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 #define go OnFwd(OUT_A+OUT_C);                      //Á°¿Ê¤ò¡Ögo¡×¤ÇÄêµÁ
 #define back OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //¸å¿Ê¤ò¡Öback¡×¤ÇÄêµÁ
 #define right OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//±¦²ó¤ê¤ò¡Öright¡×¤ÇÄêµÁ
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 #define freez Off(OUT_A+OUT_C); Wait(100);¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Á¡¤C¤ÎÄä»ß¤ò¡Öfreez¡×¤ÇÄêµÁ
 #define freezb Off(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Â¤ÎÄä»ß¤ò¡Öfreezb¡×¤ÇÄêµÁ
 #define r freez Wait(30);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //0.3ÉôÖÄä»ß¤¹¤ëÆ°ºî¤ò¡Ö£ò¡×¤ÇÄêµÁ
 #define gool  enter;Wait(50);shot;Wait(30);freezb;¡¡//¥Ü¡¼¥ë¤ò¾å¤ËÆþ¤ì¤Æ¥¢¡¼¥à¤ò¸µ¤Î°ÌÃÖ¤ËÌ᤹ưºî¤ò¡Ögool¡×¤ÇÄêµÁ
 #define hand  enter;Wait(50);freezb;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò¼è¤ê½Ð¤·¡¢ÊÝ»ý¤¹¤ëÆ°ºî¤ò¡Öhand¡×¤ÇÄêµÁ
 #define THRESHOLD 40
 task main()
 { SetPower (OUT_A,3);           //¥â¡¼¥¿¡¼£Á¤Î¥Ñ¥ï¡¼¤ò£³¤Ë¥»¥Ã¥È
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 SetSensor(SENSOR_1,SENSOR_LIGHT);
 SetSensor(SENSOR_2,SENSOR_ROTATION);
	
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	freez
	go¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤¹¤ë
	Wait(130);
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	Wait(70);
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	enter¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ë
	Wait(100);
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	Wait(50);
	freezb
	
	while(true) {
	right¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //­£È¢¤ÎÁ°¤Ç£¹£°¡ëÊý¸þž´¹
	ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½
	until(SENSOR_2 > 3);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬£³¤è¤êÂ礭¤¯¤Ê¤ë¤Þ¤ÇÊý¸þž´¹¤ò³¤±¤ë¡¡¡¡¡¡
	freez
	back¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¿Ê
	until (SENSOR_1 < THRESHOLD) ;¡¡  //¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤Ç¸å¿Ê¤ò³¤±¤ë
	right
	ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½
	until(SENSOR_2 > 3.);¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬£³¤è¤êÂ礭¤¯¤Ê¤ë¤Þ¤ÇÊý¸þž´¹¤ò³¤±¤ë
	go¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤¹¤ë
	Wait(30);
	go
	until (SENSOR_1 < THRESHOLD) ;¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤ÇÁ°¿Ê
	freez
	enter¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤ò¼è¤êÆþ¤ì¤ë
	Wait(65);
	freezb
	back¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¤¸å¿Ê¤¹¤ë
	Wait(30);
	back
	until (SENSOR_1 < THRESHOLD) ;¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤Ç¸å¿Ê¤ò³¤±¤ë
	freez
	left
	ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½
	until(SENSOR_2 < -6);¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬¡Ý£¶¤è¤ê¤â¾®¤µ¤¯¤Ê¤ë¤Þ¤ÇÊý¸þž´¹¤ò³¤±¤ë
	freez
	go
	Wait(130);
	freez
	left
	ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½
	until(SENSOR_2 < -6);¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬¡¼£¶¤è¤ê¤â¾®¤µ¤¯¤Ê¤ë¤Þ¤Çº¸¼þ¤ê¤ËÊý¸þž´¹¤ò³¤±¤ë
	freez
	go                                //È¢¤Ë¶á¤Å¤¯¤¿¤á¤ËÁ°¿Ê
         Wait(30)
	enter                             //¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ë
	Wait(100);
	freez
	shot¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤¬È¢¤Ë°ú¤Ã¤«¤«¤ë¤Î¤òËɤ°¤¿¤á¤Ë¥¢¡¼¥à¤òÌ᤹
	Wait(50);
	freezb
	
	
	}
	}


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 #define go OnFwd(OUT_A+OUT_C);
 Ãæά
 #define THRESHOLD 40
 task main()
 {  SetPower (OUT_A,3);
    SetPower(OUT_C,3);
    SetPower (OUT_B,7);
 SetSensor(SENSOR_1,SENSOR_LIGHT);
 SetSensor(SENSOR_2,SENSOR_ROTATION);
	left
	until(SENSOR_2 < -6);
	freez}

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*** ²óž¥»¥ó¥µ¡¼¤Ë¤Ä¤¤¤Æ [#c09a8d3f]
¥í¥Ü¥³¥óÅöÆü¤ËµÞ󞥻¥ó¥µ¡¼¤ò¼ÂÁõ¤·¤¿¤¿¤á¡¢¥»¥ó¥µ¡¼¤È¥â¡¼¥¿¡¼¤Î¥®¥¢È椬1:1¤Ç¡¢¤¢¤¤¤Þ¤¤¤Êɾ²Á¤·¤«¤Ç¤­¤Ê¤«¤Ã¤¿¡£¤â¤¦¾¯¤·»þ´Ö¤¬¤¢¤ì¤Ð¥®¥¢Èæ¤ò¹â¤¤¤â¤Î¤Ë¤¹¤ë¤³¤È¤Ç¡¢¤è¤êÀµ³Î¤Êɾ²Á¤¬¤Ç¤­¤¿²ÄǽÀ­¤¬¤¢¤Ã¤¿¡£

**¥í¥Ü¥Ã¥È£Â [#dd516f96]

***¥Õ¥£¡¼¥ë¥É¤Ç¤ÎÆ°¤­(°ì²óÌÜ) [#ybea11b1]
#ref(B.png)
***¥Õ¥£¡¼¥ë¥É¤Ç¤ÎÆ°¤­¡ÊºÆ¥¹¥¿¡¼¥È¡Ë [#yd4a9352]
#ref(B2.png)
***¥×¥í¥°¥é¥à£Â¡Ê°ì²óÌÜ¡Ë [#nfbebeb6]
 #define go OnFwd(OUT_A+OUT_C);                      //Á°¿Ê¤ò¡Ögo¡×¤ÇÄêµÁ
 #define back OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //¸å¿Ê¤ò¡Öback¡×¤ÇÄêµÁ
 #define right OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//±¦²ó¤ê¤ò¡Öright¡×¤ÇÄêµÁ
 #define left OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸²ó¤ê¤ò¡Öleft¡×¤ÇÄêµÁ
 #define enter OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤òÈ¢¤Î¾å¤ËÆþ¤ì¤ëÆ°ºî¤ò¡Öenter¡×¤ÇÄêµÁ
 #define shot OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÈ¢¤Î²£¤ËÆþ¤ì¤ëÆ°ºî¤ò¡Öshot¡×¤ÇÄêµÁ
 #define freez Off(OUT_A+OUT_C); Wait(100);¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Á¡¤C¤ÎÄä»ß¤ò¡Öfreez¡×¤ÇÄêµÁ
 #define freezb Off(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Â¤ÎÄä»ß¤ò¡Öfreezb¡×¤ÇÄêµÁ
 #define r freez Wait(30);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //0.3ÉôÖÄä»ß¤¹¤ëÆ°ºî¤ò¡Ö£ò¡×¤ÇÄêµÁ
 #define gool  enter;Wait(50);shot;Wait(30);freezb;¡¡//¥Ü¡¼¥ë¤ò¾å¤ËÆþ¤ì¤Æ¥¢¡¼¥à¤ò¸µ¤Î°ÌÃÖ¤ËÌ᤹ưºî¤ò¡Ögool¡×¤ÇÄêµÁ
 #define hand  enter;Wait(50);freezb;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò¼è¤ê½Ð¤·¡¢ÊÝ»ý¤¹¤ëÆ°ºî¤ò¡Öhand¡×¤ÇÄêµÁ
 task main ()
  {
   SetPower (OUT_A,3);           //¥â¡¼¥¿¡¼£Á¤Î¥Ñ¥ï¡¼¤ò£³¤Ë¥»¥Ã¥È
   SetPower(OUT_C,3);¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Ã¤Î¥Ñ¥ï¡¼¤ò£³¤Ë¥»¥Ã¥È
   SetPower (OUT_B,7);¡¡¡¡¡¡¡¡¡¡ //¥â¡¼¥¿¡¼£Â¤Î¥Ñ¥ï¡¼¤ò£·¤Ë¥»¥Ã¥È
   int p;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÊÑ¿ô¡Ö£ð¡×ÄêµÁ
   p=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//p¤Ë£°¤òÂåÆþ
       while (p<1)¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥Õ¥£¡¼¥ë¥É¤ÎÆ°ºî¡×¤Î­¡­¢¤Ë¤¢¤¿¤ëÆ°ºî
       {
        go
        Wait(50);
        freez;r;
        left;
        Wait(90);
        freez
        go
        Wait(100);
        freez;r;
        hand;r;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò¥¢¡¼¥à¤Ë¼è¤ê¹þ¤ßÊÝ»ý¤¹¤ë
        back
        Wait(40);
        right
        Wait(90);r;
        go
        Wait(30);r;
        right
        Wait(90);r;
        go
        Wait(200);r;
        gool¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //¥Ü¡¼¥ë¤òÈ¢¤Î¾å¤«¤éÆþ¤ì¤ë
        p=1;
       }
      while (1<=p<3)¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡Ö¥Õ¥£¡¼¥ë¥É¤ÎÆ°ºî¡×¤Î­£­¤¤Ë¤¢¤¿¤ëÆ°ºî
      {
        r:back;
        Wait(180);r;
        go
        Wait(50);r;
        right
        Wait(90);r;
        go
        Wait(90);r;
        hand;r;
        back
        Wait(40);
        right
        Wait(90);r;
        go
        Wait(120);r;
        gool
        p=p+1;
       }
      while(3<=p<=4)¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Æó¸ÄÌܤΥܡ¼¥ë¤¬È¢¤ËÆþ¤é¤Ê¤«¤Ã¤¿¤È¤­¤Î°Ù¤Ë­£­¤¤ò¤â¤¦£²²ó·«¤êÊÖ¤¹
       {
        r
        back
        Wait(100);r;
        left
        Wait(90);r;
        go
        Wait(80);r;
        hand;r;
        back
        Wait(60);r;
        right
        Wait(90);r;
        go
        Wait(100);r;
        gool
        p=p+1
       }
      while(5<=p<6)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÈ¢¤Î¾å¤ËÆþ¤ì¤ë¤Î¤òÄü¤á¥Ü¡¼¥ë¤òÃƤ­Èô¤Ð¤¹¤³¤È¤Ç²£¤«¤é¥Ü¡¼¥ë¤òÆþ¤ì¤ë
       {
        r;back;
        Wait(180);r;
        go
        Wait(50);r;
        right
        Wait(90);r;
        go
        Wait(90);
        freez;r;
        shot
        Wait(300);
        freezb;r;
        go
        Wait(100);
        freez;r;
        shot
        Wait(300);
        freezb
        p=6
       }    
      while(6<=p)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ÌÃÖ¤òÄ´À°¤·¤¿¤Î¤Á¤Ë­£­¤¤Ë¤¢¤¿¤ëÆ°ºî¤ËÌá¤ë
      {
       back
       Wait(50);
       freez;r;
       go
       Wait(80);
       freez;r;
       shot
       Wait(200);
       freezb;r;
       p=2
      }
  }

***¥×¥í¥°¥é¥à£Â¡ÊºÆ¥¹¥¿¡¼¥È¡Ë [#q19e10e8]
 <Ãæά>
 task main()
 {go                   //¡Ö¥Õ¥£¡¼¥ë¥É¤Ç¤ÎÆ°¤­¡ÊºÆ¥¹¥¿¡¼¥È¡Ë¡×¤Î­¡¤Ë¤¢¤¿¤ëÆ°¤­
  Wait(60);
  freez
  left
  Wait(54);
  freez
  go
  Wait(60);
  freez
  r
  hand¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤ò¼è¤ê¹þ¤ßÊÝ»ý¤¹¤ë
  freezb
  back                 //­¢¤Ë¤¢¤¿¤ëÆ°¤­
  Wait(36);
  freez
  r
  left
  Wait(80);
  freez
  r
  go
  Wait(30);
  freez
  back                //È¢¤ÎÁ°¤«¤é¾¯¤·Î¥¤ì¤ë¤³¤È¤Ç°ÌÃÖ¤òÄ´À°¤¹¤ë
  Wait(20);
  freez
  shot¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //¥Ü¡¼¥ë¤ò¤±¤êÈô¤Ð¤·¤ÆÈ¢¤ËÆþ¤ì¤ë
  Wait(100);
  freezb
 }

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