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**¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ [#c6430f7d]
 #define shiki 48//ïçÃÍ
 #define tomaru(t) Off(OUT_AC);Wait(t);//£ôÉôÖÄä»ß
 #define FWD OnFwd(OUT_AC);//ľ¿Ê
 #define BACK OnRev(OUT_AC);//¸åÂà
 #define LEFT_t OnRev(OUT_A); OnFwd(OUT_C);//º¸Àû²ó
 #define LEFT Off(OUT_A); OnFwd(OUT_C);//º¸²óž
 #define RIGHT_t OnRev(OUT_C); OnFwd(OUT_A); //±¦Àû²ó
 #define RIGHT Off(OUT_C); OnFwd(OUT_A);//±¦²óž
 #define power(s) SetPower(OUT_A+OUT_C,s);//½ÐÎÏÀ©¸æ

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 #define open(t) OnFwd(OUT_B);Wait(t);//ÄÞ¤ò£ôÉôֳ«¤¯²óžưºî¤ò¹Ô¤¦
 #define close(t) OnRev(OUT_B);Wait(t);Off(OUT_B);//ÄÞ¤ò£ôÉôÖÊĤ¸¤ë²óžưºî¤ò¹Ô¤¦
 #define stop_B Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë
 #define SUN 50//¥é¥ó¥¿¥ó¤Îµ±ÅÙ¤òɽ¤¹Äê¿ô
 #define shoot power(2);open(15);Wait(10);close(15);//µå¤ò¤±¤ê¤À¤¹Æ°ºî

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**trace_0 ¡Ê¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤éÀÖ¤¤µå¤ò¸«¤Ä¤±¤ëËø¡Ë [#c27a6586]
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 sub trace_0()
 {
	power(2);//½ÐÎϤò£²¤Ë¤¹¤ë
	ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È¤¹¤ë
       /*¥é¥¤¥ó¥È¥ì¡¼¥¹*/
	while(1){
		if (SENSOR_2 < shiki -7){
			LEFT_t;
		} else if (SENSOR_2 < shiki -4){
			LEFT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			RIGHT;
		} else {
			RIGHT_t;
		} 
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		if(SENSOR_1 > 335){//²óž¥»¥ó¥µ¤¬335¤ò±Û¤¨¤¿¤é
			power(3);
			close(50);//0.5ÉäÀ¤±ÄÞ¤òÊĤ¸¤ë
			ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È
			break;//trace_0½ªÎ»
		}
	}
 }
¤³¤ì¤¬trace_0Æȼ«¤Î¥×¥í¥°¥é¥à¤È¤Ê¤ëÉôʬ¤Ç¤¢¤ë¡£²óž¥»¥ó¥µ¤Ë¤è¤ê°ìÄê¤Î²óž¤¬¹Ô¤ï¤ì¤¿¤ÈȽÃǤµ¤ì¤¿¤éµå¤ò¤Ä¤«¤àÆ°ºî¤ò¨ºÂ¤Ë¹Ô¤¦¡£Äޤβóž¿ô¤Ï¿¤á¤ËÀßÄꤷ¤Æ¤¢¤ê¡¢¥â¡¼¥¿¤È¥®¥¢¤ËÉé²Ù¤ò¤«¤±¤Æ¤·¤Þ¤¦¤â¤Î¤Î¡¢³Î¼Â¤Ë¤Ä¤«¤ßÎ¥¤µ¤Ê¤¤¤³¤È¤¬¤µ¤»¤¿¡£

**trace_1(ÀÖµå¤òÊü¤¹Ëø) [#a64fdbb7]
 sub trace_1()
 {
	ClearSensor(SENSOR_1);
	close(10);//0.1Éõå¤òÄù¤á¤ë
	Off(OUT_B);//ÄÞ¤ò¸ÇÄꤹ¤ë
	power(2);
 ¡¡¡¡¡¡¡¡/*¥é¥¤¥ó¥È¥ì¡¼¥¹*/
	while(1){
		if (SENSOR_2 < shiki -7){
			LEFT_t;
		} else if (SENSOR_2 < shiki -4){
			LEFT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			RIGHT;
		} else {
			RIGHT_t;
		} 
		if(SENSOR_1 > 62){//²óž¥»¥ó¥µ¤¬62°Ê¾å¤Î»þºîÆ°
		tomaru(10);//Ää»ß¤µ¤»¤ë
		break;//¥È¥ì¡¼¥¹½ªÎ»
		}
	}
 }
trace_0¤È¤Î°ã¤¤¤Ï¡¢SENSOR_1¤Î¾å¸Â¤È¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ëÁ°¤ËÇ°¤Î¤¿¤á¤â¤¦°ìÅÙÄÞ¤òÄù¤á¤Ê¤ª¤¹¤³¤È¤¯¤é¤¤¤Ç¤¢¤ë¡£¤½¤Î¾¤Ïtrace_0¤ÈƱ¤¸¤Ç¤¢¤ë¡£

**trace_2(Àĵå¤òÄϤàËø) [#ldba1061]
 sub trace_2()
 {
	power(1);
	ClearSensor(SENSOR_1);
	while(1){
		if (SENSOR_2 < shiki -7){
			RIGHT_t;
		} else if (SENSOR_2 < shiki -4){
			RIGHT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			LEFT;
		} else {
			LEFT_t;
		} 
		if(SENSOR_1 > 44){
			power(3);
			close(50);
			ClearSensor(SENSOR_1);
			break;
		}
	}
 }
trace_2¤ÏÁ°½Ò¤ÎÆó¤Ä¤ÈÂçÂÎƱ¤¸¤Ç¤¢¤ë¡£²óž¥»¥ó¥µ¤Î¾å¸Â¤¬62¤Ç¤¢¤ë¤³¤È¤È¥é¥¤¥ó¥È¥ì¡¼¥¹¤òÀþ¤Î±¦Ã¼¤Ç¹Ô¤¦¤³¤È¤¬¡¢Á°Æó¤Ä¤È¤Î°ã¤¤¤Ç¤Ê¤ë¡£

**trace_3(Àĵå¤òÊü¤¹Ëø) [#r0c70456]
 sub trace_3()
 {
	power(2);
	ClearSensor(SENSOR_1);
	while(1){
		close(1);//¾¯¤·¤À¤±ÄÞ¤òÄù¤á¤ë
		Off(OUT_B);
		if (SENSOR_2 < shiki -7){
			RIGHT_t;
		} else if (SENSOR_2 < shiki -4){
			RIGHT;
		} else if (SENSOR_2 < shiki){
			FWD;
		} else if(SENSOR_2 < shiki +4){
			LEFT;
		} else {
			LEFT_t;
		} 
		if(SENSOR_1 > 110){
			power(3);
			close(50);
			ClearSensor(SENSOR_1);
			break;
		}
	}
 }
trace_3¤¬Â¾¤Î3¤Ä¤È°Û¤Ê¤ëÅÀ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¤¿¤Ó¤ËÄÞ¤òÄù¤á¤ë¤È¤³¤í¤Ë¤¢¤ë¡£º£²ótrace_3¤ÇÁö¹Ô¤¹¤ë¶è´Ö¤Ïľ³Ñ¤¬Æó¤Ä¸ºß¤¹¤ë¡£¤·¤¿¤¬¤Ã¤ÆÉáÄ̤˥饤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¤ÈÄޤǶ´¤ó¤À¤Ï¤º¤Îµå¤¬Æ¨¤²¤Æ¤·¤Þ¤¦¤Î¤Ç¤¢¤ë¡£¤è¤Ã¤Æ¡¢ËèÅÙÄù¤áÉÕ¤±¤ë¤³¤È¤Çµå¤¬Æ¨¤²¤ë¤Î¤òËɤ¤¤À¡£

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 sub LIGHT()
 {		
	PlaySound(SOUND_UP);//Æ°ºî³ÎǧÍÑ
	int sun_MAX = 0;//ÌÀ¤ë¤µ¤ÎºÇÂçÃÍ
	int sensor_MAX = 0;//ÌÀ¤ë¤µ¤ÎºÇÂçÃͤò¼¨¤·¤¿¤È¤­¤Î²óž¥»¥ó¥µ¤ÎÃÍ
	close(20);//µå¤¬Æ¨¤²¤Ê¤¤¤è¤¦¤Ë¡¢ºÆÅÙÄÞ¤òÄù¤áÉÕ¤±¤ë
	ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤Î¥ê¥»¥Ã¥È
	power(1);//½ÐÎÏ£±
	while(SENSOR_1 < 85){//SENSOR_1¤¬85¤ÇÂçÂÎ1²óž¤È¤Ê¤ë
		RIGHT_t;//±¦Àû²ó
		if(SENSOR_3 > sun_MAX){//ÌÀ¤ë¤µ¤ÎºÇÂçÃͤÎÊѹ¹¼ê³¤­
			sun_MAX = SENSOR_3;//¸½ºßÃϤòºÇÂçÃͤȤ·¤Æµ­²±
			sensor_MAX = SENSOR_1//¸½ºßÃϤγÑÅÙ¤òµ­²±
		}
	}
	tomaru(10);//°ì²óž½ªÎ»¸å¡¢°ì»þÄä»ß
	LEFT_t;//º¸Àû²ó
	until(SENSOR_1 < sensor_MAX);//³ÑÅÙ¤¬¾å¤Çµ­²±¤·¤¿Ãͤˤʤë¤Þ¤Ç
	tomaru(10);//Ää»ß
 }


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#ref(2015b/Member/S_Toya/Mission3/LIGHT.gif)


**main´Ø¿ô [#g2dac7f7]
¤¤¤è¤¤¤èmain´Ø¿ô¤ÎÀâÌÀ¤ËÆþ¤ë¡£
 task main()
 {
	/*²óž¥»¥ó¥µ*/
	SetSensor(SENSOR_1,SENSOR_ROTATION);
	/*¥È¥ì¡¼¥¹ÍÑ¥»¥ó¥µ*/
	SetSensor(SENSOR_2,SENSOR_LIGHT);
	/*õº÷ÍÑ¥»¥ó¥µ*/
	SetSensor(SENSOR_3,SENSOR_LIGHT);
        /*¹ÔÆ°³«»Ï*/
	FWD;Wait(150);//¥¹¥¿¡¼¥È¤ÎÏȤ«¤é¤Îæ½Ð
	trace_0();//Àֶ̤ظþ¤«¤¦¥È¥ì¡¼¥¹
	tomaru(50);//°ì»þÄä»ß
	trace_1();//Àֶ̤ò¥Û¡¼¥ë¥É¤·¤¿¾õÂÖ
	LIGHT();//¥é¥ó¥¿¥ó¤Îõº÷
	shoot;//µå¤òÊü¤¹
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	tomaru(20);//0.2ÉÃÄä»ß
	ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¥ê¥»¥Ã¥È
	RIGHT_t;//±¦Àû²ó
	until(SENSOR_1 > 28);//²óž¥»¥ó¥µ¤¬28°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç²óž¤ò¤¹¤ë¡£
	tomaru(10);//0.1ÉÃÄä»ß

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»²¹Í²èÁü(ºÆ·Ç)
#ref(2015b/Member/S_Toya/Mission3/MAP_A.jpg)


	ClearSensor(SENSOR_1);//²óž¥»¥ó¥µ¤ò¥ê¥»¥Ã¥È
	FWD;//ľ¿Ê
	until(SENSOR_1 > 26);//²óž¿ô¤¬26°Ê¾å¤Ë¤Ê¤ë¤Þ¤Ç
	Off(OUT_B);//ÄÞ¤ò¤Õ¤é¤Ä¤«¤»¤Ê¤¤
	FWD;//ľ¿Ê¤µ¤»¤ë
	until(SENSOR_2 < 48);//¹õ¤¤Àþ¤Ë¤Ö¤Ä¤«¤ë¤Þ¤Ç
	open(7);//ÄÞ¤ò³«¤¯
	Off(OUT_B);//ÄÞ¤ò»ß¤á¤ë
	trace_2();//¥é¥¤¥ó¥È¥ì¡¼¥¹
Àè¤Û¤É±¦²¼Êý¤ò¸þ¤«¤»¤¿¡£¤·¤«¤·¤Ê¤¬¤é¡¢ÀĤ¤µå¤¬ÃÖ¤¤¤Æ¤¢¤ë¾ì½ê¤òÄ̤餺¤Ë±ß¾õ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤Ë¤Ï¡¢º£¤¤¤ë¾ì½ê¤«¤é¶¯À©Åª¤Ëæ½Ð¤µ¤»±ß¾õ¤Ë¾è¤»¤ëɬÍפ¬¤¢¤ë¡£

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¼¡¤Ë¡¢¹õÀþ¤òƧ¤à¤Þ¤Ç¶¯À©Åª¤Ëľ¿Ê¤µ¤»¤ë¡£

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	tomaru(10);//0.1ÉÃÄä»ß
	FWD;Wait(100);//1ÉÃÁ°¿Ê¡£
	trace_3();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	tomaru(10);//0.1ÉÃÄä»ß
	LIGHT();//´Ì¤òõº÷
	shoot;//¶Ì¤òÊü¤¹
	trace_1();//¥é¥¤¥ó¥È¥ì¡¼¥¹
 }
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*¥í¥Ü¥Ã¥ÈB [#sc73631e]
¥í¥Ü¥Ã¥ÈB¤â¥í¥Ü¥Ã¥ÈA¤ÈƱÍͤËÀè¤ËÄê¿ôÅù¤ò½Ò¤Ù¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¤òÀâÌÀ¤·¡¢ºÇ¸å¤Ëmain´Ø¿ô¤ÎÀâÌÀ¤ò¤¹¤ë¡£

**¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ [#f0a95638]

 #define CHECKCROSSTIME 25//¸òº¹ÅÀ¤«Èݤ«¤ò¸«Äê¤á¤ë»þ´Ö
 #define fwd(OUT) Off(OUT);OnFwd(OUT)//¥â¡¼¥¿¤ÎÀµ²óž
 #define rev(OUT) Off(OUT);OnRev(OUT)//¥â¡¼¥¿¤ÎÉé²óž
 #define TURNLEFT fwd(OUT_AC)//º¸Àû²ó
 #define LEFT Off(OUT_C);fwd(OUT_A)//º¸²óž
 #define TURNRIGHT rev(OUT_AC)//±¦Àû²ó
 #define RIGHT Off(OUT_A);rev(OUT_C)//±¦²óž
 #define STRAIGHT rev(OUT_C);fwd(OUT_A)//ľ¿Ê
 #define BACK fwd(OUT_C);rev(OUT_A)//¸åÂà
 #define ISNOTCROSS FastTimer(0) <= CHECKCROSSTIME || FastTimer(1) <= startime//¸òº¹ÅÀ¤«Èݤ«¤Î¾ò·ïʸ

¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î»þ¤ËÍѤ¤¤é¤ì¤ëÄê¿ô

**¥í¥Ü¥³¥óÆȼ«¤Îµ¡¹½ [#e5ebe7a1]

 #define RELEASE rev(OUT_B);//¥³¥ó¥Ù¥¢¤ÎµÕ²óž
 #define LOADING fwd(OUT_B);//¥³¥ó¥Ù¥¢¤Î½ç²óž

¥³¥ó¥Ù¥¢¤ò½ç²óž¤µ¤»¤ë¤³¤È¤Ë¤è¤êµå¤ò²ó¼ý¤Ç¤­¡¢µÕ²óž¤µ¤»¤ë¤³¤È¤Çµå¤òÊü½Ð¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¡£

**¥é¥¤¥ó¥È¥ì¡¼¥¹ [#b55a58dd]
¥í¥Ü¥Ã¥ÈB¤â¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç°ÜÆ°¤ò¹Ô¤¦¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÊýË¡¤ÏA¤ÈÂçÂÎƱ¤¸¤Ç¤¢¤ë¤¿¤á¾Êά¡£

 sub trace(){
	ClearTimer(0);
	while(ISNOTCROSS){
		if(FastTimer(1) < startime){
			ClearTimer(0);
		}
		if(52 <= SENSOR_1){
			TURNRIGHT;
		}else if(50 <= SENSOR_1){
			RIGHT;
		}else if(41 <= SENSOR_1){
			STRAIGHT;
		}else if(39 <= SENSOR_1){
			LEFT;
		}else {
			TURNLEFT;
		}
		if(39 <= SENSOR_1) ClearTimer(0);
	}
	Off(OUT_AC);
	ClearTimer(0);
	Wait(100);
 }


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**¸òº¹ÅÀ¤Ç¤ÎÂбþ [#dc38f254]
Á°Àá¤Ç¤Ï¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤ò¼¨¤·¤¿¡£¤Ä¤®¤Ë¸òº¹ÅÀ¤òȽÃǤ·¤¿¸å¤Î¤½¤ì¤¾¤ì¤ÎÆ°ºî¤Ë¤Ä¤¤¤ÆÀâÌÀ¤ò¤¹¤ë¡£

¤Þ¤ºÄ¾¿Ê¤Ë¤Ä¤¤¤ÆÀâÌÀ¤¹¤ë¡£

 /* ľ¿Ê¤¹¤ë */
 sub go_straight(){
	STRAIGHT;//ľ¿Ê¤¹¤ë
	Wait(30);//0.3ÉÃ
	ClearTimer(1);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
 }
ľÀþ¤ÎÆ°ºî¤Ï¤¤¤¿¤Ã¤Æ¥·¥ó¥×¥ë¤Ç¤¢¤ë¡£¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é¤½¤Î¤Þ¤Þ°ìÄêÉÿôľ¿Ê¤µ¤»¤ì¤Ð¸òº¹ÅÀ¤ò±Û¤¨¡¢Ä¾¿Ê¤¬¤Ç¤­¤ë¡£

¼¡¤Ëº¸ÀޤˤĤ¤¤ÆÀâÌÀ¤¹¤ë¡£
 /* º¸ÀÞ¤¹¤ë */
 sub turn_left(){
	ClearTimer(1);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
	ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
 }
¥í¥Ü¥Ã¥ÈB¤ÏÀþ¤Îº¸Â¦¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£¤·¤¿¤¬¤Ã¤Æ¡¢º¸Àޤϥ饤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤Â³¤±¤ì¤Ð¤¤¤¤¤À¤±¤Ê¤Î¤Ç¡¢¥¿¥¤¥Þ¡¼¤Î¥ê¥»¥Ã¥È¤ò¹Ô¤¨¤Ð½½Ê¬¤Ê¤Î¤Ç¤¢¤ë¡£
º£²ó±¦ÀޤϤ·¤Ê¤«¤Ã¤¿¡£

**main´Ø¿ô [#e2e5d2af]
ºÇ¸å¤Ëmain´Ø¿ô¤ÎÀâÌÀ¤ò¤¹¤ë¡£
 task main(){
	SetSensor(SENSOR_1,SENSOR_LIGHT);//¸÷¥»¥ó¥µ¤ò¥»¥Ã¥È
	ClearTimer(0);//¥¿¥¤¥Þ¡¼¤ò¥»¥Ã¥È
	LOADING;//¥³¥ó¥Ù¥¢¤Î½ç²óž³«»Ï
	go_straight();//¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¤Îæ½Ð
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	go_straight();//ľ¿Ê
	Off(OUT_AC);//Ää»ß
	Wait(2300);//23ÉÃÄä»ß¡£Ää»ß¤¹¤ë¤³¤È¤Ç¥í¥Ü¥Ã¥ÈA¤È¤Î¾×Æͤò¤µ¤±¤ë¡£
	ClearTimer(1);//¥¿¥¤¥Þ¤ò¥»¥Ã¥È
	startime=900;//ÊÑ¿ôÀßÄê¡£
¤³¤³¤Ç¡¢º£¡Östartime¡×¤È¤¢¤ë¤¬¡¢¤³¤ì¤Ï¸òº¹ÅÀ¤«¤É¤¦¤«¤ÎȽÃǤò¤»¤º¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë»þ´Ö¤Î¤³¤È¤Ç¤¢¤ë¡£
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	startime=300;//3Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë
	go_straight();//ľ¿Ê
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	go_straight();//ľ¿Ê
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	go_straight();//ľ¿Ê
	startime=1400;//14Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	startime=300;//3Éôָòº¹ÅÀȽÃǤò̵»ë
	TURNRIGHT;//±¦Àû²ó
	Wait(10);
	Off(OUT_AC);//Ää»ß
	RELEASE;//¥³¥ó¥Ù¥¢¤òµÕ²óž¤·¤Æ¡¢µå¤òÇӽС£
	Wait(300);//3ÉÃ
¤³¤ì¤Ç°ì¼þ¤¬½ªÎ»¤È¤Ê¤ë¡£¶¥µ»Ãæ¤Ç¤Ï¤³¤³¤Þ¤Ç¤ÎÆ°ºî¤Ç°ì¶èÀÚ¤ê¤È¤·¤¿¡£

¤·¤«¤·¤Ê¤¬¤é¡¢¥í¥Ü¥Ã¥ÈB¤òôÅö¤·¤¿ugwis·¯¤ÏËü¤¬°ì¤Î¤¿¤á¤ÎÆó¼þÌܤò¤âÍÑ°Õ¤·¤Æ¤¤¤Æ¤¯¤ì¤¿¡£Î®ÀФǤ¢¤ë¡£»Ä¤ê¤ÎÉôʬ¤¬Æó½µÌÜ¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ugwis·¯¤Î´èÄ¥¤ê¤ò¤³¤³¤Ëµ­¤·¤Æ¤ª¤¯¡£

	Wait(300);
	BACK;
	Wait(100);
	Wait(100);//1ÉøåÂà
	TURNRIGHT;
	Wait(40);
	LOADING;
	ClearTimer(0);
	trace();
	turn_left();
	startime=900;
	trace();
	startime=300;
	go_straight();
	trace();
	go_straight();
	trace();
	go_straight();
	startime=1400;
	trace();
	startime=300;
	Wait(40);//0.4Éñ¦Àû²ó
	LOADING;//¥³¥ó¥Ù¥¢½ç²óž³«»Ï
	ClearTimer(0);//¥¿¥¤¥Þ¡¼¥ê¥»¥Ã¥È
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	turn_left();//º¸ÀÞ
	startime=900;//9Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	startime=300;//3Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë
	go_straight();//ľ¿Ê
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	go_straight();//ľ¿Ê
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	go_straight();//ľ¿Ê
	startime=1400;//14Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë
	trace();//¥é¥¤¥ó¥È¥ì¡¼¥¹
	startime=300;//3Éô֡¢¸òº¹ÅÀȽÃǤò̵»ë
	TURNRIGHT;
	Wait(10);
	Off(OUT_AC);
	RELEASE;
	Wait(300);
	Wait(10);//±¦Àû²ó0.1ÉÃ
	Off(OUT_AC);//Ää»ß
	RELEASE;//¥³¥ó¥Ù¥¢µÕ²óž¤Ë¤è¤ê¡¢µåÊü½Ð
	Wait(300);//3Éôֵղóž
	go_straight();
	Wait(10);
	Off(OUT_ABC);
	Wait(10);//ľ¿Ê0¡¤1ÉÃ
	Off(OUT_ABC);//Á´Æ°ºîÄä»ß
 }

*´¶ÁÛ [#d35d9d43]
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