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#contents
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  #define THRESHOLD 47   /*¤·¤­¤¤ÃͤÎÀßÄê*/
  #define LOWPOWER 3     /*¥Ñ¥ï¡¼¤ÎÃÍ*/
  #define set_power_l SetPower(OUT_AC,LOWPOWER); /*¥Ñ¥ï¡¼¤ÎÀßÄê*/
  #define straight set_power_l; OnFwd(OUT_AC); /*Á°¿Ê*/  
  #define back set_power_l; OnRev(OUT_AC); Wait(60); /*¸åÂà*/
  #define LEFT set_power_l; OnFwd(OUT_C); Off(OUT_A); /*º¸¤Ë¶Ê¤¬¤ë*/
  #define RIGHT set_power_l; OnFwd(OUT_A); Off(OUT_C); /*±¦¤Ë¶Ê¤¬¤ë*/ 
  #define LEFT_L set_power_l; OnFwd(OUT_C); OnRev(OUT_A); /*º¸¤ËÀû²ó*/
  #define RIGHT_L set_power_l; OnFwd(OUT_A); OnRev(OUT_C);/*±¦¤ËÀû²ó*/
  #define STOP1 Off(OUT_AC); Wait(200); /*2ÉôÖÄä»ß*/
  #define STOP2 Off(OUT_AC); Wait(20); /*0.2ÉôÖÄä»ß*/
  #define STEP 1 /*ȽÃǤËÍפ¹¤ë»þ´Ö*/
  #define arm_on OnRev(OUT_B); Wait(11); Off(OUT_B); /*¥¢¡¼¥à¤ò³«¤¯*/
  #define arm_close OnFwd(OUT_B); Wait(8); Off(OUT_B); /*¥¢¡¼¥à¤òÊĤ¸¤ë*/
  #define music PlayTone(523,25);  /*¥É¤Î²»¤ò½Ð¤¹*/
  #define MOVE_TIME 30 /*¤³¤Î´Ö¤ËÆ°¤¯*/
  #define judge_time 33 /*¸òº¹ÅÀ¤Þ¤¿¤Ï»°ºµÏ©¤Ç¤¢¤ë¤«È½ÃǤ¹¤ëºÝ¤ÎÃÍ*/
***¥µ¥Ö¥ë¡¼¥Á¥ó [#u98024da]
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  sub line1()
  {  
     if(SENSOR_1 <= THRESHOLD-10) {
             LEFT;                    /*¸÷¥»¥ó¥µ¡¼¤¬£³£·°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïº¸¤Ë¶Ê¤¬¤ë*/
     }else{
             if (SENSOR_1 <= THRESHOLD-12) {
                     straight;
             }else{ 
                     RIGHT; ¡¡
             } ClearTimer(0); 
     }¡¡/*¸÷¥»¥ó¥µ¡¼¤¬£³£µ°Ê²¼¤ÎÃͤò¼¨¤·¤¿»þ¤Ïľ¿Ê¡¢£³£·¤è¤ê¾å¤ÎÃͤò¼¨¤·¤¿»þ¤Ï¡¢±¦¤Ë¶Ê¤¬¤ê¡¢¤½¤Î¤É¤Á¤é¤Î¾ì¹ç¤Ç¤â¡¢¥¿¥¤¥Þ¡¼¤Ï¥ê¥»¥Ã¥È¤¹¤ë¡£
  sub line1(){  
          if(SENSOR_1 <= THRESHOLD-10) {
                  LEFT;                    /*¸÷¥»¥ó¥µ¡¼¤¬£³£·°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïº¸¤Ë¶Ê¤¬¤ë*/
          }else{
                  if (SENSOR_1 <= THRESHOLD-12) {
                          straight;
                  }else{ 
                          RIGHT; ¡¡
                  } ClearTimer(0); 
          }¡¡/*¸÷¥»¥ó¥µ¡¼¤¬£³£µ°Ê²¼¤ÎÃͤò¼¨¤·¤¿»þ¤Ïľ¿Ê¡¢£³£·¤è¤ê¾å¤ÎÃͤò¼¨¤·¤¿»þ¤Ï¡¢±¦¤Ë¶Ê¤¬¤ê¡¢¤½¤Î¤É¤Á¤é¤Î¾ì¹ç¤Ç¤â¡¢¥¿¥¤¥Þ¡¼¤Ï¥ê¥»¥Ã¥È¤¹¤ë¡£
  }

µÞ¥«¡¼¥Ö¤Ë»ÈÍѤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹

  sub line2()
  {
    if(SENSOR_1 <= THRESHOLD-10) {
            LEFT_L;                  /*¸÷¥»¥ó¥µ¡¼¤¬£³£·°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïº¸Àû²ó¤ò¤¹¤ë¡£*/
            }else{
                    if (SENSOR_1 <=THRESHOLD-12) {
                            straight;}       /*¸÷¥»¥ó¥µ¡¼¤¬£³£µ°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïľ¿Ê¤¹¤ë¡£*/
                    }else if (SENSOR_1<= THRESHOLD-3){
                            RIGHT_L;}        /*¸÷¥»¥ó¥µ¡¼¤¬£´£´°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ï±¦Àû²ó¤¹¤ë¡£*/
                    }else{
                            RIGHT; }      /*¾åµ­°Ê³°¤Î¾õ¶·¤Î¾ì¹ç¡¢±¦¤Ë¶Ê¤¬¤ë¡£*/
            } 
  sub line2(){
          if(SENSOR_1 <= THRESHOLD-10) {
                  LEFT_L;                  /*¸÷¥»¥ó¥µ¡¼¤¬£³£·°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïº¸Àû²ó¤ò¤¹¤ë¡£*/
          }else{
                  if (SENSOR_1 <=THRESHOLD-12) {
                          straight;}       /*¸÷¥»¥ó¥µ¡¼¤¬£³£µ°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ïľ¿Ê¤¹¤ë¡£*/
                  }else if (SENSOR_1<= THRESHOLD-3){
                          RIGHT_L;}        /*¸÷¥»¥ó¥µ¡¼¤¬£´£´°Ê²¼¤Î¿ôÃͤò¸¡ÃΤ·¤¿»þ¤Ï±¦Àû²ó¤¹¤ë¡£*/
                  }else{
                          RIGHT; }      /*¾åµ­°Ê³°¤Î¾õ¶·¤Î¾ì¹ç¡¢±¦¤Ë¶Ê¤¬¤ë¡£*/
          } 
  }
»°ºµÏ©¡¢¸òº¹ÅÀ¤òÄ̲᤹¤ë»þ
  sub cross()
  { 
      STOP1;     /* ÆóÉôÖÄä»ß¤¹¤ë*/
      RIGHT_L; Wait(30);¡¡/*¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÄ´À°¤¹¤ë¤¿¤á¤Ë±¦¤ËÀû²ó¤¹¤ë¡£*/
      music;   /*¸òº¹ÅÀ¡¢»°ºµÏ©¤Ë¤Ä¤¤¤¿¤³¤È¤ò¼¨¤¹¤¿¤á¤ËÌĤ餹¡£*/
      straight; Wait(MOVE_TIME); /* ¸òº¹ÅÀ¡¢»°ºµÏ©¤ò²£ÃǤ¹¤ë¡£*/
  }

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**¥á¥¤¥ó¥¿¥¹¥¯ [#oe0770ce]
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  task main()
  {
    SetSensor(SENSOR_1, SENSOR_LIGHT);
    ClearTimer(0);
    while( FastTimer(0) <= judge_time) {
            line1(); Wait(STEP);   /*¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£*/
    }cross();                      
    ClearTimer(0);  
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    while( FastTimer(0) <= judge_time) {
           line1(); Wait(STEP);   
    }STOP2; arm_close;              /*¥Ü¡¼¥ë¤Î¤¢¤ë¤È¤³¤í¤Ç¡¢È½ÃǤ·¤Æ»ß¤Þ¤ê¥Ü¡¼¥ë¤òÄϤà*/
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    while( FastTimer(0) <= judge_time) {
            line1();  Wait(STEP);   /*µÞ¥«¡¼¥Ö¤Ëº¹¤·³Ý¤«¤ë¤Þ¤Ç¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£*/
    }ClearTimer(0); /*¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£*/
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    while( Timer(0) <= 200) {
            line2(); Wait(STEP); /*¥¿¥¤¥Þ¡¼¤Ç£²£°£°¤ÎÃͤޤǵޥ«¡¼¥ÖÍѤΥ饤¥ó¥È¥ì¡¼¥¹¤ÇµÞ¥«¡¼¥Ö¤òÁö¤êÀڤ롣*/
    }ClearTimer(0); /*¥¿¥¤¥Þ¡¼£°¤ò¥ê¥»¥Ã¥È¤¹¤ë*/
    while( FastTimer(0) <= judge_time){
            line1(); 
    }cross();       /*¸òº¹ÅÀ¤Î°ÌÃÖ¤Þ¤ÇÄ̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤Ã¤¿¤éÅϤ롣*/
    ClearTimer(1); ClearTimer(0); /*¥¿¥¤¥Þ¡¼£°¤È¥¿¥¤¥Þ¡¼£±¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£*/
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    while( Timer(1) <= 180){
           line2(); Wait(STEP); /*ľ³Ñ¥«¡¼¥Ö¤ÎÉôʬ¤òÅϤ뤿¤á¤Ë¥¿¥¤¥Þ¡¼£±¤Î£±£¸£°¤ÎÃͤˤʤë¤Þ¤Ç¤ËµÞ¥«¡¼¥ÖÍѤΥ饤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£*/
    }
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    while(FastTimer(0) <= judge_time){
            line1(); Wait(STEP);        /*¥·¥å¡¼¥È¤¹¤ëBÃÏÅÀ¤ÎÁ°¤Ç»ß¤Þ¤ë¤¿¤á¤Ë¡¢Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£*/
    }STOP2;     /*BÃÏÅÀ¤ËÍ褿¤éÄä»ß¤¹¤ë¡£*/
    arm_on; music;back; straight; Wait(80); STOP2;/*¥·¥å¡¼¥È¤ÎÆ°ºî*/
  }
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