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 #define THRES1 39    //ïçÃÍ1(¹õ¡¢¹õÀþÃæ±û)
 #define THRES2 43    //ïçÃÍ2(¹õ¤Ë¶á¤¤¹õ¡¢¹õÀþÃæ±û¤«¤é¾¯¤·³°Â¦)
 #define THRES3 53    //ïçÃÍ3(Çö¹õ¡¢¹õÀþÃæ±û¤È¶­³¦¤ÎÃæ´Ö)
 #define THRES4 59    //ïçÃÍ4(Çò¤Ë¶á¤¤¹õ¡¢¹õÀþ¶­³¦¤«¤é¾¯¤·Æâ¦)
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 #define SPEED_H 40         //®¤¤¥¹¥Ô¡¼¥É
 #define SPEED_L 17         //ÃÙ¤¤¥¹¥Ô¡¼¥É
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 #define TIME_CROSS 230   //¸òº¹ÅÀ¤òÅϤë»þ¤Î»þ´Ö
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 #define STEP 1        //1²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
 #define nMAX 280    //¸òº¹ÅÀ¤Ç¤Î¹õ¤ÎȽÄê´ð½à
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 #define move_RL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);    //´ðËÜÆ°ºî
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 #define short_break Off(OUT_BC); Wait(500);            //¾®µÙ·Æ


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 sub go_forward()               //ľ¿Ê
 {
   move_RL(SPEED_H,SPEED_H);
 }
 
 sub turn_left_A()              //º¸ÀÞ
 {
   move_RL(SPEED_L,0);
 }
 
 sub turn_left_B()              //º¸Àû²ó
 {
   move_RL(SPEED_L,-SPEED_L);
 }
 
 sub turn_right_A()             //±¦ÀÞ
 {
   move_RL(0, SPEED_L);
 }
 
 sub turn_right_B()             //±¦Àû²ó
 {
   move_RL(-SPEED_L,SPEED_L);
 }
 
 sub go_crossline()            //¸òº¹ÅÀ¤òÅϤë
 {
   move_RL(SPEED_H,SPEED_H);
   Wait(TIME_CROSS);short_break;
 }
 
 sub left_crossline()          //¸òº¹ÅÀ¤òº¸ÀÞ
 {
   move_RL(SPEED_L,-SPEED_L);
   Wait(1400);short_break;
 }


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 task main ()
 {
   SetSensorLight(S1);
   int n_black=0;            //¹õ¤ò¥«¥¦¥ó¥È
   int m_kousa=0;            //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
 
 
   while(m_kousa < 5) {                 //¸òº¹ÅÀ¤¬5²óÌṲ̈Ëþ¤Î´Ö
     while (n_black < nMAX) {             //n_black(¹õ)¤¬nMAX̤Ëþ¤Î´Ö¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
       if (SENSOR_1 < THRES1) {             //¤â¤·¹õ¤Î¤È¤­º¸Àû²ó¡¢¹õ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È
          turn_left_B();
          n_black++;
       } else {                             //¤½¤¦¤Ç¤Ê¤¤¤È¤­
         if (SENSOR_1 < THRES2) {             //¤â¤·¹õ¤Ë¶á¤¤¹õ¢Î¹õ¤Î´Ö¤Ïº¸ÀÞ
            turn_left_A();
         } else if (SENSOR_1 < THRES3) {      //Çö¹õ¢Î¹õ¤Ë¶á¤¤¹õ¤Î´Ö¤Ïľ¿Ê
            go_forward();
         } else if (SENSOR_1 < THRES4) {      //Çò¤Ë¶á¤¤¹õ¢ÎÇö¹õ¤Î´Ö¤Ï±¦ÀÞ
            turn_right_A();
         } else {                             //Çò¤Î¤È¤­±¦Àû²ó
            turn_right_B();
         }
          n_black=0;                        //n_black(¹õ)¤ò¥ê¥»¥Ã¥È¤·¤Æ
       }
        Wait(STEP);          //¾åµ­¤ÎÆ°ºî¤ò¡¢STEP(1²ó)¤º¤Ä¹Ô¤¦¡£
     }
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       if (m_kousa < 3) {              //¤â¤·¸òº¹ÅÀ¤¬3²óÌܤޤǸòº¹ÅÀ¤òľ¿Ê
         short_break;
         PlaySound(SOUND_DOUBLE_BEEP);   //ľ¿Ê¤Î¹ç¿Þ
         go_crossline();
          m_kousa++;         //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
          n_black=0;         //n_black¤ò0¤ËÌ᤹¤³¤È¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë¡£
       } else if (m_kousa < 4) {      //¸òº¹ÅÀ¤¬4²óÌܤΤȤ­¸òº¹ÅÀ¤òº¸ÀÞ
          short_break;
          PlaySound(SOUND_DOWN);   //º¸Àޤιç¿Þ
          turn_left_B();
          Wait(1100);
           m_kousa++;
           n_black=0;
       } else {                 //BÃÏÅÀÁ°T»ú¤ò¸òº¹ÅÀ5²óÌܤȤ·¤Æľ¿Ê¤·BÃÏÅÀ¤ØÆþ¤ë
          short_break;
          go_forward();
          Wait(1500);
          Off(OUT_BC);
           m_kousa++;          //m_kousa(¸òº¹ÅÀ)=5²óÌܤȤʤꡢWhile(m_kousa<5)¤«¤éÈ´¤±½Ð¤¹¡£
           PlaySound(SOUND_FAST_UP);       //½ªÎ»¤Î¹ç¿Þ
       }
   }
 }


**Á´ÂÎ [#lb24f140]
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 #define THRES1 39    //ïçÃÍ1(¹õ¡¢¹õÀþÃæ±û)
 #define THRES2 43    //ïçÃÍ2(¹õ¤Ë¶á¤¤¹õ¡¢¹õÀþÃæ±û¤«¤é¾¯¤·³°Â¦)
 #define THRES3 53    //ïçÃÍ3(Çö¹õ¡¢¹õÀþÃæ±û¤È¶­³¦¤ÎÃæ´Ö)
 #define THRES4 59    //ïçÃÍ4(Çò¤Ë¶á¤¤¹õ¡¢¹õÀþ¶­³¦¤«¤é¾¯¤·Æâ¦)
 #define SPEED_H 40         //®¤¤¥¹¥Ô¡¼¥É
 #define SPEED_L 17         //ÃÙ¤¤¥¹¥Ô¡¼¥É
 #define TIME_CROSS 230   //¸òº¹ÅÀ¤òÅϤë»þ¤Î»þ´Ö
 #define STEP 1        //1²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö
 #define nMAX 280    //¸òº¹ÅÀ¤Ç¤Î¹õ¤ÎȽÄê´ð½à
 #define move_RL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);    //´ðËÜÆ°ºî
 #define short_break Off(OUT_BC); Wait(500);            //¾®µÙ·Æ
 
 
 sub go_forward()               //ľ¿Ê
 {
   move_RL(SPEED_H,SPEED_H);
 }
 
 sub turn_left_A()              //º¸ÀÞ
 {
   move_RL(SPEED_L,0);
 }
 
 sub turn_left_B()              //º¸Àû²ó
 {
   move_RL(SPEED_L,-SPEED_L);
 }
 
 sub turn_right_A()             //±¦ÀÞ
 {
   move_RL(0, SPEED_L);
 }
 
 sub turn_right_B()             //±¦Àû²ó
 {
   move_RL(-SPEED_L,SPEED_L);
 }
 
 sub go_crossline()            //¸òº¹ÅÀ¤òÅϤë
 {
   move_RL(SPEED_H,SPEED_H);
   Wait(TIME_CROSS);short_break;
 }
 
 sub left_crossline()          //¸òº¹ÅÀ¤òº¸ÀÞ
 {
   move_RL(SPEED_L,-SPEED_L);
   Wait(1400);short_break;
 }
 
 
 
 task main ()
 {
   SetSensorLight(S1);
   int n_black=0;            //¹õ¤ò¥«¥¦¥ó¥È
   int m_kousa=0;            //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
 
 
   while(m_kousa < 5) {                 //¸òº¹ÅÀ¤¬5²óÌṲ̈Ëþ¤Î´Ö
     while (n_black < nMAX) {             //n_black(¹õ)¤¬nMAX̤Ëþ¤Î´Ö¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
       if (SENSOR_1 < THRES1) {             //¤â¤·¹õ¤Î¤È¤­º¸Àû²ó¡¢¹õ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È
          turn_left_B();
          n_black++;
       } else {                             //¤½¤¦¤Ç¤Ê¤¤¤È¤­
         if (SENSOR_1 < THRES2) {             //¤â¤·¹õ¤Ë¶á¤¤¹õ¢Î¹õ¤Î´Ö¤Ïº¸ÀÞ
            turn_left_A();
         } else if (SENSOR_1 < THRES3) {      //Çö¹õ¢Î¹õ¤Ë¶á¤¤¹õ¤Î´Ö¤Ïľ¿Ê
            go_forward();
         } else if (SENSOR_1 < THRES4) {      //Çò¤Ë¶á¤¤¹õ¢ÎÇö¹õ¤Î´Ö¤Ï±¦ÀÞ
            turn_right_A();
         } else {                             //Çò¤Î¤È¤­±¦Àû²ó
            turn_right_B();
         }
          n_black=0;                        //n_black(¹õ)¤ò¥ê¥»¥Ã¥È¤·¤Æ
       }
        Wait(STEP);          //¾åµ­¤ÎÆ°ºî¤ò¡¢STEP(1²ó)¤º¤Ä¹Ô¤¦¡£
     }
       if (m_kousa < 3) {              //¤â¤·¸òº¹ÅÀ¤¬3²óÌܤޤǸòº¹ÅÀ¤òľ¿Ê
         short_break;
         PlaySound(SOUND_DOUBLE_BEEP);   //ľ¿Ê¤Î¹ç¿Þ
         go_crossline();
          m_kousa++;         //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È
          n_black=0;         //n_black¤ò0¤ËÌ᤹¤³¤È¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë¡£
       } else if (m_kousa < 4) {      //¸òº¹ÅÀ¤¬4²óÌܤΤȤ­¸òº¹ÅÀ¤òº¸ÀÞ
          short_break;
          PlaySound(SOUND_DOWN);   //º¸Àޤιç¿Þ
          turn_left_B();
          Wait(1100);
           m_kousa++;
           n_black=0;
       } else {                 //BÃÏÅÀÁ°T»ú¤ò¸òº¹ÅÀ5²óÌܤȤ·¤Æľ¿Ê¤·BÃÏÅÀ¤ØÆþ¤ë
          short_break;
          go_forward();
          Wait(1500);
          Off(OUT_BC);
           m_kousa++;          //m_kousa(¸òº¹ÅÀ)=5²óÌܤȤʤꡢWhile(m_kousa<5)¤«¤éÈ´¤±½Ð¤¹¡£
           PlaySound(SOUND_FAST_UP);       //½ªÎ»¤Î¹ç¿Þ
       }
   }
 }



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