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**¥Ü¡¼¥ë¤ò²¡¤·½Ð¤¹¥×¥í¥°¥é¥à [#zfb633a7]
 #define signal_on 11
 #define signal_off 12
 #define turn_right OnFwd(OUT_C);Wait(124);Off(OUT_A+OUT_C);
 #define turn_left OnFwd(OUT_A);Wait(124);Off(OUT_A+OUT_C);
 #define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Float(OUT_A+OUT_C);
 
 sub SEND()                  //¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¥×¥í¥°¥é¥à
 {
 ClearTimer(0);
 ClearMessage();
 while (FastTimer(0) < 200)
 {
 SendMessage(signal_on);
 if (Message() == 1) 
 {
 PlaySound(SOUND_CLICK);    // Á÷¿®¤ËÀ®¸ù¤·¤¿¤È¤­¤Ï¥Ô¥Ã¤ÈÌĤ餹
 } 
 else
 {
 PlaySound(SOUND_LOW_BEEP); // Á÷¿®¤Ë¼ºÇÔ¤·¤¿¤È¤­¤Ï¥Ö¥Ã¤ÈÌĤ餹
  }
 }
 }
 
 task main()
 {
  SetSensor(SENSOR_1, SENSOR_LIGHT);        //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼1¤Ë¥»¥Ã¥È
  SetSensor(SENSOR_3, SENSOR_LIGHT);        //¸÷¥»¥ó¥µ¡¼¤ò¥»¥ó¥µ¡¼3¤Ë¥»¥Ã¥È
 
 
 go_straight(70);                           //±ß¤«¤é¤Ç¤Æ¥é¥¤¥ó¤Ë¤Î¤ë
 turn_left;                                                     
 go_straight(240);                          //¥é¥¤¥ó¤Îü¤Þ¤Ç¤¹¤¹¤à
 turn_left;                                 
 go_straight(160);                          //¥Ü¡¼¥ë¤ò¤Ä¤¯
 
  SEND();           
  ClearMessage();                           //¥á¥Ã¥»¡¼¥¸¤ò¥¯¥ê¥¢
  until(Message() == signal_on);            //¥á¥Ã¥»¡¼¥¸¤¬signal_on¤Ë¤Ê¤ë¤Þ¤ÇÂÔµ¡
  go_straight(40);                          //¥Ü¡¼¥ë¤ò¤Ä¤¯
  SEND();
  ClearMessage();
  until(Message() == signal_on);
  go_straight(40);
  SEND();  
 
 }

**¥Ü¡¼¥ë¤ò±¿¤Ö¥×¥í¥°¥é¥à [#c132ebaf]
 #define go_s(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);			//ľ¿Ê
 #define back(t) OnRev(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);			//¸åÂà
 #define turn_r(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);		//±¦¤Ë¶Ê¤¬¤ë
 #define turn_l(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C);		//º¸¤Ë¶Ê¤¬¤ë
 #define arm_d OnRev(OUT_B);Wait(90);Off(OUT_B);					//¥¢¡¼¥à¤ò²¼¤²¤ë
 #define arm_u OnFwd(OUT_B);Wait(90);Off(OUT_B);					//¥¢¡¼¥à¤ò¾å¤²¤ë
 #define SPIN 200	//°ì²óž¤¹¤ë»þ´Ö
 #define signal_on 11
 #define signal_off 12
 
 task main()
 {
 	SetSensor(SENSOR_1,SENSOR_LIGHT);	//¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼¤Ë
 	SetSensor(SENSOR_2,SENSOR_TOUCH);	//¥»¥ó¥µ¡¼1¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë
 	SetSensor(SENSOR_3,SENSOR_LIGHT);	//¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼¤Ë¡Ê¥é¥ó¥¿¥ó¤òõ¤¹¡Ë
 	SetPower(OUT_B,6);
 	int l_max=0;		//l_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë
 	int t_max=0;		//t_max¤òÄêµÁ¡Ê½é´üÃÍ0¡Ë
 
 	go_s(180);				//¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¥Ü¡¼¥ëÃÖ¤­¾ì¤Ø°ÜÆ°
 	turn_l(80);
 	OnFwd(OUT_A+OUT_C);
 	until(SENSOR_1<40);			//Àþ¾å¤Þ¤ÇÍ褿¤é
 	turn_r(100);				//¸þ¤­¤òÊѤ¨¤Æľ¿Ê
 	go_s(180);
 	turn_r(150);
 	arm_d;					//¥Ü¡¼¥ëÃÖ¤­¾ì¤Þ¤ÇÍ褿¤é¥¢¡¼¥à¤ò²¼¤²
	OnFwd(OUT_A+OUT_C);
	until(SENSOR_2 == 1);		//ÌڤΥ֥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
	Wait(500);				//¤â¤¦°ì¤Ä¤Î¥í¥Ü¥Ã¥È¤¬¥Ü¡¼¥ë¤ò²¡¤¹¤Þ¤ÇÂÔ¤Ä
 	OnRev(OUT_A+OUT_C);
 	Wait(20);				//¥¢¡¼¥à¤¬¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤Þ¤Ç¸åÂà
 	Float(OUT_A+OUT_C);			//¤æ¤Ã¤¯¤ê»ß¤Þ¤ë
 	arm_u;					//¥¢¡¼¥à¤ò¾å¤²¤Æ¥Ü¡¼¥ë¤ò¸ÇÄê
 	back(50);
 	turn_r(150);				//¥´¡¼¥ë¤ÎÊý¸þ¤ËÊý¸þž´¹
 	go_s(850);				//¥´¡¼¥ëÁ°¤Ë¸þ¤«¤Ã¤Æľ¿Ê
 	turn_r(90);				//¥í¥Ü¥Ã¥È¤È¥´¡¼¥ë¤¬Ä¾³Ñ¤Ë¤Ê¤ë¤è¤¦¸þ¤­¤òÄ´À°
 	    go_s(200);			//¥´¡¼¥ë¤Ë¸þ¤«¤Ã¤Æľ¿Ê
 	    arm_d;				//¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤òÊü¤¹
 	    repeat(3)
 	    {go_s(10); back(10);}		//¼ÖÂΤòÍɤ餷¡¢¥Ü¡¼¥ë¤ò³Î¼Â¤ËÍî¤È¤¹
 	    arm_u;				//¥¢¡¼¥à¤ò¾å¤²¤ë
 	repeat(2)
  {
 	turn_r(200);				//¥Ü¡¼¥ëÃÖ¤­¾ì¤ØÌá¤ë¥×¥í¥°¥é¥à
 	go_s(800);				//¤Þ¤Ã¤¹¤°¥¹¥¿¡¼¥ÈÃÏÅÀ¤Þ¤ÇÌá¤ë
 	turn_r(100);				//Êý¸þž´¹
 	OnFwd(OUT_A+OUT_C);	
 	until(SENSOR_1<40);			//Àþ¾å¤Þ¤Çľ¿Ê¤·¤¿¤é
 	turn_l(100);				//¥Ü¡¼¥ëÃÖ¤­¾ì¤ØÊý¸þž´¹
 	go_s(180);
 	turn_r(120);				//¥Ü¡¼¥ëÃÖ¤­¾ì¤Ø
 	arm_d;
 	OnFwd(OUT_A+OUT_C);
 	until(SENSOR_2 == 1);		//¥Ö¥í¥Ã¥¯¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Çľ¿Ê
 	ClearMessage();			//¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤È¥á¥Ã¥»¡¼¥¸¤ÎÁ÷¼õ¿®
 	while(true)
 	{until(Message() == signal_on);	//¥¢¡¼¥à¤ò¾å¤²¤ë¥×¥í¥°¥é¥à¤ò¼Â¹Ô
 	arm_u;	}
 				//¥´¡¼¥ë¤Ë¸þ¤«¤¦¥×¥í¥°¥é¥à
 	back(40);
 	turn_r(120);
 	go_s(830);
 	turn_r(90);
 	go_s(200);
 	    arm_d;			//¥¢¡¼¥à¤ò¹ß¤í¤·¡¢¥Ü¡¼¥ë¤ò½³¤ê½Ð¤¹
 	    repeat(3)
 	    {go_s(10); back(10);}
 	    arm_u;
 } 					//¡Ð¡ÑÆâ¤òÆó²ó·«¤êÊÖ¤¹
 	back(500);			//¥³¡¼¥¹¤ÎÃæ¿´¤¢¤¿¤ê¤Þ¤ÇÌá¤Ã¤Æ½ªÎ»
 } 


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