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**¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#m117015b]
#define SPEED 50
#define SPEED_SLOW 30
#define shoot OnRev(OUT_A,10);Wait(500);OnFwd(OUT_BC,SPEED);Wait(1000);//¥·¥å¡¼¥È¤ÎÆ°¤­¤òÄêµÁ¤·¤Þ¤·¤¿¡£

const float diameter=5.45;//¥¿¥¤¥ä¤Îľ·Â¡×
const float track=10.35;//¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý
const float pi=3.1415;//±ß¼þΨ

void fwdDist(float d)
{
    long angle;
    angle=d/(diameter*pi)*360.0;//³ÑÅÙ¤ò·×»»¤¹¤ë
    RotateMotorEx(OUT_BC,SPEED_SLOW,angle,100,true,true);
  }
 void turnAng(long ang)//³ÑÅÙangÅ٤λþ·×¼þ¤ê¤ÎÀû²ó
 {
  long angle;
  angle=track/diameter*ang;
  RotateMotorEx(OUT_BC,SPEED_SLOW,angle,100,true,true);
}
  int searchDirection(long ang)//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·
¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òõ¤¹
{
  long angle,tacho_min=0, tacho_corr;
  int d_min;
  d_min=300;//²¾¤ÎºÇ¾®ÃÍ

  angle = (track/diameter)*ang;//Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
  turnAng(ang/2);¡¡¡¡¡¡//»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤ò·×»»
  ResetTachoCount(OUT_BC);//³ÑÅÙ·×»»¤ò¥ê¥Ã¥»¥È

  OnFwdSync(OUT_BC,SPEED_SLOW,-100);//È¿»þ·×²ó¤ê¤ËÀû²ó
  while(MotorTachoCount(OUT_B)<=angle){
     if(SensorUS(S1)<d_min){
         d_min=SensorUS(S1);¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤι¹¿·
         tacho_min=MotorTachoCount(OUT_B);
     }
  }
  OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE);
  until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S1)<=d_min);
 
 Wait(14);//ÈùÄ´À°
 Off(OUT_BC);Wait(500);
 return d_min;
}

task main()
{
  SetSensorLowspeed(S1);
//´Ì¤òõ¤·¤¿¸å¡¢25­Ñ¼êÁ°¤ÇÄä»ß

  int d = searchDirection(120);
  if (d > 25){
      fwdDist(d-25.0);
   shoot;//¥·¥å¡¼¥È¤ÎÆ°¤­¤¹¤ë
   }
}
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