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***°ÂÄê¤Î¤¿¤á¤Ë [#k780ea8b]

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 #define adjust Off(OUT_AB);Wait(50);  //ÈùÄ´À°

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[[ÈæÎãÀ©¸æ¤È¤Ï:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Fn1sh1%2FMission2#a9bde67b]]
 #define sensor SENSOR_2 //¥»¥ó¥µ¡¼¤ÎÃÍ
 #define black 30 //¹õ¤ÎÃÍ
 #define white 60 //Çò¤ÎÃÍ
 #define threshold (black+white)*0.5 //ïçÃÍ(Á°½Ò¤ÎÌÀ¤ë¤µ¤ÎÃæ´ÖÃÍ)
 #define deflection (sensor-threshold) //¥»¥ó¥µ¡¼¤ÎÃͤÈïçÃÍ(Ãæ´ÖÃÍ)¤È¤Îº¹


***¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó [#bf6661b3]

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 sub linetrase_right(int x)  //¥é¥¤¥ó¥È¥ì¡¼¥¹(¿Ê¹ÔÊý¸þ±¦Â¦))
 {
     OnFwd(OUT_A,40+deflection*x);
     OnFwd(OUT_B,40-deflection*x);
 }
 sub linetrase_left(int x)  //¥é¥¤¥ó¥È¥ì¡¼¥¹(¿Ê¹ÔÊý¸þº¸Â¦)
 {
     OnFwd(OUT_A,40-deflection*x);
     OnFwd(OUT_B,40+deflection*x);
 }

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 sub intertify_right()  //¸òº¹ÅÀ¼±ÊÌ(¿Ê¹ÔÊý¸þ±¦Â¦)
 {
     long t = CurrentTick();
 
     while(CurrentTick()-t<100){
      if(sensor_light>white-5){
       linetrase_right(1.5);
       t = CurrentTick();
      }else if(sensor_light>black+5){
       linetrase_right(1.5);
       t = CurrentTick();
      }else{
       linetrase_right(1.5);
      }
     }
     adjust;
 }
 sub intertify_left()  //¸òº¹ÅÀ¼±ÊÌ(¿Ê¹ÔÊý¸þº¸Â¦)
 {
     long t = CurrentTick();
 
     while(CurrentTick()-t<100){
      if(sensor_light>white-5){
       linetrase_left(1.5);
       t = CurrentTick();
      }else if(sensor_light>black+5){
       linetrase_left(1.5);
       t = CurrentTick();
      }else{
       linetrase_left(1.5);
      }
     }
     adjust;
 }
¤³¤ì¤Ï³«»ÏÅÀ¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¤­¤ë¤è¤¦¤Ë¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤¢¤ë¡£¥í¥Ü¥Ã¥È¤Î¥µ¥¤¥º¾å¡¢¥»¥ó¥µ¡¼¤Ï³Î¼Â¤Ë¹õÀþ¾å¤ËÍè¤ë¤Î¤Ç³Î¼Â¤Ë¤³¤ì¤òµ¡Ç½¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤¿¡£
 sub escape_A()  //ÅÀAæ½Ð
 {
     while(sensor_light<white-5){
      OnFwd(OUT_B,50);
      OnFwd(OUT_A,30);
      }
     adjust;
 }


***»æ¥³¥Ã¥×ǧ¼±¤ÎÄêµÁ [#v7d1b0c6]
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 #define ultrasonic SensorUS(S1)  //Ķ²»ÇÈ¥»¥ó¥µ¡¼
 const float diameter = 5.45; //¥¿¥¤¥ä¤Îľ·Â(cm)
 const float track = 17.5; //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm)
 const float pi = 3.1415; //±ß¼þΨ

***»æ¥³¥Ã¥×ǧ¼±¤Î¥µ¥Ö¥ë¡¼¥Á¥ó [#c829c346]
°ÂÄê¤Î¤¿¤á¤Ë¤¹¤Ù¤Æ¤Ë adjust ¤òÆþ¤ì¤Æ¤¤¤ë¡£

»æ¥³¥Ã¥×¤Î¤È¤³¤í¤Þ¤Ç¹Ô¤­¡¢¤½¤Îµ÷Î¥¤À¤±Ì᤹ưºî¤â¤µ¤»¤¿¤«¤Ã¤¿¤Î¤Ç2¤Ä¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òºî¤Ã¤¿¡£
 void approach(float d)  //£äcm¿Ê¤à
 {
     long angle = d/(diameter*pi)*360.0;  //ɬÍפʥ¿¥¤¥ä¤Î²óž³Ñ
     RotateMotorEx(OUT_AB,50,angle,0,true,true);
     adjust;
 }
 void back(float d)  //£äcm¸åÂह¤ë 
 {
     long angle = d/(diameter*pi)*360.0;  //ɬÍפʥ¿¥¤¥ä¤Î²óž³Ñ 
     RotateMotorEx(OUT_AB,-50,angle,0,true,true);
     adjust;
 }
ƱÍͤËÈ¿»þ·×²ó¤ê¤â¤µ¤»¤¿¤«¤Ã¤¿¤Î¤Ç2¤Ä¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òºî¤Ã¤¿¡£
 void spinAng(long ang)  //º£¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙÀû²ó(È¿»þ·×²ó¤ê)
 {
     long angle = track/diameter*ang;  //ɬÍפʥ¿¥¤¥ä¤Î²óž³Ñ
     RotateMotorEx(OUT_AB,50,angle,100,true,true);
     adjust;
 }
 void spinAng_opposite(long ang)  //º£¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙÀû²ó(»þ·×²ó¤ê)
 {
     long angle = track/diameter*ang;  //ɬÍפʥ¿¥¤¥ä¤Î²óž³Ñ
     RotateMotorEx(OUT_AB,-50,angle,100,true,true);
     adjust;
 }
¤Ï¤¸¤á¡¢¡ÚÊÖ¤¹¡Û¤È¤¤¤¦°ÕÌ£¤¬Ê¬¤«¤é¤Ê¤«¤Ã¤¿¤¬¡¢»È¤Ã¤Æ¤¤¤¯¤¦¤Á¤Ëʬ¤«¤Ã¤¿¡£½é¤á¤ÎÊý¤Ëʬ¤«¤Ã¤Æ¤¤¤ì¤Ð¤â¤Ã¤È±þÍѤǤ­¤¿¥×¥í¥°¥é¥à¤¬ºî¤ì¤¿¤«¤â¤·¤ì¤Ê¤¤¡£
 int search_distance(long ang)  //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·¤½¤Îµ÷Î¥¤òÊÖ¤¹
 {
     long tacho_min;  //ºÇ¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ë¥¿¥¤¥ä¤Î²óž¿ô 
     int d_min = 300;  //ºÇ¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ
 
     long angle = (track/diameter)*ang; //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž³ÑÅÙ¤ò·×»» 
 
     spinAng(ang/2);  //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬÀû²ó
     ResetTachoCount(OUT_AB);  //³ÑÅÙ·×»»¤ò¥ê¥»¥Ã¥È
 
     OnFwdSync(OUT_AB,50,-100);  //È¿»þ·×²ó¤ê¤ËÀû²ó
     while(MotorTachoCount(OUT_A)<=angle){
      if(ultrasonic<d_min){                  //¸½ºß¤Îµ÷Î¥¤¬²¾¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¤È¤­
       d_min = ultrasonic;                   //²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤·
       tacho_min = MotorTachoCount(OUT_A);   //¥¿¥¤¥ä¤Î²óž¿ô¤ò¹¹¿·
      }
     }
 
     //¥¿¥¤¥ä¤Î²óž¿ô¡¢¤Þ¤¿¤Ïµ÷Î¥¥»¥ó¥µ¡¼¤¬²¾¤ÎºÇ¾®ÃͰʲ¼¤Ë¤Ê¤ë¤Þ¤ÇÀû²ó
     OnFwdSyncEx(OUT_AB,50,100,RESET_NONE);  //»þ·×²ó¤ê¤ËÀû²ó
     until(MotorTachoCount(OUT_A)<=tacho_min || ultrasonic<=d_min);
 
     adjust;
     Wait(500);
     return d_min;
 }


***³Æ°ÜÆ°¤Î¥µ¥Ö¥ë¡¼¥Á¥ó [#qe5114cd]

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 // ¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤǹõÀþ¤ÎÃæ¿´¤ò¸þ¤¯
 sub search_light_center(long ang) 
 {
     long tacho_min;   //ºÇ¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ë¥¿¥¤¥ä¤Î²óž¿ô
     int light_min = 300; //ºÇ¤â°Å¤¤ÌÀ¤ë¤µ¤Î²¾¤ÎºÇ¾®ÃÍ
 
     long angle = (track/diameter)*ang; //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤ò·×»»
     spinAng(ang/2);              //»ØÄꤷ¤¿³ÑÅÙ¤ÎȾʬÀû²ó
     ResetTachoCount(OUT_AB);     //³ÑÅÙ·×»»¤ò¥ê¥»¥Ã¥È
 
     OnFwdSync(OUT_AB,50,-100);
     while(MotorTachoCount(OUT_A)<=angle){
      if(sensor_light<light_min){
       light_min = sensor_light;
       tacho_min = MotorTachoCount(OUT_A);
      }
     }
     OnFwdSyncEx(OUT_AB,50,100,RESET_NONE);  //»þ·×²ó¤ê¤ËÀû²ó
     until(MotorTachoCount(OUT_A)<=tacho_min || sensor_light<=light_min);
 
     adjust;
     Wait(500);
 }
¤³¤ì¤é¤Ï³ÆÃÏÅÀ¤Þ¤Ç°ÜÆ°¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤¢¤ë¡£¥»¥ó¥µ¡¼¤¬¤¢¤ëÃͤˤʤë¤Þ¤Ç¥¿¥¤¥ä¤òÆ°¤«¤¹¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¡£¤·¤«¤·¡¢¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤Æ¤¤¤¯¤¦¤Á¤ËÆ°ºî¤·¤Ê¤¯¤Ê¤ë¤³¤È¤¬¤¢¤ê¡¢¤³¤ì¤é¤ÏľÀÜËÜʸ¤Ë½ñ¤­¹þ¤ßÄûÀµ¤·¤Æ¤­¤Æ¤·¤Þ¤Ã¤¿¤¿¤á¡¢¤³¤ì¤é¤âÍѤ¤¤é¤ì¤ë¤³¤È¤Ï¤Ê¤«¤Ã¤¿¡£
 sub go_P()  //º¸¾å¤Î»æ¥³¥Ã¥×¤«¤éP¤Þ¤Ç
 {
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,-100);
     }
     adjust;
 
     while(sensor_light<white-5){
      OnFwd(OUT_A,50);
     }
     adjust;
 
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
     while(sensor_light<white-5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
     while(sensor_light>black+5){
      OnFwd(OUT_A,50);
     }
     adjust;
 }
 
 sub go_P_Q()  //P¤«¤éQ¤Þ¤Ç
 {
     while(sensor_light<white-5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
     long t1 = CurrentTick();
     while(CurrentTick()-t1<1500){
      OnFwdSync(OUT_AB,50,0);
     }
 }
 
 sub go_S_C()  //S¤«¤éC¤Þ¤Ç
 {
     while(sensor_light<white-5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 }

***ÄÌ¿®¤Î¤¿¤á¤ÎÄêµÁ [#lf762737]
ÄÌ¿®¤¿¤á¤ÎÄêµÁ¤Ï¼¡¤Î¤è¤¦¤ËÄêµÁ¤·¤¿¡£
 #define ultrasonic SensorUS(S1)  //Ķ²»ÇÈ¥»¥ó¥µ¡¼
 #define master 0
 #define slave 1
 #define mail MAILBOX1
 #define cup_age_little 20    //»æ¥³¥Ã¥×¤Á¤ç¤Ã¤È¾å¤²¤ë
 #define cup_age 30    //»æ¥³¥Ã¥×¾å¤²¤ë
 #define cup_sage 40   //»æ¥³¥Ã¥×²¼¤²¤ë
 #define cup_re 50    //»æ¥³¥Ã¥×»ý¤Áľ¤¹
 #define fin 9  //½ª¤ï¤ê


**¥¹¥ì¡¼¥Ö¦ÄêµÁ,¥µ¥Ö¥ë¡¼¥Á¥ó [#l4fc8aec]
***ÄÌ¿®¤Î¤¿¤á¤ÎÄêµÁ [#f34e189e]
¥Þ¥¹¥¿¡¼Â¦¤ÈƱÍͤǤ¢¤ë¡£
 #define master 0
 #define slave 1
 #define mail MAILBOX1
 #define cup_age_little 20    //»æ¥³¥Ã¥×¤Á¤ç¤Ã¤È¾å¤²¤ë
 #define cup_age 30    //»æ¥³¥Ã¥×¾å¤²¤ë
 #define cup_sage 40   //»æ¥³¥Ã¥×²¼¤²¤ë
 #define cup_re 50    //»æ¥³¥Ã¥×»ý¤Áľ¤¹
 #define fin 9  //½ª¤ï¤ê

***¥µ¥Ö¥ë¡¼¥Á¥ó [#n0590ac4]
¥¹¥ì¡¼¥Ö¦¤ÏÄϤà¥â¡¼¥¿¡¼¤È¾å¤²²¼¤²¤¹¤ë¥â¡¼¥¿¡¼¤ò¤Ä¤±¤Æ¤¤¤ë¤¿¤á¡¢¤³¤ì¤é¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òºî¤Ã¤¿¡£Æ°¤«¤¹³ÑÅ٤ϼ¸³Åª¤Ë½Ð¤·¤¿¡£
 sub tukamu()  //ÄϤà
 {
     RotateMotor(OUT_A,50,440);
     adjust;
 }
 sub hanasu()  //Î¥¤¹
 {
    RotateMotor(OUT_A,50,-440);
    adjust;
 }
 sub up_little()  //¾¯¤·¾å¤²¤ë
 {
     RotateMotor(OUT_B,60,-180);
     adjust;
 }
 sub ageru()  //¾å¤²¤ë
 {
     RotateMotor(OUT_B,60,-720);
     adjust;
 }
 sub down_little()  //¾¯¤·²¼¤²¤ë
 {
     RotateMotor(OUT_B,60,180);
     adjust;
 }
 sub sageru()  //²¼¤²¤ë
 {
     RotateMotor(OUT_B,60,720);
     adjust;
 }














**¥Þ¥¹¥¿¡¼Â¦ËÜʸ [#acdf8dd0]
¤³¤ÎÄ̤ê¤Ç¤¢¤ë¤¬¡¢ÌµÂ̤¬Â¿¤¤¤â¤Î¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£ÄÌ¿®¤Ë´Ø¤¹¤ë¥×¥í¥°¥é¥à¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤Ê¤É¤Ç¤Þ¤È¤á¤¿Êý¤¬³Î¼Â¤ËÎɤ«¤Ã¤¿¡£

 task main()
 {
     SetSensorLowspeed(S1);
     SetSensorLight(S2);
 
     //A¤«¤éB¤Þ¤Ç¹Ô¤¯
     escape_A();
     intertify_right();
 
 
     //»æ¥³¥Ã¥×¤òõ¤·¤½¤Î5cm¼êÁ°¤Þ¤Ç¹Ô¤¯
     int d1 = search_distance(90);
 
     if(d1>10){
      approach(d1-5);
     }
 
 
     //ÄÌ¿®(º¸¾å¤Î»æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë) //
     int msg1;
 
     while(msg1!=fin){
      ReceiveRemoteNumber(mail,true,msg1);
      SendRemoteNumber(slave,mail,cup_age_little);
     }
     //ÄÌ¿®//
 
 
     //¿Ê¤ó¤Àʬ¤À¤±Ìá¤ë
     back(d1-5);
 
 
     //B¤ÇÊý¸þž´¹¤·¤ÆP¤Þ¤Ç¹Ô¤¯//
     spinAng(80);  //P¤ÎÊý¤Ø¸þ¤¯
 
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
     while(sensor_light<white-5){
      OnFwd(OUT_B,50);
     }
     adjust;
 
     intertify_right();
 
 
ÅÀP¤Ç¤Ï5ÅÙ¤À¤±Àû²ó¤µ¤»¤¿¤¬¡¢¤³¤ì¤Ï¡¢Q-S´Ö¤Ç³Î¼Â¤Ë¹õÀþ¤Îº¸Â¦¤Ë¥»¥ó¥µ¡¼¤ò»ý¤Ã¤Æ¹Ô¤­¤¿¤«¤Ã¤¿¤«¤é¤Ç¤¢¤ë¡£
     //P¤«¤éS¤Þ¤Ç¹Ô¤¯//
     spinAng(5);  //
     approach(26);
 
     while(sensor_light>black+5){
      OnFwd(OUT_A,50);
     }
     adjust;
 
     while(sensor_light<white-5){
      OnFwd(OUT_B,50);
     }
     adjust;
 
     intertify_right();
 
     spinAng(90);
 
 
     //ÄÌ¿®(»æ¥³¥Ã¥×»ý¤Áľ¤¹)//
     int msg2; 
 
     while(msg2!=fin){
      ReceiveRemoteNumber(mail,true,msg2);
      SendRemoteNumber(slave,mail,cup_re);
     }
 
 
     //X¤ÎÊý¤Ë¸þ¤¯//
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,100);
     }
     adjust;
 
     while(sensor_light<white-10){
      OnFwd(OUT_A,50);
     }
     adjust;
 
     intertify_left();
     intertify_left();
 
 
     //ÄÌ¿®(X¤Ç»æ¥³¥Ã¥×¾å¤²¤ë)//
     int msg3;
 
     while(msg3!=fin){
      ReceiveRemoteNumber(mail,true,msg3);
      SendRemoteNumber(slave,mail,cup_age);
     }
     adjust;
     }
 
 
     //Y¤ÎÊý¤Ë¸þ¤¯
     spinAng(160);
 
¼ÂºÝ¤Ë¤­¤ì¤¤¤ËÆ°¤¤¤¿¤Î¤Ï¤³¤³¤Þ¤Ç¤Ç¤¢¤ë¡£È¿Å¾¤·¤Æ¹õÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¿Ê¤Þ¤»¤¿¤«¤Ã¤¿¤Î¤À¤¬¡¢Ç§¼±¤¹¤ë¤³¤È¤Ê¤¯¡¢Ä¾¿Ê¤·¤Æ¤·¤Þ¤Ã¤¿¡£¤â¤Ã¤ÈºÙ¤«¤Ë°ÜÆ°¤µ¤»¤é¤ì¤¿¤éÀ®¸ù¤·¤Æ¤¤¤¿¤«¤â¤·¤ì¤Ê¤¤¡£
 
    while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
 
     //ÄÌ¿®(»æ¥³¥Ã¥×ÃÖ¤¯)//
     int msg4;
  
     while(msg4!=fin){
      ReceiveRemoteNumber(mail,true,msg4);
      SendRemoteNumber(slave,mail,cup_sage);
     }
     adjust;
 
 
     //²¼¤Î»æ¥³¥Ã¥×¤ÎÊý¤Ë¸þ¤¯ 
     while(sensor_light<white-5){
      OnFwdSync(OUT_AB,-50,0);
     }
     adjust;
 
     while(sensor_light>black+5){
      OnRev(OUT_A,50);
     }
    adjust;
 
     spinAng(90);
 
     int d2 = search_distance(90);
 
     if(d2>10){
      approach(d2-5);
     }
 
 
     //ÄÌ¿®(»æ¥³¥Ã¥×¾¯¤·¾å¤²¤ë)//
     int msg5;
  
     while(msg5!=fin){
      ReceiveRemoteNumber(mail,true,msg5);
      SendRemoteNumber(slave,mail,cup_age_little);
     }
 
 
     //¿Ê¤ó¤Àʬ¤À¤±Ìá¤ë 
     back(d2-5);  
 
 
     //X¤ÎÊý¤Ë¸þ¤¯ 
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,100);
     }
     adjust;
 
     while(sensor_light<white-5){
      OnFwd(OUT_A,50);
     }
     adjust; 
 
     intertify_left();
 
 
     //ÄÌ¿®(»æ¥³¥Ã¥×¤ò¾å¤²¤ë)//
     int msg6;
 
     while(msg6!=fin){
      ReceiveRemoteNumber(mail,true,msg6);
      SendRemoteNumber(slave,mail,cup_age);
     }
     adjust;
 
 
     //Y¤Î¼êÁ°¤Ë¹Ô¤¯
     spinAng(320);
 
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
 
     //»æ¥³¥Ã¥×¤òÃÖ¤¯//
     int msg7;
 
     while(msg7!=fin){
      ReceiveRemoteNumber(mail,true,msg7);
      SendRemoteNumber(slave,mail,cup_sage);
     }
 
 
     //»Ä¤ê¤Î»æ¥³¥Ã¥×¤Î¼êÁ°¤Þ¤Ç¹Ô¤¯ 
     spinAng_opposite(90);
     
     int d3 = search_distance(90); 
 
     if(d3>10){
      approach(d3-5);
     } 
 
 
     //ÄÌ¿®(»æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë)//
     int msg8;  
 
     while(msg8!=fin){
     ReceiveRemoteNumber(mail,true,msg8); 
      SendRemoteNumber(slave,mail,cup_age_little);
     }
 
 
     //¿Ê¤ó¤Àʬ¤À¤±Ìá¤ë
     back(d3-5);
 
 
     //X¤ÎÊý¤Ë¸þ¤¯
     while(sensor_light>black+5){
     OnFwdSync(OUT_AB,-50,100);
     }
     adjust;
 
     intertify_right(); 
 
 
      //ÄÌ¿®(»æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë) //
     int msg9;  
 
     while(msg9!=fin){
     ReceiveRemoteNumber(mail,true,msg9);
      SendRemoteNumber(slave,mail,cup_age);
     }
     adjust;
 
 
     //Y¤Î¼êÁ°¤Þ¤Ç¹Ô¤¯
     spinAng(320); 
  
     while(sensor_light>black+5){
      OnFwdSync(OUT_AB,50,0);
     }
     adjust;
 
 
     //ÄÌ¿®(»æ¥³¥Ã¥×ÃÖ¤¯)//
     int msg10;
  
     while(msg10!=fin){
      ReceiveRemoteNumber(mail,true,msg10);
      SendRemoteNumber(slave,mail,cup_sage);
     }
 }




**¥¹¥ì¡¼¥Ö¦ËÜʸ [#sfea136f]
¤³¤Î¤è¤¦¤ËƱ¤¸¤è¤¦¤Ë¥×¥í¥°¥é¥à¤¬Â³¤¤¤Æ¤¤¤ë¡£
 task main()
 {
     //»æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë
     int msg1;
     until(msg1==cup_age_little)
     ReceiveRemoteNumber(mail,true,msg1);
     while(msg1==cup_age_little){
      sageru();
      tukamu();
      up_little();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg1 = "";  
     }
 
      //»æ¥³¥Ã¥×¤ò»ý¤Áľ¤¹
     int msg2;
     until(msg2==cup_re)
     ReceiveRemoteNumber(mail,true,msg2);
     while(msg2==cup_re){
      down_little();
      hanasu();
      tukamu();
      up_little();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg2 = "";  
     }
 
     //»æ¥³¥Ã¥×¤ò¾å¤²¤ë
     int msg3;
     until(msg3==cup_age)
     ReceiveRemoteNumber(mail,true,msg3);
     while(msg3==cup_age){
      down_little();
      ageru();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg3 = "";  
     }
 
     //»æ¥³¥Ã¥×¤òÃÖ¤¯
     int msg4;
     until(msg4==cup_sage)
     ReceiveRemoteNumber(mail,true,msg4);
     while(msg4==cup_sage){
      sageru(); 
      hanasu();
      ageru();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg4 = "";  
     }

¼ÂºÝ¤ËÆ°¤¤¤¿¤Î¤Ï¤³¤³¤Þ¤Ç¤Ç¤¢¤ë¡£


     //²¼¤Î»æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë
     int msg5;
     until(msg5==cup_age_little)
     ReceiveRemoteNumber(mail,true,msg1);
     while(msg5==cup_age_little){
      sageru();
      tukamu();
      up_little();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg5 = "";  
     }
 
     //»æ¥³¥Ã¥×¤ò¾å¤²¤ë
     int msg6;
     until(msg6==cup_age)
     ReceiveRemoteNumber(mail,true,msg6);
     while(msg6==cup_age){
      down_little();
      ageru();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg6 = "";  
     }
 
     //»æ¥³¥Ã¥×¤òÃÖ¤¯
     int msg7;
     until(msg7==cup_sage)
     ReceiveRemoteNumber(mail,true,msg7);
     while(msg7==cup_sage){
     sageru();
      hanasu();
      ageru();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg7 = "";  
     }
 
     //»Ä¤ê¤Î»æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë
     int msg8;
     until(msg8==cup_age_little)
     ReceiveRemoteNumber(mail,true,msg1);
    while(msg8==cup_age_little){
      sageru();
      tukamu();
      up_little();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg8 = "";  
     }
 
     //»æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë
     int msg9;
     until(msg9==cup_age)
     ReceiveRemoteNumber(mail,true,msg9);
     while(msg9==cup_age){
      down_little();
      ageru();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg9 = "";  
     }
 
     //»æ¥³¥Ã¥×¤òÃÖ¤¯
     int msg10;
     until(msg10==cup_sage)
     ReceiveRemoteNumber(mail,true,msg10);
     while(msg10==cup_sage){
      sageru();
      hanasu();
      ageru();
      SendResponseNumber(mail,fin);
      Wait(500);
      msg10 = "";  
     }
 }





*¤Þ¤È¤á [#oa2e9125]
**·ë²Ì [#gb7fd656]
¥×¥í¥°¥é¥à¤Ï£³¤Ä¤Î»æ¥³¥Ã¥×¤òÃÖ¤¯¤È¤³¤í¤Þ¤Çºî¤Ã¤¿¤Î¤À¤¬¡¢¼ÂºÝ¤Ï°ì¤ÄÌܤλ楳¥Ã¥×¤Î¥Ô¥ó¥Ý¥óµå¤òÃÖ¤¯¤È¤³¤í¤Þ¤Ç¤·¤«¤­¤ì¤¤¤ËÆ°¤«¤Ê¤«¤Ã¤¿(1¤Ä¤·¤«ÏÈÆâ¤ËÆþ¤é¤Ê¤«¤Ã¤¿¤¬)¡£¤½¤Î¸å¤Ï¡¢È¿Å¾¤·¤ÆÅÀS¤Þ¤Ç¹Ô¤­¤¿¤«¤Ã¤¿¤Î¤À¤¬¡¢¸òº¹ÅÀ¤ò¼±Ê̤Ǥ­¤Ê¤¯¤Æ³¹ÔÉÔǽ¤È¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£

**´¶ÁÛ [#c9ae0e59]
¤Þ¤º¡¢º£²ó¤Î²ÝÂê¤Ï»ä¤¬¤Û¤È¤ó¤É°ì¿Í¤Çºî¤Ã¤Æ¤­¤Æ¤·¤Þ¤Ã¤¿¡£´üËö¥Æ¥¹¥È¤Î¤¿¤á»þ´Ö¤¬¤Ê¤«¤Ã¤¿¤È¤¤¤¦¤³¤È¤È¥×¥í¥°¥é¥à¤¬¥°¥ë¡¼¥×¤Ç1¤Ä¤À¤Ã¤¿¤È¤¤¤¦¤³¤È¤¬Â礭¤¤¤È»×¤¦¡£¤·¤«¤·¡¢ËÜÈ֤ǤÏ3°Ì¤È¤Ê¤ë¤³¤È¤¬¤Ç¤­¤Æ·ë²Ì¤È¤·¤ÆÎɤ¤¤â¤Î¤Ë¤Ê¤Ã¤¿¤È»×¤¦¡£¤â¤Ã¤È»þ´Ö¤¬¤¢¤ì¤Ð¶¨ÎϤ·¤Æ¤µ¤é¤ËÎɤ¤¤â¤Î¤¬ºî¤ì¤¿¤«¤â¤·¤ì¤Ê¤¤¡£¥í¥Ü¥Æ¥£¥¯¥¹ÆþÌ祼¥ß¤òÄ̤·¤Æ¡¢Åö½é¼«Ê¬¤¬¤Ç¤­¤ë¤È¤Ï»×¤Ã¤Æ¤Ê¤«¤Ã¤¿¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Æ¡¢¤È¤Æ¤âãÀ®´¶¤ò´¶¤¸¤ë¤³¤È¤¬¤Ç¤­¤¿¡£ºÇ¸å¤Ë¡¢³Æ²ÝÂê¤Ë¤ª¤¤¤Æ¥á¥ó¥Ð¡¼¤ÈÏ䷹礤1¤Ä¤Î¤â¤Î¤òºî¤ê¾å¤²¤Æ¤¤¤¯¤È¤¤¤¦¡¢¤³¤ì¤Þ¤Ç¤Ï¤¢¤Þ¤ê·Ð¸³¤·¤Æ¤³¤Ê¤«¤Ã¤¿¤³¤È¤¬¤Ç¤­¤ÆËÜÅö¤ËÎɤ«¤Ã¤¿¤È»×¤¦¡£ºÇ¸å¤Ï¤¢¤Þ¤ê¥³¥ß¥å¥Ë¥±¡¼¥·¥ç¥ó¤ò¼è¤ë¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤À¤¬¡¢¤ä¤Ï¤ê¥³¥ß¥å¥Ë¥±¡¼¥·¥ç¥ó¤ÏÂç»ö¤Ê¤Î¤À¤È³Ø¤Ö¤³¤È¤¬¤Ç¤­¤¿¡£¤³¤ì¤ò¾­Íè¤ËÀ¸¤«¤·¤Æ¤¤¤­¤¿¤¤¤È»×¤¦¡£


**¥í¥Ü¥Æ¥£¥¯¥¹ÆþÌ祼¥ß¤òÄ̤·¤Æ [#sc5694e8]


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