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**¥Þ¥¹¥¿¡¼Â¦ [#jc39e3a4]
B¤¬±¦¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¢C¤¬º¸¥¿¥¤¥ä¤Î¥â¡¼¥¿
 #define THRESHOLD 50    //¤·¤­¤¤ÃÍ
 #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
 #define go_forward  OnRL(SPEED, SPEED);    //Á°¿Ê
 #define go_back OnRL(-SPEED,-SPEED);    //¸åÂà
 #define turn_left1  OnRL(SPEED, -SPEED);    //º¸Àû²ó
 #define turn_left0  OnRL(SPEED, 0);    //º¸ÀÞ
 #define turn_right0 OnRL(0, SPEED);    //±¦ÀÞ
 #define turn_right1 OnRL(-SPEED, SPEED);    //±¦Àû²ó
 #define SPEED 45¡¡
 
 task main()
 {
     SetSensorLight(S3);    //ü»Ò£³¤Ë¸÷¥»¥ó¥µ¡¼
     SetSensorLowspeed(S1);    //ü»Ò£±¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼
     until(BluetoothStatus(1)==NO_ERR);    //¥¹¥ì¡¼¥Ö¦¤ÈÀܳ¤Ç¤­¤ë¤Þ¤ÇÂÔ¤Ä
     int nKan=0;    //´Ì¤òǧ¼±¤·¤¿²ó¿ô
     while (nKan < 2) {    //´Ì¤ò£²¸Ä²ó¼ý¤¹¤ë´Ö¤ÎÆ°ºî
      while(SensorUS(S1)>15){     //´Ì¤È¤Îµ÷Î¥15¥»¥ó¥Á°Ê¾å¤Î»þ¤Ë¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
       if (SENSOR_3 < THRESHOLD-10) {
        turn_left1;
       }
       else {
        if (SENSOR_3 < THRESHOLD-5) {
         turn_left0;
        }
        else if (SENSOR_3 < THRESHOLD+5) {
         go_forward;
        }
        else if (SENSOR_3 < THRESHOLD+10) {
         turn_right0;
        }
        else {
         turn_right1;
        }
       }
       Wait(1);
      }
      until(SensorUS(S1)<=12){    //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12¥»¥ó¥Á¡Ê¥¢¡¼¥à¤¬´Ì¤ò¤Ä¤«¤á¤ë¾¯¤·¼êÁ°¤Îµ÷Î¥¡Ë°Ê²¼¤Ë¤Ê¤ë¤Þ¤Ç
       go_forward;
      }
      if (SensorUS(S1)<=12){    //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12¥»¥ó¥Á°Ê²¼¤Î»þ
       Off(OUT_BC);
       RemoteStartProgram(1,"sss1.rxe");    //¥¹¥ì¡¼¥Ö¦¤Ë´Ì¤ò¤Ä¤«¤ó¤Ç»ý¤Á¾å¤²¤ë¥×¥í¥°¥é¥à¤Îµ¯Æ°¤ò»Ø¼¨
       Wait(2000);    //¥¢¡¼¥à¤ò²¼¤í¤·¤­¤ë¤Þ¤Ç¤Î»þ´Ö²Ô¤®
       RotateMotorEx(OUT_BC,45,100,0,true,true);    //´Ì¤ò¤Ä¤«¤à¤¿¤á¤Î°ÌÃÖÄ´À°
       Wait(6000);    //¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤¬½ªÎ»¤¹¤ë¤Þ¤Ç¤Î»þ´Ö²Ô¤®
       nKan++;    //¥«¥¦¥ó¥È¤òÄɲÃ
      }
     }
     while(nKan<3){    //´Ì¤ò£²¸Ä²ó¼ý¤·½ª¤¨¤¿¸å¤ÎÆ°ºî
      RotateMotor(OUT_B,-SPEED,200);    //¥´¡¼¥ëÊý¸þ¤ËÊý¸þž´¹
      go_forward;    //¥´¡¼¥ë¼êÁ°¤Þ¤ÇÁ°¿Ê
      Wait(2500);
      Off(OUT_BC);
      RemoteStartProgram(1,"sss2.rxe");    //¥¹¥ì¡¼¥Ö¦¤Ë´Ì¤òÃÖ¤¯¥×¥í¥°¥é¥à¤Îµ¯Æ°¤ò»Ø¼¨
      Wait(5000);    //¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤¬½ªÎ»¤¹¤ë¤Þ¤Ç¤Î»þ´Ö²Ô¤®
      go_back;    //¥´¡¼¥ë¥¾¡¼¥ó¤«¤éΥæ
      Wait(3000);
      Off(OUT_BC);
      nKan++;¡¡¡¡¡¡//¥×¥í¥°¥é¥à¤ò½ªÎ»¤µ¤»¤ë¤¿¤á¤Ë¥«¥¦¥ó¥ÈÄɲÃ
     }
 }
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***´Ì¤ò²ó¼ý¡¢ÀѤ߽Ťͤë¤È¤­ [#m7b7c22a]
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 task main()
 {
     RotateMotor(OUT_C,-30,30);     //ÀѤ߾夲¤ëºÝ¤ÎÍ·Ú¸º¤Î¤¿¤á¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
     RotateMotor(OUT_B,30,30);    //´Ì¤òÄϤൡ¹½¤ò³«¤±¤ë,´Ì¤òÄϤó¤Ç¤¤¤¿¾ì¹ç¤Ï¤³¤Î»þ´Ì¤ò¤Ï¤Ê¤¹
     RotateMotor(OUT_C,-30,150);    //¥¢¡¼¥à¤ò²¼¤²¤­¤ë
     Wait(2000);    //ËÜÂΤ¬°ÌÃÖÄ´À°¤ò¤¹¤ë¤¿¤á¤Î»þ´Ö¹ç¤ï¤»
     OnFwd(OUT_B,-30);    //´Ì¤òÄϤà
     Wait(3000);
     Off(OUT_B);
     RotateMotor(OUT_C,50,180);    //¥¢¡¼¥à¤ò¾å¤²¤ë
 }

***¥´¡¼¥ë¤Ë´Ì¤òÃÖ¤¯¤È¤­ [#e7dd7073]
¥Õ¥¡¥¤¥ë̾¡Össs2.nxc¡×
 task main()
 {
     RotateMotor(OUT_C,-30,180);    //¥¢¡¼¥à¤ò²¼¤²¤ë
     RotateMotor(OUT_B,30,90);    //´Ì¤òÄϤൡ¹½¤òÁ´³«¤Ë¤·¤ÆÄϤó¤Ç¤¤¤¿´Ì¤ò¤Ï¤Ê¤¹
 }

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