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 ClearMessage            //¥á¥Ã¥»¡¼¥¸(¡¡)¤ÎÃͤò0¤Ë½é´ü²½¤¹¤ë
 ClearTimer(0)           //Timer(0)¤ò¥ê¥»¥Ã¥È
 OnFwd(OUT_A)            //A¤Î¥â¡¼¥¿¤òÀµ²óž¤µ¤»¤ë
 OnRev(OUT_AC)           //A¤ÈC¤Î¥â¡¼¥¿¤òµÕ²óž¤µ¤»¤ë
 Wait(t)                 //Á°¤ÎÆ°ºî¤òtÉôֹԤ¤¡¢¤½¤Î´Ö¼¡¤ÎÆ°ºî¤Ë¤Ï¿Ê¤Þ¤Ê¤¤
 Off                     //¥â¡¼¥¿¤òÄä»ß¤µ¤»¤ë
~¡Ú¥á¥¤¥ó¥×¥í¥°¥é¥à¡Û
 task main()
 {
        ClearMessage();
        ClearTimer(0);
        OnRev(OUT_AC);	                 //QÃÏÅÀ¤Þ¤Ç°ÜÆ°¤¹¤ë
        Wait(450);
        Off(OUT_AC);
        OnRev(OUT_A);                     //¥í¥Ü¥Ã¥È1¤Î¸þ¤­¤ÎÄ´À°¤ò¤¹¤ë
        OnFwd(OUT_C);
        Wait(5);
        Off(OUT_AC);
        until(Message() == SIGNALON);	 //until¡Ä¤¢¤ë¾ò·ï¤¬Ëþ¤¿¤µ¤ì¤ë¤Þ¤ÇÆ°ºî¤òÄä»ß¤¹¤ë
        Wait(150);                        //¥í¥Ü¥Ã¥È2¤¬±¿¤ó¤Ç¤­¤¿»æ¥³¥Ã¥×¤Î°ÌÃÖ¤òÄ´À°
        OnFwd(OUT_B);
        Wait(10);
        Off(OUT_B);
        Wait(30000);                      //»æ¥³¥Ã¥×¤¬¤¹¤Ù¤Æ½Å¤Í½ª¤ï¤ë¤Þ¤ÇÄä»ß
        OnRev(OUT_B);                     //¥¢¡¼¥à¤ò¹­¤²¡¢»æ¥³¥Ã¥×¤òÎ¥¤¹
        Wait(20);
        Off(OUT_B);
        OnRev(OUT_AC);	                 //»æ¥³¥Ã¥×¤«¤éÎ¥¤ì¤ë
        Wait(30);
        Off(OUT_AC);
 }
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 #define SIGNALON 121	                                                //ÄÌ¿®ÍÑ
 #define MIDDLE 50	                                                //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤¿¤á¤ÎÃÍ
 #define WHITE 50	                                                //»æ¥³¥Ã¥×¤òȽÃǤ¹¤ë¤¿¤á¤ÎÃÍ
 #define turn_left1 SetPower(OUT_AC,2); Off(OUT_A); OnFwd(OUT_C);	//º¸ÀÞ
 #define turn_left2 SetPower(OUT_A,1); OnRev(OUT_A); OnFwd(OUT_C);	//º¸Àû²ó
 #define turn_right1 SetPower(OUT_AC,2); OnFwd(OUT_A); Off(OUT_C);	//±¦ÀÞ
 #define turn_right2 SetPower(OUT_C,1); OnFwd(OUT_A); OnRev(OUT_C);	//±¦Àû²ó
 #define go_forward SetPower(OUT_AC,7); OnFwd(OUT_AC);			//Á°¿Ê

 int cup_count=0;	//¥³¥Ã¥×¤Î¥«¥¦¥ó¥È

¡Ú¥µ¥Ö¥ë¡¼¥Á¥ó¡Û
 MIDDLE+3            //¾å¤ÇMIDDLE¤Ï50¤ÈÄêµÁ¤µ¤ì¤Æ¤¤¤ë¤Î¤Ç¡¢50+3=53¤È¤Ê¤ë
 While(¾ò·ï¼°)       //³ç¸ÌÆâ¤Î¾ò·ï¤¬Ëþ¤¿¤µ¤ì¤Æ¤¤¤ë´Ö¡¢»ØÄꤵ¤ì¤¿Æ°ºî¤ò³¤±¤ë
 if(¾ò·ï¼°)¡¡¡¡¡¡¡¡  //³ç¸ÌÆâ¤Î¾ò·ï¤¬À®¤êΩ¤Ä¤È¤­¡¢»ØÄꤵ¤ì¤¿Æ°ºî¤ò¹Ô¤¦
 else if(¾ò·ï¼°)¡¡¡¡ //if°Ê³°¤Î¾ò·ï¤ò·è¤á¤ë¤³¤È¤¬¤Ç¤­¤ë
~­¡¥é¥¤¥ó¥È¥ì¡¼¥¹
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 sub trace()	                                        //¥é¥¤¥ó¥È¥ì¡¼¥¹
 {
       while(FastTimer(0) < 26)	                        //º¸Àû²ó¤¬°ìÄê»þ´Ö³¤¯¤Þ¤Ç¥ë¡¼¥×
	 {
		¡¡if(SENSOR_2 < MIDDLE-5)	        //¹õ
		¡¡{
			turn_left2;	                //º¸Àû²ó
		¡¡}
		¡¡else
		¡¡{
			¡¡if(SENSOR_2 < MIDDLE-2)	//Ãæ´Ö¤Ë¶á¤¤¹õ
			¡¡{
				turn_left1;	        //º¸¶Ê¤¬¤ê
			¡¡}
			¡¡else if(SENSOR_2 < MIDDLE+3)	//Ãæ´Ö
			¡¡{
		¡¡¡¡¡¡¡¡¡¡	go_forward;	        //ľ¿Ê
			¡¡}
			¡¡else if(SENSOR_2 < MIDDLE+6)	//Ãæ´Ö¤Ë¶á¤¤Çò
			¡¡{
				turn_right1;	        //±¦¶Ê¤¬¤ê
			¡¡}
			¡¡else	                        //Çò
			¡¡{
				turn_right2;	        //±¦Àû²ó
			¡¡}
			  ClearTimer(0);
		  }
	  ¡Ñ
 }
~­¢Ä¾¿Ê¤¹¤ë
 sub i_forward()	//ľ¿Ê
 {
	turn_right2;
	Wait(30);
	go_forward;
	Wait(50);
	Off(OUT_AC);
 }
­£º¸ÀÞ¤¹¤ë
 sub i_left()           //º¸ÀÞ
 {¡¡
	turn_left2;
	Wait(45);
	Off(OUT_AC);
 }
­¤±¦ÀÞ¤¹¤ë
 sub i_right()		//±¦ÀÞ
 {
        turn_right2;
        Wait(30);
        go_forward;
        Wait(30);
        turn_right2;
        Wait(80);
        Off(OUT_AC);
 }
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 sub cup1()                      //C¤ÈD¤Î¤½¤ì¤¾¤ì¤Î1¤ÄÌܤΥ³¥Ã¥×
 {
	turn_right2;            //»æ¥³¥Ã¥×¤Þ¤ÇÊý¸þÄ´À°
	Wait(25);
	SetPower(OUT_AC,1);     //»æ¥³¥Ã¥×¤Þ¤Ç°ÜÆ°
	OnFwd(OUT_AC);
	while(SENSOR_3 <= WHITE);
	Off(OUT_AC);
	OnRev(OUT_B);           //»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
	Wait(150);
	Off(OUT_B);
	turn_right2;            //¥é¥¤¥ó¤Þ¤Ç°ÜÆ°
	Wait(180);
	go_forward;
	Wait(20);
 }
­¦C¤ÈD¤Î2¤ÄÌܤΥ³¥Ã¥×¤ò¤ò¤Ä¤«¤ß¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤­¤ë°ÌÃ֤˰ÜÆ°¤¹¤ë
 sub cup2()                     //2¤ÄÌܤΥ³¥Ã¥×
 {
        SetPower(OUT_AC,1);     //»æ¥³¥Ã¥×¤Þ¤Ç°ÜÆ°
        OnFwd(OUT_AC);
        OnFwd(OUT_AC);
        while(SENSOR_3 <= WHITE);
        Off(OUT_AC);
        OnRev(OUT_B);           //»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
        Wait(150);
        Off(OUT_B);
        turn_right2;            //¥é¥¤¥ó¤Þ¤Ç°ÜÆ°
        Wait(180);
        go_forward;
        Wait(120);
 }
­§C¤ÈD¤Î3¤ÄÌܤΥ³¥Ã¥×¤ò¤ò¤Ä¤«¤ß¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤­¤ë°ÌÃ֤˰ÜÆ°¤¹¤ë
 sub cup3()                      //3¤ÄÌܤΥ³¥Ã¥×
 {
	turn_right2;            //»æ¥³¥Ã¥×¤Þ¤ÇÊý¸þÄ´À°
	Wait(45);
	SetPower(OUT_AC,1);     //»æ¥³¥Ã¥×¤Þ¤Ç°ÜÆ°
	OnFwd(OUT_AC);
	while(SENSOR_3 <= WHITE);
	Off(OUT_AC);
	OnRev(OUT_B);           //»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
	Wait(150);
	Off(OUT_B);
	turn_right2;            //¥é¥¤¥ó¤Þ¤Ç°ÜÆ°
	Wait(170);
	go_forward;
	Wait(100);
 }
­¨¥³¥Ã¥×¤ò²¼¤·¡¢¥í¥Ü¥Ã¥È1¤ÈÄÌ¿®¤¹¤ë
~¥³¥Ã¥×¤òÁ°¤Ë²¡¤¹¤³¤È¤Ç£²¤ÄÌܰʹߤΥ³¥Ã¥×¤ò½Å¤Í¤ë¤È¤­¤Ë¡¢¤Ò¤Ã¤«¤«¤ê¥³¥Ã¥×¤¬Å¾Åݤ¹¤ë¤³¤È¤Î¤Ê¤¤¤è¤¦¤Ë¤·¤¿¡£
 sub cup_down()                           //¥³¥Ã¥×¤ò²¼¤¹¤È¤­¤ÎÆ°ºî
 {
	turn_left2;                      //¥³¥Ã¥×¤ò²¼¤¹°ÌÃ֤ޤǰÜÆ°
	Wait(5);
	OnRev(OUT_AC);
	Wait(5);
	Off(OUT_AC);
	if(cup_count == 1)               //ºÇ½é¤Î¥³¥Ã¥×¤òÃÖ¤¯¤È¤­
	{
		SendMessage(SIGNALON);   //¤â¤¦°ìÂæ¤ÎÆ°ºî¤òºÆ³«¤¹¤ë
	}
	OnFwd(OUT_B);
	Wait(50);
	Off(OUT_B);
	if(cup_count == 1)               //ºÇ½é¤Î¥³¥Ã¥×¤òÃÖ¤¤¤¿¤È¤­
	{
		OnFwd(OUT_AC);           //¥³¥Ã¥×¤ò¾¯¤·Á°¤Ë²¡¤¹
		Wait(10);
	}
	OnRev(OUT_AC);                   //¥é¥¤¥ó¤Þ¤Ç°ÜÆ°
	Wait(60);
	turn_left2;
	Wait(120);
	go_forward;
	Wait(50);
 }
¡Ú¥á¥¤¥ó¥×¥í¥°¥é¥à¡Û
~¥í¥Ü¥Ã¥È¤¬¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤¿¤Ó¤ËÊÑ¿ô£ã¤ÎÃͤòÁý¤ä¤·¤Æ¤¤¤­¡¢Àµ¤·¤¤½çÈÖ¤ÇÆ°ºî¤¹¤ë¤è¤¦¤Ë¤·¤¿¡£course_check¤Ï£ÃÃÏÅÀ¤È£ÄÃÏÅÀ¤Î¤É¤Á¤é¤Ë¹Ô¤¯¤«¤ò¸ò¸ß¤ËȽÃǤǤ­¤ë¤è¤¦¤Ë¤·¡¢cup_count¤Ï¤É¤Î»æ¥³¥Ã¥×¤Ç¤É¤ÎÆ°ºî¤ò¹Ô¤¦¤Î¤«¶èÊ̤·¤¿¡£ÊÑ¿ô£ä¤Ï¤¹¤Ù¤Æ¤Î¥³¥Ã¥×¤ò²ó¼ý¤·¤¿¤È¤­1¤Ë¤Ê¤ê¡¢Æ°ºî¤òÄä»ß¤¹¤ë¡£
 task main()
 {
	SetSensor(SENSOR_2, SENSOR_LIGHT);
	SetSensor(SENSOR_3, SENSOR_LIGHT);
	int c=1;                //¸òº¹ÅÀ¤Î³Îǧ
	int d=0;                //1¤Ë¤Ê¤Ã¤¿¤éÆ°ºîÄä»ß
	int course_check=0;     //0¤Ê¤éCÃÏÅÀ¤Ø¡¢1¤Ê¤éDÃÏÅÀ¤Ø
	SetPower(OUT_B,1);      //¥³¥Ã¥×¤ò¤Ä¤«¤à¤È¤­¤Î¥â¡¼¥¿¶¯¤µ¤ò¼å¤¯¤¹¤ë
	go_forward;             //¥é¥¤¥ó¤Þ¤Çľ¿Ê
	Wait(80);
	while(d == 0)
	{
        	ClearTimer(0);
		trace();	//¥é¥¤¥ó¥È¥ì¡¼¥¹
		Off(OUT_AC);	//¸òº¹ÅÀ³Îǧ
		PlaySound(SOUND_UP);
		Wait(100);
		switch(c)
		{
                	case 1:	//ºÇ½é¤Î¸òº¹ÅÀ
				i_left();                       //SÃÏÅÀ¤Ø
				break;
			case 2:	                                //SÃÏÅÀ¤Î¸òº¹ÅÀ
				if(course_check == 0)
				{
					i_right();              //CÃÏÅÀ¤Ø
				}
				else
				{
					i_left();               //DÃÏÅÀ¤Ø
			        	i_left();               //DÃÏÅÀ¤Ø
				}
				break;
			case 3:                                 //CÃÏÅÀ¤«DÃÏÅÀ
				if(cup_count < 2)               //½¸¤á¤¿¥³¥Ã¥×¤¬2¤Ä¤è¤ê¾¯¤Ê¤¤¤Ê¤é
				{
					cup1();
				}
				else if(cup_count < 4)          //½¸¤á¤¿¥³¥Ã¥×¤¬4¤Ä¤è¤ê¾¯¤Ê¤¤¤Ê¤é
				{
					cup2();
				}
				else                            //½¸¤á¤¿¥³¥Ã¥×¤¬4¤Ä°Ê¾å¤Ê¤é
				{
					cup3();
				}
				cup_count++;
				break;
			case 4:
				if(course_check == 0)           //CÃÏÅÀ¤«¤éÌá¤Ã¤Æ¤­¤¿¤é
				{
					i_left();               //PÃÏÅÀ¤Ø
					course_check = 1;       //¼¡¤ÏDÃÏÅÀ¤Ø
				}
				else                            //DÃÏÅÀ¤«¤éÌá¤Ã¤Æ¤­¤¿¤é
				{
				        i_right();              //PÃÏÅÀ¤Ø
					course_check = 0;       //¼¡¤ÏCÃÏÅÀ¤Ø
				}
				break;
			case 5:                                 //PÃÏÅÀ¤Î¸òº¹ÅÀ
				i_left();                       //QÃÏÅÀ¤Ø
				break;
			case 6:                                 //QÃÏÅÀ¤Î¸òº¹ÅÀ
				cup_down(); 
				if(cup_count == 6)              //¥³¥Ã¥×¤ò½¸¤á½ª¤ï¤Ã¤¿¤é	
				{
					d = 1;                  //Æ°ºîÄä»ß
				}
				break;
			case 7:                                 //pÃÏÅÀ¤Î¸òº¹ÅÀ
				i_right();                      //SÃÏÅÀ¤Ø
				c = 1;                          //case 2¤ËÌá¤ë
				break;
		¡¡}
		¡¡c++;
	¡¡}
	¡¡Off(OUT_ABC);
 }
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