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*¥×¥í¥°¥é¥ß¥ó¥° [#fcb3ac5e]
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 #define BLACK 42	//°Ê²¼¤Ï¹õ
 #define WHITE 50	//°Ê¾å¤ÏÇò
 #define go_forward OnFwd(OUT_AC);	//Á°¤Ø
 #define go_back OnRev(OUT_AC);		//¸å¤í¤Ø
 #define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó
 #define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
 #define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
 #define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
 #define CROSS_TIME 20  // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
 #define cross_line go_forward;Wait(CROSS_TIME);short_break;	//¸òº¹ÅÀ¤òÅϤë
 #define FIX_TIME 15
 #define nMAX 8
 #define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
 #define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
 #define shoot go_back;Wait(50);go_forward;Wait(30);clip_off;	//¥·¥å¡¼¥È



 task main()
 {
  SetSensor(SENSOR_2, SENSOR_LIGHT);
  int nOnline=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
  if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
  while (nOnline <nMAX) {
   if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
   turn_left;                // º¸¤Ø
   nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
  } else {
   if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
   go_forward;               // ľ¿Ê
  } else { 		//Àþ¤«¤é³°¤ì¤ë
   turn_right;	//±¦¤Ø
  }
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }			
  Wait(STEP);
 }
 short_break;		//¾®µÙ·Æ
 turn_right;Wait(FIX_TIME);	//Êý¸þ±¦½¤Àµ
 clip_on;		//Êáµå
 cross_line;		//¸òº¹ÅÀ¤òÅϤë
 nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
 }
   if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    while (nOnline <nMAX) {
      if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
      turn_left;                // º¸¤Ø
      nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
      if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
      go_forward;               // ľ¿Ê
     } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
       turn_right;	//±¦¤Ø
     }
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
    }			
    Wait(STEP);
   }
   short_break;		//¾®µÙ·Æ
   turn_right;Wait(FIX_TIME);	//Êý¸þ½¤Àµ
   cross_line;		//¸òº¹ÅÀ¤òÅϤë
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
    if (true) {	//¹õ¤ò³¤±¤ÆnMAX²ó·«¤êÊÖ¤µ¤Ê¤¤´Ö¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
    while (nOnline <nMAX) {
        if (SENSOR_2 < BLACK){  // Àþ¾å¤Ê¤é
        turn_left;                // º¸¤Ø
        nOnline++;		//¥«¥¦¥ó¥¿Áý¤ä¤¹
     } else {
      if (SENSOR_2 < WHITE){                    // ¶­³¦ÉÕ¶á¤Ê¤é
      go_forward;               // ľ¿Ê
     } else { 		//Àþ¤«¤é³°¤ì¤ì¤Ð
       turn_right;	//±¦¤Ø
     }
     nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
    }			
    Wait(STEP);
   }
   short_break;		//¾®µÙ·Æ
   go_forward;Wait(100);	//¥´¡¼¥ëÁ°¤Ø
   turn_right;Wait(80);	//¸åÂà¡õÁ°¿Ê
   shoot;		//¥·¥å¡¼¥È
 ¡¡Off(OUT_AC);	//Ää»ß
   nOnline=0;		//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
  }
 }
**ÄêµÁ¤·¤¿´Ø¿ô [#lafaca61]
 ­¡#define BLACK 42	//°Ê²¼¤Ï¹õ
 ­¢#define WHITE 50	//°Ê¾å¤ÏÇò
 ­£#define go_forward OnFwd(OUT_AC);	//Á°¤Ø
 ­¤#define go_back OnRev(OUT_AC);		//¸å¤í¤Ø
 ­¥#define turn_right OnRev(OUT_C); OnFwd(OUT_A);		//±¦Àû²ó
 ­¦#define turn_left OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
 ­§#define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
 ­¨#define short_break Off(OUT_AC); Wait(200); // ¾®µÙ»ß
 ­©#define CROSS_TIME 20  // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
 ­ª#define cross_line go_forward;Wait(CROSS_TIME);short_break;	//¸òº¹ÅÀ¤òÅϤë
 ­§#define STEP 1    // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
 ­¨#define short_break Off(OUT_AC); Wait(200);     // ¾®µÙ»ß
 ­©#define CROSS_TIME 20    // ¸òº¹ÅÀÄ̲á¤Ë¤«¤«¤ë»þ´Ö
 ­ª#define cross_line go_forward;Wait(CROSS_TIME);short_break;	  //¸òº¹ÅÀ¤òÅϤë
 ­«#define FIX_TIME 15
 ­¬#define nMAX 8
 ­­#define clip_on OnFwd(OUT_B);Wait(10);Off(OUT_B);
 ­®#define clip_off OnRev(OUT_B);Wait(10);Off(OUT_B);
 ­¯#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off;	//¥·¥å¡¼¥È
 ­¯#define shoot go_back;Wait(50);go_forward;Wait(30);clip_off; 	//¥·¥å¡¼¥È
***ÀâÌÀ [#bdfb1a9d]
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