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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#d3859879]
 #define zone1 37
 #define zone2 45
 #define zone3 60
 #define zone4 65
 #define zensin OnFwd(OUT_BC,40) //Á°¿Ê¤·¤Þ¤¹
 #define sasetu OnFwd(OUT_B,40);Off(OUT_C) //º¸ÀÞ¤·¤Þ¤¹
 #define kyuusasetu OnFwd(OUT_B,40);OnRev(OUT_C,35) //º¸Àû²ó¤·¤Þ¤¹
 #define usetu OnFwd(OUT_C,40);Off(OUT_B) //±¦ÀÞ¤·¤Þ¤¹
 #define kyuuusetu OnFwd(OUT_C,40);OnRev(OUT_B,35) //±¦Àû²ó¤·¤Þ¤¹
 #define STEP 1
 #define nMAX 200
 #define short_break Off(OUT_BC);Wait(1000);
 task main ()
 {
    SetSensorLight(S3);
    int nOnline=0;
    long t0 = CurrentTick();
    int n=0;
-¢¬Á°¿Ê¤¹¤ë¤È¤­¤Ïzensin±¦ÀÞ¤Ïusetu¤Ê¤É¤ï¤«¤ê¤ä¤¹¤¯ÄêµÁ¤·¤Þ¤·¤¿¡£
    while (CurrentTick()-t0 <= 6000) {
    while (CurrentTick()-t0 <= 6000) {  //ºÇ½é¤Î£¶Éô֤Ϲõ¤Ê¤é±¦¡¢Çò¤Ê¤éº¸¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
        if (SENSOR_3 < zone1) {
            kyuuusetu;
        } else if (SENSOR_3 < zone2) {
            usetu;
        } else if (SENSOR_3 < zone3) {
            zensin;
        } else if (SENSOR_3 < zone4) {
            sasetu;
        } else {
            kyuusasetu;
        }
       Wait(STEP);
    }
       OnRev(OUT_A,50);Wait(500);Off(OUT_A);¡¡//´Ì¤òÄϤߤޤ¹
-¢¬¤³¤ÎwhileÀá¤Ç¤Ï´Ì¤òÄϤà¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤µ¤»¤Æ¤¤¤Þ¤¹


    while (CurrentTick()-t0 <= 18000) {
        while(nOnline < nMAX && CurrentTick()-t0 <= 18000) {
        while(nOnline < nMAX && CurrentTick()-t0 <= 18000) {¡¡//nOnline¤¬nMAX¤òĶ¤¨¤ë¡¢¤â¤·¤¯¤Ï18Éðʾ夿¤Ã¤¿¤é¤³¤ÎwhileÀá¤ò¤ä¤á¤ë¡£
            if (SENSOR_3 < zone1) {
            kyuuusetu;
            nOnline++;
      } else {
          if (SENSOR_3 < zone2) {
            usetu;
        } else if (SENSOR_3 < zone3) {
            zensin;
        } else if (SENSOR_3 < zone4) {
            sasetu;
        } else {
            kyuusasetu;
          }
        nOnline=0;
        }
       Wait(STEP);
    }
    kyuusasetu;Wait(nMAX*STEP);
    OnFwd(OUT_BC,40);Wait(200);
    nOnline=0;
  }sasetu;Wait(100);
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    while (CurrentTick()-t0 <= 34000) {
        while(nOnline < nMAX && CurrentTick()-t0 <= 34000) {
            if (SENSOR_3 < zone1) {
            kyuusasetu;
            nOnline++;
      } else {
          if (SENSOR_3 < zone2) {
            sasetu;
        } else if (SENSOR_3 < zone3) {
            zensin;
        } else if (SENSOR_3 < zone4) {
            usetu;
        } else {
            kyuuusetu;
          }
        nOnline=0;
        }
       Wait(STEP);
    }
    kyuuusetu;Wait(nMAX*STEP);
    OnFwd(OUT_BC,40);Wait(200);
    nOnline=0;
  }usetu;Wait(200);
-¢¬­¢ÍѤÎwhileÀá¤Ç¤¹¡£­¡¤Ç¤ÏÀâÌÀ¤ò¾Ê¤­¤Þ¤·¤¿¤¬¡¢whileÀá¤Î²¼¤Ë¡Öusetu;Wait(200);¡×¤ÈÆþ¤ì¤ë¤³¤È¤Çº¸±¦ÀÚ¤êÂؤ¨¤Î¼ºÇÔ¤ò·Ú¸º¤·¤Æ¤¤¤Þ¤¹¡£
    while (CurrentTick()-t0 <= 40000) {
        while(nOnline < nMAX && CurrentTick()-t0 <= 40000) {
            if (SENSOR_3 < zone1) {
            kyuuusetu;
            nOnline++;
      } else {
          if (SENSOR_3 < zone2) {
            usetu;
        } else if (SENSOR_3 < zone3) {
            zensin;
        } else if (SENSOR_3 < zone4) {
            sasetu;
        } else {
            kyuusasetu;
          }
        nOnline=0;
        }
       Wait(STEP);
    }
    kyuusasetu;Wait(nMAX*STEP);
    OnFwd(OUT_BC,40);Wait(200);
    nOnline=0;
  }
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    while (n<2) {
        while(nOnline < nMAX && n<2) {
            if (SENSOR_3 < zone1) {
            kyuuusetu;
            nOnline++;
      } else {
          if (SENSOR_3 < zone2) {
            usetu;
        } else if (SENSOR_3 < zone3) {
            zensin;
        } else if (SENSOR_3 < zone4) {
            sasetu;
        } else {
            kyuusasetu;
          }
        nOnline=0;
        }
       Wait(STEP);
    }
    kyuusasetu;Wait(nMAX*STEP);
    OnFwd(OUT_BC,40);Wait(200);
    nOnline=0;n++;
  }
-¢¬ÀÖ°õ¤«¤éÀĤ¤±ß¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ç¡¢¸«¤Æ¤ÎÄ̤ꥫ¥¦¥ó¥¿¤ò»È¤Ã¤ÆÀĤ¤±ß(T»úÏ©)¤ò¥«¥¦¥ó¥È¤µ¤»¤Æ¤¤¤Þ¤¹¡£¥«¥¦¥ó¥È¤¹¤ë¤È´Ì¤òÃÖ¤¯°ÌÃ֤˰ÜÆ°¤¹¤ë¥×¥í¥°¥é¥à¤¬ºîÆ°¤·¤Þ¤¹¡£
    OnRev(OUT_BC,50);Wait(500);
    OnFwd(OUT_C,50);OnRev(OUT_B,50);Wait(300);
    OnFwd(OUT_C,50);OnRev(OUT_B,50);until(SENSOR_3 < 50);
    long t1 = CurrentTick();
-¢¬¤³¤³¤Ï180¡ëÀû²ó¤µ¤»¤ë¤À¤±¤Î¥×¥í¥°¥é¥à¤Ê¤Î¤Ç¡¢¾å¤Î¹Ô¤«¤é¤¶¤Ã¤¯¤ê¤ÈÀâÌÀ¤·¤Þ¤¹¡£¤Á¤ç¤Ã¤È¸å¤í¤Ë²¼¤¬¤ë¢ªÇò¤¤Éôʬ¤Þ¤Ç»þ·×²ó¤ê¤Ë²óž¤µ¤»¤ë(90¡ë¤°¤é¤¤¤Þ¤Ç)¢ªÀÖ³°Àþ¥»¥ó¥µ¡¼¤ò»È¤Ã¤Æ¹õÀþ¤Þ¤Ç¤½¤Î¤Þ¤Þ»þ·×²ó¤ê¤Î²óž(Àµ³Î¤Ë180¡ë²óž¤µ¤»¤ë¤¿¤á)
      while (CurrentTick()-t1 <= 1800) {
        if (SENSOR_3 < zone1) {
            kyuusasetu;
        } else if (SENSOR_3 < zone2) {
            sasetu;
        } else if (SENSOR_3 < zone3) {
            zensin;
        } else if (SENSOR_3 < zone4) {
            usetu;
        } else {
            kyuuusetu;
        }
       Wait(STEP);
    }
-¢¬´Ì¤òÃÖ¤¯¾ì½ê¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹(»þ´Ö¤ò¬¤ê¤Þ¤¯¤Ã¤¿·ë²Ì¡¢¤À¤¤¤¿¤¤1.8ÉÃ)
    usetu;Wait(270);Off(OUT_BC);
    OnFwd(OUT_A,50);Wait(300);Off(OUT_A);
    OnRev(OUT_BC,50);Wait(400);
    OnFwd(OUT_B,50);OnRev(OUT_C,50);Wait(300);
    OnFwd(OUT_B,50);OnRev(OUT_C,50);until(SENSOR_3 < 50);
    long t2 = CurrentTick();
-¢¬¤³¤³¤â´Ì¤ò¤ª¤¤¤¿¸å´Ì¤òÅݤµ¤Ê¤¤¤è¤¦¤Ë180¡ëÀû²ó¤µ¤»¤ë¤À¤±¤Ç¤¹¡£¾å¤Î¹Ô¤«¤é¡¢¾¯¤·¡Öusetu¡×¤µ¤»¤Æ¥í¥Ü¥Ã¥È¤ò¤Þ¤Ã¤¹¤°¤Ë¤µ¤»¤ë¢ª¥¢¡¼¥à¤ò³«¤¤¤Æ´Ì¤òÃÖ¤¯¢ª¾¯¤·¥Ð¥Ã¥¯¢ª¤µ¤Ã¤­¤ÈƱÍͤË180¡ëÀû²ó
        while (CurrentTick()-t2 <= 3900) {
        if (SENSOR_3 < zone1) {
            kyuuusetu;
        } else if (SENSOR_3 < zone2) {
            usetu;
        } else if (SENSOR_3 < zone3) {
            zensin;
        } else if (SENSOR_3 < zone4) {
            sasetu;
        } else {
            kyuusasetu;
        }
       Wait(STEP);
    }
    Off(OUT_BC);
 }
-¢¬ÉáÄ̤˥饤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ½Ð¸ý¤«¤é½Ð¤Æ¤Ã¤Æ¤â¤é¤Ã¤Æ¤Þ¤¹¡£

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