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 #define black 36
 #define speed 35
 #define A 38
 #define B 65

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 task main()
 {
 SetSensorLight(S1);
 SetSensorLight(S4);
 SetSensorLowspeed(S3);

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 PlaySound(SOUND_CLICK);¡¡¡¡¡¡//²»¤¬ÌĤë

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 Wait(500);
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 Wait(400);
 PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë

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 PlaySound(SOUND_CLICK);¡¡¡¡//Åþ㤹¤ë¤È¥Ô¥Ã¤È²»¤¬ÌĤë

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 OnRev(OUT_C,speed);
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 PlaySound(SOUND_CLICK);¡¡¡¡¡¡//Åþ㤹¤ë¤È¥Ô¥Ã¤È²»¤¬ÌĤë

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 OnFwd(OUT_B,speed);¡¡¡¡//0.18Éú¸Àû²ó
 OnRev(OUT_C,speed);
 Wait(180);
 PlaySound(SOUND_CLICK);  //¥Ô¥Ã¤È²»¤¬ÌĤë

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 OnFwdSync(OUT_BC,speed,0);  //1.1ÉÃÁ°¿Ê
 Wait(1100);
 PlaySound(SOUND_CLICK);  //¥Ô¥Ã¤È²»¤¬ÌĤë

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 Wait(500);
 OnFwdSync(OUT_BC,speed,0);¡¡¡¡//¥í¥Ü¥Ã¥ÈÁ°¿Ê
 until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç
 PlaySound(SOUND_CLICK);¡¡¡¡//Åþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë

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 Wait(500);
 OnFwdSync(OUT_BC,speed,0);  //0.5ÉÃÁ°¿Ê
 Wait(500);
 PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë

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 Wait(500);
 OnFwdSync(OUT_BC,speed,0);¡¡//¥í¥Ü¥Ã¥ÈÁ°¿Ê
 until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç
 PlaySound(SOUND_CLICK);¡¡ //Åþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
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 Off(OUT_BC);           //²»¤¬ÌĤ俸å0.5ÉÃÄä»ß
 Wait(500);    
 OnFwdSync(OUT_BC,speed,0); //0.6ÉÃÁ°¿Ê
 Wait(600);
 PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë
 Off(OUT_BC);              //0.5ÉÃÄä»ß
 Wait(500);

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 OnFwd(OUT_B,speed);        //º¸Àû²ó
 OnRev(OUT_C,speed);
 until(SENSOR_1 < black);¡¡//¹õÀþ¾å¤ËÍè¤ë¤Þ¤Ç
 PlaySound(SOUND_CLICK);¡¡//¹õÀþ¾å¤ËÅþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
 Off(OUT_BC);             //0.5ÉÃÄä»ß
 Wait(500);

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 OnRevSync(OUT_BC,speed,0);  //2Éøå¿Ê
 Wait(2000);

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 OnFwdSync(OUT_BC,speed,0);  //¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬12¥»¥ó¥Á°Ê²¼¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê
 until(SensorUS(S3) <= 12);

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 Off(OUT_BC);  //0.1ÉÃÄä»ß
 Wait(100);
 RemoteStartProgram(1,"z_slave.rxe"); //»Òµ¡¤ÈÄÌ¿®

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 while(msg != 11){           //»Òµ¡¤«¤é11¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤Ã¤¿¤é
 ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡//¿Æµ¡Æâ¤ÎMAILBOX1¤ò¶õ¤Ë¤¹¤ë¡Êtrue)
 }
 PlaySound(SOUND_CLICK);        //¥Ô¥Ã¤È²»¤¬ÌĤë

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 if(SENSOR_4 < A){       //¥³¥Ã¥×¤¬¹õ¤À¤Ã¤¿»þ¡¡
 OnFwdSync(OUT_BC,speed,0);¡¡ //¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¡¡
 until(SensorUS(S3) <= 18);
 Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
 Wait(100);
 RemoteStartProgram(1,"z_slave-2.rxe");¡¡¡¡//»Òµ¡¤ÈÄÌ¿®

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 while(msg != 12){               //12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò»Òµ¡¤«¤é¼õ¤±¼è¤Ã¤¿¤é
 ReceiveRemoteNumber(MAILBOX1,true,msg);  //MAILBOX1¤ò¶õ¤Ë¤¹¤ë¡¡
 }
 PlaySound(SOUND_CLICK);¡¡¡¡¡¡//¥Ô¥Ã¤È¤¤¤¦²»¤¬ÌĤë

 }else if(SENSOR_4 < B){        //¥³¥Ã¥×¤¬Ã㿧¤Î»þ
 OnFwdSync(OUT_BC,speed,0);¡¡¡¡//2ÉÃÁ°¿Ê¡¡
 Wait(2000);
 PlaySound(SOUND_CLICK);¡¡¡¡  //¥Ô¥Ã¤È²»¤¬ÌĤë
 Off(OUT_BC);                 //0.5ÉÃÄä»ß
 Wait(500);
 OnFwd(OUT_B,speed);¡¡¡¡¡¡¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤Çº¸Àû²ó
 OnRev(OUT_C,speed);
 until(SensorUS(S3) < 18);
 PlaySound(SOUND_CLICK);¡¡¡¡//µ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤ롡
 Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
 Wait(100);
 RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿®¡¢¥³¥Ã¥×¤ò½Å¤Í¤ë 

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 while(msg != 12){              //»Òµ¡¤«¤é12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤Ã¤¿¤é
 ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡//MAILBOX1¤ò¶õ¤Ë¤¹¤ë
 }
 PlaySound(SOUND_CLICK);¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë

 }else{                     //¤½¤ì°Ê³°¡Ê¥³¥Ã¥×¤¬Çò¡Ë¤Î¤È¤­
 OnFwdSync(OUT_BC,speed,0);¡¡//6ÉÃÁ°¿Ê
 Wait(6000);
 OnFwd(OUT_B,speed);¡¡¡¡¡¡¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬30¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÀû²ó
 OnRev(OUT_C,speed);
 until(SensorUS(S3) < 30);
 PlaySound(SOUND_CLICK);¡¡¡¡//30¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
 Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
 Wait(100);
 OnFwdSync(OUT_BC,speed,0);¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¡¡
 until(SensorUS(S3) <= 18);¡¡//18¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
 Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
 Wait(100);
 RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿®
 Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
 Wait(100);
 RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿®
 while(msg != 12){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 ReceiveRemoteNumber(MAILBOX1,true,msg);
 }
 PlaySound(SOUND_CLICK);
 }
 }

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 task main()
 { 
 PlaySound(SOUND_CLICK);            //¥Ô¥Ã¤È²»¤¬ÌĤë
 OnFwd(OUT_A,70);                  //2.8ÉÃ¥¢¡¼¥à¤ò²¼¤²¤ë
 Wait(2800);
 Off(OUT_A);¡¡
 OnRev(OUT_C,20);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.8Éäǥ³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî
 Wait(800);
 Off(OUT_C);
 OnRev(OUT_A,60);¡¡¡¡¡¡¡¡¡¡//2.8ÉÃ¥¢¡¼¥à¤ò¾å¤²¤ë
 Wait(2800);
 Off(OUT_A);
 SendResponseNumber(MAILBOX1,11);¡¡//¿Æµ¡¤Ë11¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë
 Wait(1000);
 PlaySound(SOUND_CLICK);¡¡¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë
 }

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 task main()
 {
 PlaySound(SOUND_CLICK);     //¥Ô¥Ã¤È²»¤¬ÌĤë
 OnFwd(OUT_A,60);¡¡¡¡¡¡¡¡¡¡¡¡//0.9ÉÃ¥¢¡¼¥à¤ò²¼¤²¤ë
 Wait(900);
 Off(OUT_A);¡¡
 OnFwd(OUT_C,20);¡¡¡¡¡¡¡¡¡¡//0.7Éäǥ³¥Ã¥×¤ò¥¢¡¼¥à¤«¤éÎ¥¤¹
 Wait(700);
 Off(OUT_C);
 OnRev(OUT_A,80);¡¡¡¡¡¡¡¡//1.8ÉÃ¥¢¡¼¥à¤ò¾å¤²¤ë
 Wait(1800);
 Off(OUT_A);
 SendResponseNumber(MAILBOX1,12);¡¡//¿Æµ¡¤Ë12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë
 Wait(1000);
 PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë
 }

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