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¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û
 #define SE_R SENSOR_1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SENSOR_1¤òSE_R(±¦¥»¥ó¥µ¤Î°Õ)¤È¾Êά
 #define SE_C SENSOR_2¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾å»²¾È
 #define SE_L abs(SENSOR_3)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //SENSOR_3(²óž¥»¥ó¥µ)¤ÎÃͤÎÀäÂÐÃͤòSE_L¤È¾Êά
 #define WAIT_TIME 50¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê­¡
 #define WAIT_TIME_1 75¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê­¢
 #define WAIT_TIME_2 7¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔ¤Á»þ´ÖÀßÄê­£
 #define TURN_1 41¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê­¡
 #define TURN_2 45¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê­¢
 #define TURN_3 3¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¿ôÀßÄê­£
 #define TH 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê
 #define go OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê¤ògo¤ÈÄêµÁ
 #define back OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂà¤òback¤ÈÄêµÁ
 #define turn_right OnFwd(OUT_C);OnRev(OUT_A);¡¡¡¡//±¦ÀÞ¤òturn_right¤ÈÄêµÁ
 #define turn_left OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡ //º¸ÀÞ¤òturn_left¤ÈÄêµÁ
 
 int i=1,j,k,line;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÍÍ¡¹¤Ê¾ìÌ̤ǻȤ¦ÊÑ¿ô¤òÄêµÁ
 
 void Clear_Sensor()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤Î¥ê¥»¥Ã¥È
 {
 	ClearSensor(SENSOR_3);
	PlaySound(SOUND_FAST_UP);
	Off(OUT_AC);Wait(WAIT_TIME);
 }
 
 void arm_open()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯
 {
	OnRev(OUT_B);
	Wait(WAIT_TIME);
	Off(OUT_B);
 }
¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û
 task main()
 {
	SetSensor(SENSOR_1,SENSOR_TOUCH);				¡¡¡¡//¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
	SetSensor(SENSOR_2,SENSOR_LIGHT);				¡¡¡¡//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ
	SetSensor(SENSOR_3,SENSOR_ROTATION);				¡¡¡¡//¥»¥ó¥µ¡¼£³¤ò²óž¥»¥ó¥µ¤ÈÄêµÁ
 
	Clear_Sensor();						¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤ò¥ê¥»¥Ã¥È
	back; until(SE_L >= 175);					¡¡¡¡//¸åÂà
 //»æ¥Ñ¥Ã¥¯³ÎÊÝ¤Þ¤Ç¤Î¥×¥í¥°¥é¥à//
	for(i = 1;i <= 3;i++){					¡¡¡¡//{}Æâ¤ò£³²ó·«¤êÊÖ¤¹(»æ¥Ñ¥Ã¥¯¤ò£³²ó±¿¤Ö)
		Clear_Sensor();
		arm_open();						//¥¢¡¼¥à¤ò³«¤¯
		turn_right; until(SE_R == 1);				//¥¿¥Ã¥Á¥»¥ó¥µ¤¬Êɤˤ¢¤¿¤ë¤Þ¤Ç±¦²óž
		Clear_Sensor();
		if(i == 1){						//1¼þÌܤϥé¥ó¥¿¥ó²¡¤·¤Æ¤«¤éÌá¤ë
			while(SE_L <= 450){				¡¡¡¡//¥é¥ó¥¿¥ó¤ò²¡¤·ÀÚ¤ë¤Þ¤Ç¡¢{}Æâ¤ò·«¤êÊÖ¤¹
				go;						//Á°¿Ê
				if(SE_R == 1){					//¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢
					Off(OUT_C);				¡¡¡¡//º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ
					until(SE_R == 0);				¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë
				}
			}
			Clear_Sensor();
			while(SE_L <= 95){				¡¡	¡¡//»æ¥Ñ¥Ã¥¯¤Î°ÌÃÖ¤ËÌá¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹
				back;						//¸åÂà
				if(SE_R == 1){					//¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢
					Off(OUT_A);				¡¡¡¡//±¦¥¿¥¤¥ä¤ò»ß¤á¤Æ
					until(SE_R == 0);				¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë
				}
			}
		}else{							¡¡//2¼þÌܰʹߤϻæ¥Ñ¥Ã¥¯¤Þ¤ÇÁ°¿Ê
			while(SE_L <= 300){				¡¡¡¡//»æ¥Ñ¥Ã¥¯¤Þ¤Ç°ÜÆ°¤¹¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹
				go;						¡¡¡¡//Á°¿Ê
				if(SE_R == 1){					//¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬°Ê²¼Î¬
					Off(OUT_C);				//º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ
					until(SE_R == 0);				//Êɤ«¤éÎ¥¤ì¤ë
				}
			}
		}
		Clear_Sensor();
		turn_left; until(SE_L >= TURN_2);				//º¸¤Ë90¡î²óž
		Clear_Sensor();
		if(i == 1){						//¼þ²ó¤´¤È¤Ë»æ¥Ñ¥Ã¥¯¤Þ¤Ç¤Îµ÷Î¥¤¬°ã¤¦¤¿¤á¡¢¤½¤ì¤¾¤ì¿Ê¤àµ÷Î¥¤òÊÑ¿ô¤ÇÄêµÁ
			line = 115;
		}else if(i == 2){
			line = 160;
		}else{
			line = 205;
		}
		go; until(SE_L >= line);					//Á°¿Ê
		Off(OUT_AC);
		OnFwd(OUT_B);						//¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤ÇÊÝ»ýÎ϶¯²½)
		Clear_Sensor();
		back; until(SE_L >= 55);					//¼ã´³¸åÂà
		Clear_Sensor();
		turn_left; until(SE_L >= TURN_3);				//µ°Æ»½¤Àµ¤Î¤¿¤á¤ï¤º¤«¤Ëº¸²óž
		Clear_Sensor();
		back; until(SE_L >= line);					//ÊɤޤǸåÂष¤Æ¡¢³ÑÅÙ¤òÀ°¤¨¤ë
 //»æ¥Ñ¥Ã¥¯¤ò±¿¤Ö¥×¥í¥°¥é¥à//
		Clear_Sensor();
		go; until(SE_L >= TURN_1);					//Á°¿Ê
		Clear_Sensor();
		turn_left; until(SE_L >= WAIT_TIME);				//º¸²óž
		if(i == 1){						//£±¼þÌܤȣ²¼þÌܰʹߤǤϻæ¥Ñ¥Ã¥¯¤òÃÖ¤¯°ÌÃÖ¤¬°ã¤¦¤¿¤á¡¢¾ò·ïʬ´ô
			line = 170; k = 4;					¡¡¡¡//Á°¿ÊÃæ¤Ëµ°Æ»½¤Àµ¤òÆþ¤ì¤ë¤¿¤á¡¢¢¨£±¤Îforʸ¤Î·«¤êÊÖ¤·²ó¿ôk¤òÀßÄê
		}else{
			line = 240; k = 5;					¡¡¡¡//¤Ä¤¤¤Ç¤Ë¡¢¤Î¤Á¤Î°ÜÆ°µ÷Î¥¢¨£²¤âÀßÄꤷ¤Æ¤¤¤ë
		}
		for(j = 1;j <= k;j++){					//j¤¬£±¤«¤ék¤Ë¤Ê¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤·(¢¨£±)
			Clear_Sensor();
			go; until(SE_L >= 80);				¡¡¡¡//¾¯¤·Á°¿Ê
			Clear_Sensor();
			turn_left; until(SE_L >= TURN_3);		¡¡	¡¡¡¡//¤ï¤º¤«¤Ëº¸²óž
		}
		go; until(SE_L >= 80);					//ºÇ¸å¤Ë¤â¤¦¾¯¤·Á°¿Ê
		Clear_Sensor();
		turn_right;						//±¦ÀÞ(³ÑÅ٤ϣ±¼þÌܤȤ½¤ì°Ê³°¤Ç°Û¤Ê¤Ã¤Æ¤¤¤ë)
		if(i == 1){
			until(SE_L >= TURN_2);				¡¡¡¡//£±¼þÌܤÏ90¡î
		}else{
			until(SE_L >= TURN_1);				¡¡¡¡//£²¼þÌܰʹߤÏ90¡î¤è¤ê¤ä¤äÀõ¤¯
		}
		Clear_Sensor();
		go;							//Á°¿Ê(Á°¿Ê¤â»þ´Ö¤¬°Û¤Ê¤ë)
		if(i == 1){
			Wait(WAIT_TIME_1);					¡¡¡¡//£±¼þÌܤÏÂÔ¤Á»þ´Ö­¡¤À¤±ÂԤ俸塢
			until(SE_C <= TH);until(SE_C > TH);			¡¡¡¡//¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç
		}else{
			until(SE_L >= 110);				¡¡¡¡//£²¼þÌܰʹߤϤ¢¤ëÄøÅٿʤ᤿¤é¡¢
			for(j = 1;j <= 2;j++){				¡¡¡¡//°ÌÃÖÄ´À°¤Î¤¿¤á{}Æâ¤ò£²²ó·«¤êÊÖ¤¹
				turn_right; Wait(WAIT_TIME_2);			//¤ï¤º¤«¤Ë±¦²óž
				go; Wait(WAIT_TIME_2);				//¤ï¤º¤«¤ËÁ°¿Ê
			}
		}
		Off(OUT_AC);
		OnRev(OUT_B);						//¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯)
		if(i == 1){
			Wait(WAIT_TIME);
		}else{
			Wait(WAIT_TIME_2);					¡¡¡¡//£²¼þÌܰʹߤϤ¹¤Ç¤Ë¤¢¤ë»æ¥Ñ¥Ã¥¯¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¡¢¾¯¤·¤À¤±³«¤¯
		}
		Off(OUT_B);
		Clear_Sensor();
		go; until(SE_L >= 20);					//¤­¤ì¤¤¤ËÃÖ¤¯¤¿¤á»æ¥Ñ¥Ã¥¯¤ò¾¯¤·²¡¤¹
		Off(OUT_AC);
 //»æ¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¥×¥í¥°¥é¥à//
		OnRev(OUT_C);until(SE_L >= WAIT_TIME_2);			//»æ¥Ñ¥Ã¥¯¤ò°ú¤­¤º¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ë¡¢¤ï¤º¤«¤Ëº¸¥¿¥¤¥ä¤ò¸åÂà
		Off(OUT_C);
		back; until(SE_C <= TH);until(SE_C > TH);			//¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà
		until(SE_L >= 70);						//¹¹¤Ë¾¯¤·¸åÂà
		if(i != 1){						//£±¼þÌܰʳ°¤Ï¡¢
			until(SE_L >= 20);					¡¡¡¡//¤Þ¤¿¹¹¤Ë¸åÂà(£±¼þÌܤȳÑÅÙ¤¬°ã¤¦¤¿¤á¡¢¢¨£³¤Ç»æ¥Ñ¥Ã¥¯¤ËÅö¤¿¤é¤Ê¤¤°ÌÃ֤ޤDz¼¤²¤ë)
		}
		Clear_Sensor();
		OnFwd(OUT_B); Wait(WAIT_TIME);Off(OUT_B);			//¥¢¡¼¥à¤òÊĤ¸¤ë
		turn_right; until(SE_L >= TURN_2);				//±¦²óž
		Clear_Sensor();
		go;							//ÀѤ߾夲¥í¥Ü¥Ã¥È¤ÎÁ°¤Þ¤ÇÁ°¿Ê(¢¨£²)
		until(SE_L >= line);
		Clear_Sensor();
		turn_right;						//±¦²óž¤·¤ÆÄÌ¿®Éô¤ò¹ç¤ï¤»¤ë
		if(i == 1){						//£±¼þÌܤȣ²¼þÌܰʹߤdzÑÅÙ¤¬°ã¤¦¤¿¤á¡¢²óžµ÷Î¥¤¬°Û¤Ê¤ë
			until(SE_L >= TURN_2);
		}else{
			until(SE_L >= TURN_1);
		}
		Clear_Sensor();
		turn_right;						//ÄÌ¿®Ãæ¤Ï±¦²óž(¢¨£³)
		while(SE_L <= 100){					//£±²óžȾ¤¹¤ë´Ö¡¢{}Æâ¤ò·«¤êÊÖ¤¹
			SendMessage(11);					¡¡¡¡//ÄÌ¿®¤òÁ÷¤ê³¤±¤ë
		}
		Clear_Sensor();
		back; until(SE_C <= TH);until(SE_C > TH);Wait(20);		//¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà
	}								//£±¼þ½ª¤ï¤ê
	Off(OUT_AC);						¡¡¡¡//¤¹¤Ù¤Æ½ª¤ï¤Ã¤¿¤é»ß¤Þ¤ë
 }
**Æó¹æµ¡ [#b23d3a26]
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£²²óÌܰʹߤϡ¢1¹æµ¡¤«¤éÄÌ¿®¤¬Á÷¤é¤ì¤Æ¤­¤¿¤é¡¢³°Â¦¤ËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤ò»ý¤Á¾å¤²¡¢¥Ñ¥Ã¥¯¤ò1²óÌܤËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤Î¾åÃʤËÃÖ¤¯¡£~
~
¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û
 #define BLACK 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê
 #define SIGNALON 11               //ÄÌ¿®»þ¤ËÁ÷¿®¤¹¤ë¿ôÃͤòÀßÄê
 #define WAIT_TIME 100             //ÂÔ¤Á»þ´Ö¤Ë»È¤¦¿ôÃͤòÀßÄê
 int black =0;                     //¹õÀþ¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ
 int step =1;                      //¼þ²ó¿ô¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ

¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û
 task main()
 {SetSensor(SENSOR_1,SENSOR_TOUCH);								//¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
  SetSensor(SENSOR_2,SENSOR_LIGHT);								//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ
  SetSensor(SENSOR_3,SENSOR_TOUCH);								//¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
 
 //ÂÔµ¡°ÌÃ֤˰ÜÆ°¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
       while(black!=2){									//¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥×
        if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);}				¡¡¡¡//ÇòÀþ¤Î¾å¤Ê¤é¹õÀþ¤Þ¤Ç¿Ê¤á¤ë
        if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;}			¡¡¡¡//¹õÀþ¤Î¾å¤Ê¤éÇòÀþ¤Þ¤Ç¿Ê¤á¤Æ¡¢black¤ò+1
         }
       Wait(WAIT_TIME);									//»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯¤È¤­¤Ë¤Ë¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤°ÌÃ֤ޤǰÜÆ°
       Off(OUT_A);										//»ß¤Þ¤ë
       black =0;										//black¤ÎÃͤò¥ê¥»¥Ã¥È
 //£±ÃÊÌܤòÀ°¤¨¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
       ClearMessage();									//ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È
       until ((Message() == SIGNALON)||(SENSOR_3 == 1));					//ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä
       PlaySound(SOUND_CLICK);								//ÄÌ¿®À®¸ù¤Î¹ç¿Þ¡¡¥Ô¥í¥ê¥í¥ê¡Á
       OnRev(OUT_B);									//¥¢¡¼¥à¤ò²¼¤²»Ï¤á¤ë
       OnFwd(OUT_A);until(SENSOR_2 <= BLACK);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK);	//¸½ºß¤ÎÇò¤«¤é¡¢¹õ¢ªÇò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤòÌ᤹
       Off(OUT_A);
       until(SENSOR_3 == 1);									//²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤¬²¼¤¬¤ë¤Þ¤ÇÂÔ¤Ä
       Off(OUT_B);
       OnFwd(OUT_C);Wait(50);								//¥¢¡¼¥à¤òÊĤ¸¤ë(»æ¥Ñ¥Ã¥¯¤òÀ°¤¨¤ë)
       OnRev(OUT_C);Wait(10);								//³«¤¯
       Off(OUT_C);
       OnFwd(OUT_B);until(SENSOR_1 == 1);							//¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤ò¾å¤²¤ë
       Off(OUT_B);
       OnRev(OUT_A);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK);				//¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
       Off(OUT_A);
       step++;										//¼þ²ó¿ô¤ò£±¤Ä¾å¤²¤ë
 //ÀѤ߾夲¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
	while(step<=3)									//£²ÃÊÌܤȣ³ÃÊÌܤϡ¢Æ±¤¸¥×¥í¥°¥é¥à¤ò¥ë¡¼¥×¤µ¤»¤ë
	{
        ClearMessage();									//ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È
        until ((Message() == SIGNALON)||(SENSOR_3 == 1));					//ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä
        PlaySound(SOUND_CLICK);								//¥Ô¥í¥ê¥í¥ê¡Á¢ö
        while(black!=2)									//¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥×
          {
         if(SENSOR_2 > BLACK){OnFwd(OUT_A);until(SENSOR_2 <= BLACK);}				¡¡¡¡//º£Å٤Ͻé´ü°ÌÃÖ¤ÎÊý¸þ¤ËÌ᤹
         if(SENSOR_2 <= BLACK){OnFwd(OUT_A);until(SENSOR_2 > BLACK);black++;}
          }
         until(SENSOR_2 <= BLACK);								//¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
         Off(OUT_A);
         black =0;										//black¤ÎÃͤò¥ê¥»¥Ã¥È
        
        OnRev(OUT_B);until(SENSOR_3 == 1);							//¥¢¡¼¥à¤ò²¼¤²¤ë
        Off(OUT_B);
        OnFwd(OUT_C);Wait(10);								//¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤Ç¡¢ÊÝ»ýÎ϶¯²½)
        OnFwd(OUT_B);until(SENSOR_1 == 1);							//¥¢¡¼¥à¤ò¾å¤²¤ë
        Off(OUT_B); 
 
        while(black!=2)									//¹õÀþ¤ò£²²ó°Ê²¼Î¬
           {
          if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);}				¡¡¡¡//ÂÔµ¡°ÌÃÖ¤ÎÊý¸þ¤Ë¿Ê¤á¤ë
          if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;}
           }
         OnFwd(OUT_A);until(SENSOR_2 <= BLACK);						//¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
         Off(OUT_A);
         black =0;
 
        if(step==2)										//£²ÃÊÌܤÀ¤±¡¢¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
          {
          OnRev(OUT_B);
          Wait(400);									¡¡¡¡//£´Éô֤λþ´ÖÂÔ¤Á
          Off(OUT_B);
          }
        OnRev(OUT_C);Wait(10);								//¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÎ¥¤¹)
        Off(OUT_C);
        if(step==2)										//£²¼þÌܤξì¹ç¤Ï¡¢¥¢¡¼¥à¤òºÆ¤Ó¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¾å¤²¤ë
         {OnFwd(OUT_B);until(SENSOR_1 == 1);Off(OUT_B);}
        OnRev(OUT_A);until(SENSOR_2 >= BLACK);until(SENSOR_2 < BLACK);				//¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¿Ê¤á¤ë
        Off(OUT_A);
        step++;										//¼þ²ó¿ô¤ò£±¾å¤²¤ë
        }
       
       OnRev(OUT_A);									//ºÇ¸å¤Ë¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë
       Wait(WAIT_TIME);
       Off(OUT_A);
  }
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