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#contents
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*¥×¥í¥°¥é¥à [#he7711b4]
 #define kaiten OnFwd(OUT_B,30);OnFwd(OUT_C,-30);
 #define shoot OnFwd(OUT_BC,-40);Wait(100);OnFwd(OUT_A,-10);Wait(1500);Off(OUT_BC);OnFwd(OUT_BC,70);Wait(100);

 task main()
 {
    SetSensor(S1);
    int d_min = 100;
      while(true){
      long t = CurrentTick();
      while(CurrentTick()-t=7000){
      kaiten;
    if(SetSensor(S1)<d_min){
      d_min=SetSensor(S1);
    }
    }
    Off(OUT_BC);
    kaiten;
    if(SetSensor(S1)==d_min);
    Off(OUT_BC);
    OnFwd(OUT_BC,30);
    until(SetSensor(S1)==25);
    shoot;
    }
 }
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