹
 OnFwd(OUT_C);Wait(200);Off(OUT_C);Wait(100);// ±ü¤ØÁ÷¤ë
 SendMessage(signal_end);
     ClearMessage();
     until(Message()==signal_catch);  //signal_catch¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡
 
     OnFwd(OUT_B);
     Wait(30);
     Off(OUT_B);
     Wait(100);         // ²¼¤¬¤ë
     SetPower(OUT_A,2);
     OnRev(OUT_A);
     Wait(90);
     Off(OUT_A);
     Wait(100);         // ÄϤà
     OnRev(OUT_B);
     Wait(50);
     Off(OUT_B);
     Wait(100);         //  ¾å¤¬¤ë
     OnFwd(OUT_A);
     Wait(90);
     Off(OUT_A);
     Wait(100);         //  ¼ê¤ò¸µ¤ËÌ᤹
     OnFwd(OUT_C);
     Wait(200);
     Off(OUT_C);
     Wait(100);         // ±ü¤ØÁ÷¤ë
 
     SendMessage(signal_end);     //Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
 } 

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-¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë

 sub release()
 {
 ClearMessage();
 until(Message()==signal_release);  
 OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);//  ²¼¤¬¤ë
 OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);// Á°¤ØÁ÷¤ë
 OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);//  ¾å¤¬¤ë
 SendMessage(signal_end);
     ClearMessage();
     until(Message()==signal_release);  ¡¡//signal_release¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡
 
     OnFwd(OUT_B);
     Wait(30);
     Off(OUT_B);
     Wait(100);     //  ²¼¤¬¤ë
     OnRev(OUT_C);
     Wait(200);
     Off(OUT_C);
     Wait(100);     // Á°¤ØÁ÷¤ë
     OnRev(OUT_B);
     Wait(50);
     Off(OUT_B);
     Wait(100);     //  ¾å¤¬¤ë
 
     SendMessage(signal_end);  ¡¡¡¡//Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
 } 
 
***¥á¥¤¥ó¥×¥í¥°¥é¥à [#ge4f37c2]
¥¢¡¼¥à¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ï°Ê²¼¤ÎÄ̤ꡣ
 task main()
 {
 ClearMessage();
 CATCH();¡¡¡¡¡¡//L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
 release();¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë
 CATCH();¡¡¡¡¡¡//L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
 CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(1¸ÄÌÜ)
 CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(2¸ÄÌÜ)
 ClearMessage();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//(¡ö)
 until(Message()==signal_release);  
 OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
 OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÁ°¤ØÁ÷¤ë
 OnRev(OUT_BC);Wait(50);Off(OUT_BC);Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥Ô¥ó¥Ý¥ó¶Ì¤òÁ÷¤ë
 SendMessage(signal_end);
     ClearMessage();
     CATCH();¡¡¡¡¡¡//L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
     release();¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë
     CATCH();¡¡¡¡¡¡//L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë
     CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(1¸ÄÌÜ)
     CATCH();¡¡¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯Æâ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë(2¸ÄÌÜ)
 
     ClearMessage();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//(¢¨)
     until(Message()==signal_release);  
     OnFwd(OUT_B);
     Wait(30);
     Off(OUT_B);
     Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
     OnRev(OUT_C);
     Wait(200);
     Off(OUT_C);
     Wait(100);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤òÁ°¤ØÁ÷¤ë
     OnRev(OUT_BC);
     Wait(50);
     Off(OUT_BC);
     Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤é¥Ô¥ó¥Ý¥ó¶Ì¤òÁ÷¤ë
 
     SendMessage(signal_end);
 }
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**­²ó¤ê¤Î¥×¥í¥°¥é¥à [#q4126503] 
***¥Þ¥¯¥í¡¦¥°¥í¡¼¥Ð¥ëÊÑ¿ô [#fdbdfa50]
-¸÷¥»¥ó¥µ¡¼¤ÎÃÍ

 #define black 40¡¡¡¡¡¡¡¡//¿¿¤Ã¹õ
 #define gray_black 44 ¡¡//¹õ
 #define gray 47¡¡¡¡   ¡¡//³¥
 #define gray_white 50 ¡¡//Çò
 #define white 60¡¡¡¡¡¡  //¿¿¤ÃÇò

-´ðËÜŪ¤ÊÆ°ºî

 #define go_ahead OnFwd(OUT_AC);     //Á°¤Ë¿Ê¤à
 #define turn_left OnFwd(OUT_A);Off(OUT_C);¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë
 #define turn_right OnFwd(OUT_C);Off(OUT_A);¡¡ //±¦¤Ë¶Ê¤¬¤ë
 #define circling_left OnRev(OUT_C);OnFwd(OUT_A);¡¡ ¡¡//º¸Àû²ó¤¹¤ë
 #define circling_right OnRev(OUT_A);OnFwd(OUT_C);¡¡¡¡//±¦Àû²ó¤¹¤ë

-¥°¥í¡¼¥Ð¥ëÊÑ¿ô

 int t;

***¥µ¥Ö¥ë¡¼¥Á¥ó [#yf71ea61]

²¼¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë»ÈÍѤ·¤¿¥µ¥Ö¥ë¡¼¥Á¥ó¤ò¼¨¤¹¡£

 sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹»þ´Ö
 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;}        //¿¿¤Ã¹õ¤Ê¤é±¦Àû²ó¤»¤è
 else if(SENSOR_2<gray_black){turn_right;}  //¹õ¤Ê¤é±¦¤Ë¶Ê¤¬¤ì
 else if(SENSOR_2<gray){go_ahead;}          //³¥¤Ê¤éľ¿Ê¤»¤è
 else if(SENSOR_2<gray_white){turn_left;}   //Çò¤Ê¤éº¸¤Ë¶Ê¤¬¤ì
 else if(SENSOR_2<white){circling_left;}    //¿¿¤ÃÇò¤Ê¤é±¦Àû²ó¤»¤è
 }
 Off(OUT_AC);Wait(100);¡¡¡¡¡¡//1Éûߤޤì
     SetSensor(SENSOR_2,SENSOR_LIGHT);
     ClearTimer(0);
     while(FastTimer(0)<t)
     {
     if(SENSOR_2<black)
         {
         circling_right;
         }        //¿¿¤Ã¹õ¤Ê¤é±¦Àû²ó¤»¤è
     else if(SENSOR_2<gray_black)
         {
         turn_right;
         }  //¹õ¤Ê¤é±¦¤Ë¶Ê¤¬¤ì
     else if(SENSOR_2<gray)
         {
         go_ahead;
         }          //³¥¤Ê¤éľ¿Ê¤»¤è
     else if(SENSOR_2<gray_white)
         {
         turn_left;
         }   //Çò¤Ê¤éº¸¤Ë¶Ê¤¬¤ì
     else if(SENSOR_2<white)
         {
         circling_left;
         }    //¿¿¤ÃÇò¤Ê¤é±¦Àû²ó¤»¤è
     }
     Off(OUT_AC);
     Wait(100);¡¡¡¡¡¡//1Éûߤޤì
 } 
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***¥á¥¤¥ó¥×¥í¥°¥é¥à [#p926cb48]
°Ê²¼¤¬Â­¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
¡»¤ÎÃæ¤Î¿ô»ú¤Ï¡¢·ÐÏ©¤ÎÀâÌÀ¤Î¿Þ¤Î¿ô»ú¤ËÂбþ¤·¤Æ¤¤¤ë¡£

-1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç

 task main()
 {
 ClearMessage();
 // A'¥¹¥¿¡¼¥È
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//¹õ¤Ê¤é¿Ê¤à
 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); 
 t=90;follow_line();//Ä´À°
 Wait(100);
 SendMessage(signal_catch);¡¡¡¡//  L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë
 ClearMessage();
 until(Message()==signal_end);
 circling_left;Wait(102);Off(OUT_AC);¡¡¡¡//º¸¤Ë90¡ëÀû²ó
 SendMessage(signal_release);¡¡¡¡//  1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë
 ClearMessage();
 until(Message()==signal_end);
 OnRev(OUT_AC);Wait(30);Off(OUT_AC);¡¡¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
 circling_left;Wait(102);Off(OUT_AC);¡¡¡¡¡¡//º¸¤Ë90¡ëÀû²ó
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//¹õ¤Ê¤é¿Ê¤à
 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;Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);¡¡//¹õ¤Ê¤é¿Ê¤à
 t=150;follow_line();//Ä´À°
 SendMessage(signal_catch);//  L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë
 ClearMessage();
 until(Message()==signal_end);
 circling_left;Wait(102);Off(OUT_AC);¡¡¡¡//º¸¤Ë90¡ëÀû²ó
 OnRev(OUT_AC);Wait(23);Off(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
 SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¸ÄÌÜ)
 ClearMessage();
 until(Message()==signal_end);
 Wait(100);
 SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¸ÄÌÜ)
 ClearMessage();
 until(Message()==signal_end); 
 OnRev(OUT_AC);Wait(90);Off(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
 circling_left;Wait(102);Off(OUT_AC);¡¡¡¡//º¸¤Ë90¡ëÀû²ó
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤é¿Ê¤à
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 go_ahead;Wait(15);Off(OUT_AC);¡¡¡¡//Á°¤Ë¿Ê¤à
 SendMessage(signal_release);
 ClearMessage();
 until(Message()==signal_end);
 OnRev(OUT_AC);Wait(100);Off(OUT_AC);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ë
     ClearMessage();      // A'¥¹¥¿¡¼¥È
     while(SENSOR_2>gray)¡¡     //Çò¤Ê¤é¿Ê¤à¡¡¢¨1
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100);
     while(SENSOR_2<gray)     ¡¡//¹õ¤Ê¤é¿Ê¤à
     {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); 
     t=90;follow_line();¡¡¡¡// ¢¨2
     Wait(100);
     SendMessage(signal_catch);¡¡¡¡//  L'¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë­¡
     ClearMessage();
     until(Message()==signal_end);      //¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡
     circling_left;¡¡  ¡¡//º¸¤Ë90¡ëÀû²ó­¢
     Wait(102);
     Off(OUT_AC);
     SendMessage(signal_release);¡¡¡¡//  1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë­£
     ClearMessage();
     until(Message()==signal_end);¡¡¡¡ ¡¡¡¡// ¢¨3

-2¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç

     OnRev(OUT_AC);¡¡¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
     Wait(30);
     Off(OUT_AC);
     circling_left;
     Wait(102);
     Off(OUT_AC);¡¡     ¡¡¡¡//º¸¤Ë90¡ëÀû²ó­¤
     while(SENSOR_2>gray)
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100);¡¡       //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1
     while(SENSOR_2<gray)
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100);       ¡¡//¹õ¤Ê¤é¿Ê¤à
     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;¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë
     Wait(100);
     while(SENSOR_2>gray)¡¡     //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100);
     while(SENSOR_2<gray)¡¡    //¹õ¤Ê¤é¿Ê¤à
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100);
     t=150;follow_line();¡¡¡¡// ¢¨2
     SendMessage(signal_catch);//  L¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤàÌ¿Îá¤òÁ÷¤ë­¥
     ClearMessage();
     until(Message()==signal_end);¡¡¡¡// ¢¨3

-¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç

     circling_left;¡¡¡¡//º¸¤Ë90¡ëÀû²ó­¦
     Wait(102);
     Off(OUT_AC);
     OnRev(OUT_AC);¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë­§
     Wait(23);
     Off(OUT_AC);
     SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¸ÄÌÜ)­¨
     ClearMessage();
     until(Message()==signal_end); ¡¡¡¡// ¢¨3
     Wait(100);
     SendMessage(signal_catch);¡¡¡¡//¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¸ÄÌÜ)
     ClearMessage();
     until(Message()==signal_end); ¡¡¡¡// ¢¨3

-3¤Ä¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç

     OnRev(OUT_AC);¡¡    ¡¡//¸å¤í¤Ë²¼¤¬¤ë
     Wait(90);
     Off(OUT_AC);
     circling_left;     ¡¡¡¡//º¸¤Ë90¡ëÀû²ó­©
     Wait(102);
     Off(OUT_AC);
     while(SENSOR_2>gray)         //Çò¤Ê¤é¿Ê¤à¡¡¡¡¢¨1
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100);
     while(SENSOR_2<gray);         //¹õ¤Ê¤é¿Ê¤à
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100)
     while(SENSOR_2>gray)
     {OnFwd(OUT_AC);}
     Off(OUT_AC);
     Wait(100);
     go_ahead;¡¡     ¡¡//Á°¤Ë¿Ê¤à
     Wait(15);
     Off(OUT_AC);
     SendMessage(signal_release);¡¡¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë­ª
     ClearMessage();
     until(Message()==signal_end); ¡¡¡¡// ¢¨3
 
     OnRev(OUT_AC);//¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¾¯¤·¸å¤í¤Ë²¼¤¬¤ë
     Wait(100);
     Off(OUT_AC);¡¡¡¡
 }

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