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* ²ÝÂê2 [#ca17a593]
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* º£²ó¤Îµ¡ÂΤˤĤ¤¤Æ [#rd7db7ba]
** Á´ÂÎ [#t27325fb]
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** Æ°ÎÏ¡Ê¥¿¥¤¥ä¡ËÉôʬ [#jf455781]

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** ¸÷¥»¥ó¥µ¡¼Éôʬ [#uc7ca4d4]
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** »æ¥³¥Ã¥×²ó¼ýÉôʬ [#o36c614c]

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** ¥é¥¤¥ó¥È¥ì¡¼¥¹ [#w8e0718c]

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&ref(2017b/Member/riko/Mission2/Æ°¤­Êý.PNG,600x300,Æ°¤­Êý);

 #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à

*** º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#xeaa8f9c]
¾å¤Î·ë²Ì¤«¤é¥×¥í¥°¥é¥à¤òºî¤Ã¤Æ¤¤¤¯¡£¤½¤ÎºÝ¡¢¹õÀþ¤Îº¸Ã¼¤«±¦Ã¼¤ò¤È¤ë¤«¤Ç¥×¥í¥°¥é¥ß¥ó¥°¤¬ÊѤï¤ë°Ù¡¢Ê¬¤±¤Æ¹Í¤¨¤ë¡£

¤½¤ì¤Ë¤¢¤¿¤Ã¤ÆÇò¤È¹õ¤Î¶­³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃÍ45¤ò
 #define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶­³¦Àþ¾å¤ÎÃÍ
¤ÈÄêµÁ¤·¤Æ¤ª¤¯¡£
 sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     long ta=CurrentTick();
     while (CurrentTick()-ta<=Assist_time){
         if (SENSOR_1<average-11) {
             move1;                      //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move1¤ÎÆ°¤­¤ò¤¹¤ë
         }else if (SENSOR_1<average-7){
             move2;                      //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤­¤ò¤¹¤ë
         } else if (SENSOR_1<average+7){  
             move3;                      //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤­¤ò¤¹¤ë
         } else if (SENSOR_1<average+11){
             move4;                      //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤­¤ò¤¹¤ë
         } else {
             move5;                      //¤½¤ì°Ê³°¤Î»þ¡¢move5¤ÎÆ°¤­¤ò¤¹¤ë
          }
      }
 }

&ref(2017b/Member/riko/Mission2/º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.PNG,500x400,º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);

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*** ±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#u9dc89ce]
º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈƱÍͤιͤ¨Êý¤Ç¥×¥í¥°¥é¥à¤ò½ñ¤¤¤Æ¤¤¤¯¡£Ãí°Õ¤¹¤ëÅÀ¤Ïº¸Â¦¤Î¥×¥í¥°¥é¥à¤È±¦Â¦¤Î¥×¥í¥°¥é¥à¤ÏµÕž¤·¤Æ¤¤¤ë¤À¤±¤È¤¤¤¦¤³¤È¤Ç¤¢¤ë¡£

 sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     long tb=CurrentTick();
      while (CurrentTick()-tb<=Assist_time){
         if (SENSOR_1<average-11) {
             move5;                      //ÌÀ¤ë¤µ34°Ê²¼¤Î»þ¡¢move5¤ÎÆ°¤­¤ò¤¹¤ë
         } else if (SENSOR_1<average-7){
             move4;                      //ÌÀ¤ë¤µ38°Ê²¼¤Î»þ¡¢move4¤ÎÆ°¤­¤ò¤¹¤ë
         } else if (SENSOR_1<average+7){  
             move3;                      //ÌÀ¤ë¤µ52°Ê²¼¤Î»þ¡¢move3¤ÎÆ°¤­¤ò¤¹¤ë
         } else if (SENSOR_1<average+11){
             move2;                      //ÌÀ¤ë¤µ56°Ê²¼¤Î»þ¡¢move2¤ÎÆ°¤­¤ò¤¹¤ë
         } else {
             move1;                      //¤½¤ì°Ê³°¤Î»þ¡¢move1¤ÎÆ°¤­¤ò¤¹¤ë
          }
      }
 }

&ref(2017b/Member/riko/Mission2/±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.PNG,600x400,±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);

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** ¸òº¹ÅÀǧ¼± [#ld26a553]
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¤½¤ÎÂкö¤È¤·¤Æ¡¢¸òº¹ÅÀǧ¼±¤¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¡£
¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£
º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¡¢move1¤¬Ï¢Â³¤ÇÆ°ºî¤·¤¿¤È¤­¤Ë¸òº¹ÅÀ¤¬¤¢¤ë¤È¹Í¤¨¤é¤ì¤ë¤Î¤Çmove1¤Ë¤Ä¤¤¤Æ¹Í¤¨¤ë¡£¤Þ¤¿¡¢±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Ïmove5¤ÎÆ°ºî¤È¹Í¤¨¤é¤ì¤ë¡£

¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±
 sub L_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
 {
     long t1=CurrentTick();
     while (CurrentTick()-t1<=Stop_time){
         if (SENSOR_1<average-11) {
             move1;
         } else if (SENSOR_1<average-7){
             move2;
             t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         } else if (SENSOR_1<average+7){  
             move3;
             t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         } else if (SENSOR_1<average+11){
             move4;
             t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         } else {
             move5;
             t1=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
          }
      }
     Off(OUT_AB);                                   //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
 }

¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¤Î¸òº¹ÅÀǧ¼±
 sub R_line(int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
 {
     long t2=CurrentTick();
     while (CurrentTick()-t2<=Stop_time){
         if (SENSOR_1<average-11) {
             move5;
         } else if (SENSOR_1<average-8){
             move4;
             t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         } else if (SENSOR_1<average+6){  
             move3;
             t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         } else if (SENSOR_1<average+11){
             move2;
             t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
         } else {
             move1;
             t2=CurrentTick();                      //¤³¤ÎÆ°ºî¤ÎºÇÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë¡£
          }
      }
     Off(OUT_AB);                                   //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¡£
 }

** ¸òº¹ÅÀ²£ÃÇ [#a9201be2]
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¤·¤«¤·¡¢¾åµ­¤Î¤ä¤êÊý¤Ç¤¢¤ë¤ÈÅÅÃӤθº¤ê¶ñ¹ç¤Ë¤è¤Ã¤Æ¡¢¤½¤ÎÅÙ¤Ë¥×¥í¥°¥é¥à¤òÊѤ¨¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£
ºÇ½ªÅª¤ÊÊýË¡¤È¤·¤Æ¡¢¤¢¤ëÌÀ¤ë¤µ¤ÎÃͤË㤹¤ë¤Þ¤Ç°ìÄê¤ÎÆ°ºî¤ò¤¹¤ë¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë¤³¤È¤Ç¡¢ÅÅÃӤθº¤ê¶ñ¹ç¤È´Ø·¸¤Ê¤¯¸òº¹ÅÀ²£ÃǤǤ­¤ë¥×¥í¥°¥é¥à¤òºî¤ë¤È¤¤¤¦ÊýË¡¤Ë»ê¤Ã¤¿¡£

¡»Çò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤ«¤é¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à
 sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     while (SENSOR_1>blight){
         OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
         OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
      }
     Off(OUT_AB);
 }


¡»¹õ¤¤Éôʬ¡Ê°Å¤¤»þ¤ÎÃ͡ˤ«¤éÇò¤¤Éôʬ¡ÊÌÀ¤ë¤¤»þ¤ÎÃ͡ˤؤ¤¤¯¥×¥í¥°¥é¥à
 sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     while (SENSOR_1<blight){
         OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
         OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
      }
     Off(OUT_AB);
 }

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*** ľ¿Ê¤Î¥×¥í¥°¥é¥à [#yac768d2]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤éľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¸òº¹ÅÀǧ¼±¤·¤¿¤¢¤È¤«¤é²¼¤Î¥×¥í¥°¥é¥à¤¬»Ï¤Þ¤ë¤³¤È¤ËÃí°Õ¤¹¤ë¡£¤Ä¤Þ¤ê¡¢¸òº¹ÅÀǧ¼±¤ò¤·¤¿Ä¾¸å¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤÏ30°Ì¤È¤Ê¤Ã¤Æ¤¤¤ë¡£¤³¤Î¤³¤È¤Ï°Ê²¼¤¹¤Ù¤Æ¤Î¥×¥í¥°¥é¥à¤Ë¤¤¤¨¤ë¤³¤È¤Ç¤¢¤ë¡£

 sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
 {
     Black_to_White(48,40,35);
 }

&ref(2017b/Member/riko/Mission2/ľ¿Ê.PNG,600x300,ľ¿Ê);

¸ÀÍÕ¤À¤±¤Ç¤Ïʬ¤«¤ê¤º¤é¤¤¤Î¿Þ¤Çɽ¤¹¡£¾å¤Î¿Þ¤Ç¤Ï±¦¤«¤éº¸¤Ë¹õÀþ¤òľ¿Ê¤¹¤ëºÝ¤ÎÆ°¤­¤òɽ¤·¤Æ¤¤¤ë¡£³¥¿§¤Î±ß¤Ï¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òɽ¤·¤Æ¤ª¤ê¡¢¤½¤ÎÃæ¤Î¿ô»ú¤Ï¤½¤Î»þ¤ÎÌÀ¤ë¤µ¤Î¿ôÃͤòɽ¤·¤Æ¤¤¤ë¡£ÀÖ¤¤Ìð°õ¤Ï¥×¥í¥°¥é¥à¤Ë¤è¤ë°ÜÆ°¤òɽ¤·¤Æ¤¤¤ë¡£

*** ±¦ÀÞ¤Î¥×¥í¥°¥é¥à [#m7984a97]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤é¤Î±¦ÀÞ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

 sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     Black_to_White(48,-10,30);
 }

&ref(2017b/Member/riko/Mission2/±¦ÀÞ.PNG,600x300,±¦ÀÞ);

¾å¿Þ¤Ç¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¹õÀþ¤ò²£ÃǤ·¤Ä¤Ä±¦ÀÞ¤·¤Æ¤¤¤ëÍͻҤòɽ¤·¤Æ¤¤¤ë¡£
*** º¸ÀÞ¤Î¥×¥í¥°¥é¥à [#d103e450]
¸òº¹ÅÀǧ¼±¤·¤Æ¤«¤é¤Îº¸ÀÞ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

 sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     Black_to_White(48,40,10);
 }

&ref(2017b/Member/riko/Mission2/º¸ÀÞ.PNG,600x300,º¸ÀÞ);

¾å¿Þ¤Ç¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¹õÀþ¤ò²£ÃǤ·¤Ä¤Äº¸ÀÞ¤·¤Æ¤¤¤ëÍͻҤòɽ¤·¤Æ¤¤¤ë¡£
*** »æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à [#g655c2f1]
»æ¥³¥Ã¥×¤ò¼è¤ëºÝ¡¢¤Ç¤­¤ë¸Â¤êƱ¤¸°ÌÃ֤ǻ楳¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤·¤¿Êý¤¬¤è¤¤¤È¹Í¤¨¤é¤ì¤ë¡£¤½¤³¤Ç»æ¥³¥Ã¥×¤ò¼è¤ëÁ°¤Ë¸òº¹ÅÀǧ¼±¤¹¤ë¾ì½ê¤¬¤¢¤ë¤Î¤Ç¤½¤ì¤òÍøÍѤ¹¤ë¡£
ÅԹ礬¤¤¤¤¤¿¤á¡¢¤³¤³¤Ç»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤âÆþ¤ì¤Æ¤ª¤¯¡£

 sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤­¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤­¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
     OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à(»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òÆ°¤«¤¹¡Ë
     Wait(800);
     Off(OUT_C);
 }

&ref(2017b/Member/riko/Mission2/»æ¥³¥Ã¥×¤ò¼è¤ë.PNG,600x300,»æ¥³¥Ã¥×¤ò¼è¤ë);

¾å¤Î¿Þ¤Ç¤Ï¼ÂºÝ¤Ë»æ¥³¥Ã¥×¤ò¼è¤ë¾ì½ê¤òºÆ¸½¤·¤Æ¤¤¤ë¡£Æ°¤­¤È¤·¤Æ¤Ï²¼¤«¤é¿Ê¤ó¤Ç¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢»æ¥³¥Ã¥×¼è¤ë¤Î¤ËÃúÅÙÎɤ¤¾ì½ê¤Ë¤â¤Ã¤Æ¤¤¤¯¡£¤½¤·¤Æ»æ¥³¥Ã¥×¼è¤ëµ¡¹½¤òÆ°¤«¤·¤Æ¤¤¤ë¡£
*** »æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¡Ê£Õ¥¿¡¼¥ó¡Ë¤Î¥×¥í¥°¥é¥à [#k1f1d895]
¾å¤Î¥×¥í¥°¥é¥à¤Ç»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£Æ°¤­¤È¤·¤Æ¤Ï£Õ¥¿¡¼¥ó¤ÈÊѤï¤é¤Ê¤¤¡£ÌÀ¤ë¤µ¤ÎÃͤϻ楳¥Ã¥×¤ò¼è¤Ã¤¿»þ¤«¤éÊѤï¤Ã¤Æ¤¤¤Ê¤¤¤È¹Í¤¨¤é¤ì¤ë¤³¤È¤ò¹Íθ¤¹¤ë¡£

 sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     White_to_Black(33,-28,35);
     Black_to_White(48,-20,35);
 }

&ref(2017b/Member/riko/Mission2/£Õ¥¿¡¼¥ó.PNG,600x300,£Õ¥¿¡¼¥ó);

»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¤«¤é¤Î¿Þ¤Ç¤¢¤ë¡£Æ°¤­¤È¤·¤Æ¤ÏÊ£»¨¤Ç¤¢¤ë¤¬ºÇ½ªÅª¤Ë£Õ¥¿¡¼¥ó¤ò¤¹¤ëÆ°¤­¤È¤Ê¤ë¡£

*** »æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à [#wf348a21]
±ß·Á¤Î¥³¡¼¥¹¤òÁö¹ÔÃæ¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯¤¿¤á¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ëɬÍפ¬¤¢¤ë¡£¤½¤ÎºÝ¡¢¤¿¤À¥³¡¼¥¹¤«¤é³°¤ì¤ë¤Î¤Ç¤Ï¤Ê¤¯»æ¥³¥Ã¥×¤¬Å¬ÀڤʰÌÃ֤ˤâ¤Ã¤Æ¤¤¤¯¤è¤¦¤ËÆ°¤«¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£

 sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     White_to_Black(30,-50,0);
     Black_to_White(53,-30,0); 
 }

&ref(2017b/Member/riko/Mission2/¥³¡¼¥¹¤«¤é³°¤ì¤ë.PNG,600x300,¥³¡¼¥¹¤«¤é³°¤ì¤ë);

¾å¿Þ¤ÎÄ̤ꡢ±ß¤ÎÆ⦤òÁö¹ÔÃæ¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë¤è¤¦¤Ë¤¹¤ë¡£»æ¥³¥Ã¥×¤Î°ÌÃ֤˵¤¤òÉÕ¤±¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤Î¤Ç¥Ð¥Ã¥¯¤¹¤ë¤è¤¦¤ËÆ°¤¯¤³¤È¤Ë¤Ê¤ë¡£
*** »æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à [#c094d48c]
¤¿¤À¤Î»æ¥³¥Ã¥×¤ò¼è¤ëµ¡¹½¤òµÕ¤ËÆ°¤«¤·¤¿¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤³¤Î¤È¤­¤Ï¸òº¹ÅÀ²£ÃÇ¤Î¥×¥í¥°¥é¥à¤Ï»È¤ï¤ì¤Æ¤¤¤Ê¤¤¡£

 sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
 {
     OnFwd(OUT_C,-30);
     Wait(900);
     Off(OUT_C);
 }

*** »æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à [#ae50d159]
»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¤½¤Î¥×¥í¥°¥é¥à¡£

 sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     White_to_Black(35,30,-10);
 }

&ref(2017b/Member/riko/Mission2/¥³¡¼¥¹¤ËÉüµ¢.PNG,600x300,¥³¡¼¥¹¤ËÉüµ¢);

»æ¥³¥Ã¥×¤òÃÖ¤¯Æ°ºî¤«¤é¤Î³¤­¤Ç¤¢¤ë¤³¤È¤ËÃí°Õ¤¹¤ì¤Ð¡¢ÆäËÆñ¤·¤¤Æ°¤­¤Ï¤·¤Æ¤¤¤Ê¤¤¡£¥³¡¼¥¹¤ËÉüµ¢¤·¤¿¸å¤Ï±ß¤Î³°Â¦¡Êº¸Â¦¡Ë¤òÁö¤ë¡£
*** ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à [#h22ed960]
°ìÈֺǸå¤Ë°ì»þÄä»ß¤·¤¿¸å¡¢¥´¡¼¥ë¤¹¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ï¾¯¤·¤À¤±Æüì¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£

 sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à
 {
     Black_to_White(48,10,40);
     L_line(200,100);
     Black_to_White(48,20,30); 
 
     OnFwd(OUT_A,20);
     OnFwd(OUT_B,40);
     Wait(500);
     Off(OUT_AB);
 }

&ref(2017b/Member/riko/Mission2/ºÇ¸å.PNG,600x300,ºÇ¸å);

¾å¿Þ¤Ïº¸¤ÎÀþ¤«¤é±¦Â¦¿Ê¤ó¤ÇÍè¤Æ¤ª¤ê¡¢¸òº¹ÅÀǧ¼±¤·¤¿¤È¤³¤í¤«¤é¤Ï¤¸¤Þ¤Ã¤Æ¤¤¤ë¤³¤È¤òÁÛÄꤷ¤Æ¤¤¤ë¡£ºÇ½é¤ÎÀþ¤ò²£ÃǤ·¤¿¸å¤ÎÀÄÌð°õ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤òɽ¤·¤Æ¤¤¤ë¡£¤Þ¤¿¡¢ºÇ¸å¤Î²£ÃǤò¤·¤¿¸å¤ÎÁ°¿Ê¤Ç¥´¡¼¥ë¤È¤Ê¤ë¡£

*** ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë¡Ê½Ðȯ¤¹¤ë¡Ë°Ù¤Î¥×¥í¥°¥é¥à [#t09cd7d9]
¤³¤Î¥³¡¼¥¹¤Î½Ðȯ»þ¤Ï¹õÀþ¤Ç°Ï¤Þ¤ì¤Æ¤¤¤ë¤¿¤á¡¢¤Þ¤º¤½¤³¤òÈ´¤±½Ð¤µ¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£¤½¤Î¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤â¤·¤Ê¤¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¤¿¤á¾¯¤·Æüì¤Ê¥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£

 sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
     Wait(100);
     White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶­³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤­¤ë
 }

&ref(2017b/Member/riko/Mission2/½é¤á.PNG,600x300,½é¤á);

¾å¿Þ¤Ï¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é»Ï¤Þ¤Ã¤Æ¤¤¤ë¡£²«¿§¤ÎÌð°õ¤Ï¤¿¤À¤Îľ¿Ê¤òɽ¤·¤Æ¤¤¤ë¡£


** °Â¿´°ÂÁ´¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î°Ù¤Ë [#zeadfdb1]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢¸òº¹ÅÀǧ¼±¤·¡¢¸òº¹ÅÀ²£ÃǤäÆüì¤ÊÆ°¤­¤ò¤¹¤ë¡£¤½¤Î¸å¡¢¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ëºÝ¡¢¸í¤Ã¤¿²Õ½ê¤Ç¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬´Ö¡¹¤¢¤ë¡£¤½¤Î¤¿¤á¡¢¸òº¹ÅÀǧ¼±¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÁ°¤Ë²¿Éô֡ÊAssist_time¡Ë¤«ÀäÂФ˥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤òÆþ¤ì¤Æ¤ª¤¯¡£
¤½¤¦¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¸í¤Ã¤¿²Õ½ê¤Ç¤Î¸òº¹ÅÀǧ¼±¤¬¤Ê¤¯¤Ê¤Ã¤¿¡£

¤Þ¤¿¡¢¤³¤Î¥×¥í¥°¥é¥à¤òÍѤ¤¤ë¤³¤È¤Ë¤è¤ê¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¤Î¤è¤¦¤ÊµÞ¤Ê¥«¡¼¥Ö¤Çǧ¼±¤·¤Æ¤·¤Þ¤Ã¤Æ¤âÂн褬²Äǽ¤È¤Ê¤ë¡£

¡»º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë
 sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     long ta=CurrentTick();
     while (CurrentTick()-ta<=Assist_time){
         if (SENSOR_1<average-11) {
             move1
         }else if (SENSOR_1<average-7){
             move2;
         } else if (SENSOR_1<average+7){  
             move3;
         } else if (SENSOR_1<average+11){
             move4;
         } else {
             move5;
          }
      }
 }
 sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
 {
     L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
     long t1=CurrentTick();
     while (CurrentTick()-t1<=Stop_time){
         if (SENSOR_1<average-11) {
             move1;
         } else if (SENSOR_1<average-7){
             move2;
             t1=CurrentTick();
         } else if (SENSOR_1<average+7){  
             move3;
             t1=CurrentTick();
         } else if (SENSOR_1<average+11){
             move4;
             t1=CurrentTick();
         } else {
             move5;
             t1=CurrentTick();
          }
      }
     Off(OUT_AB);
 } 

¡»±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆó¤Ä¤Î¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤ë
 sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     long tb=CurrentTick();
     while (CurrentTick()-tb<=Assist_time){
         if (SENSOR_1<average-11) {
             move5;
         } else if (SENSOR_1<average-7){
             move4;
         } else if (SENSOR_1<average+7){  
             move3;
         } else if (SENSOR_1<average+11){
             move2;
         } else {
             move1;
          }
      }
 }
 sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
 {
     R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
     long t2=CurrentTick();
     while (CurrentTick()-t2<=Stop_time){
         if (SENSOR_1<average-11) {
             move5;
         } else if (SENSOR_1<average-8){
             move4;
            t2=CurrentTick();
         } else if (SENSOR_1<average+6){  
             move3;
             t2=CurrentTick();
         } else if (SENSOR_1<average+11){
             move2;
             t2=CurrentTick();
         } else {
             move1;
             t2=CurrentTick();
          }
      }
     Off(OUT_AB);
 }



* SE(¸ú²Ì²»¡Ë [#qd70a075]
º£²ó¤Î²ÝÂê¤ÎÃæ¤Ë²¿¤é¤«¤Î¥¢¥¯¥·¥ç¥ó¤òµ¯¤³¤·¤¿¤È¤­¡¢²»¤òÌĤ餹¤È¤¤¤¦¤³¤È¤â´Þ¤Þ¤ì¤Æ¤¤¤ë¡£¤½¤Î¤¿¤á¡Ö°ì»þÄä»ß¤¹¤ë¤È¤­¡×¡Ö»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë¤È¤­¡×¡Ö¥´¡¼¥ë¤·¤¿¤È¤­¡×¡Ö¸òº¹ÅÀǧ¼±¤ò¤·¤¿¤È¤­¡×¡ÖAssist_time¤¬½ª¤ï¤Ã¤¿¤È¤­¡×¡Ö¥¹¥¿¡¼¥È¤¹¤ë¤È¤­¡×¤ÎÏ»¤Ä¤Î¾ìÌ̤ǻͤĤ⻤òÌĤ餹¡£

¡Ê¡Ö»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë¤È¤­¡×¡Ö¥´¡¼¥ë¤·¤¿¤È¤­¡×¤Î£Ó£Å¤òƱ¤¸¤â¤Î¤Ë¤¹¤ë¡£¡Ö¸òº¹ÅÀǧ¼±¤ò¤·¤¿¤È¤­¡×¡ÖAssist_time¤¬½ª¤ï¤Ã¤¿¤È¤­¡×¤ÎSE¤òƱ¤¸¤â¤Î¤È¤¹¤ë¡Ë

°Ê²¼¤ÎÄêµÁ¤¬²»¤Î¿ôÃͤȤ¹¤ë

 #define SO 392 //¥½¤Î²»
 #define DO 523 //¥É¤Î²»
 #define MI 659 //¥ß¤Î²»
 #define SO_H 784 //¹â¤¤¥½¤Î²»
 #define SI 988 //¥·¤Î²»
 #define DO_H 1047 //¹â¤¤¥É¤Î²»
 #define MI_H 1318 //¹â¤¤¥ß¤Î²»
 #define RE 1175 //¥ì¤Î²»
 #define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»

** °ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²» [#lefd89a6]
¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
 sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¡»¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
 {
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
 }

** »æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²» [#r57c506d]
¥Þ¡»¥ª¤Î1UP¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
 sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î1UP¤Î²»¡Ë
 {
     PlayTone(MI,110);Wait(120);
     PlayTone(SO_H,110);Wait(120);
     PlayTone(MI_H,110);Wait(120);
     PlayTone(DO_H,110);Wait(120);
     PlayTone(RE,110);Wait(120);
     PlayTone(SO_SH,110);Wait(120);
 }


** ¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²» [#k6796e5a]
¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
 sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢Assist_time¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
 {
     PlayTone(SI,90);Wait(100);
     PlayTone(MI_H,140);Wait(150);
 }



** ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²» [#b83a62ec]
¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
 sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¡»¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
 {
     PlayTone(MI,100);Wait(110);
     PlayTone(MI,100);Wait(250);
     PlayTone(MI,100);Wait(160);
     PlayTone(DO,90);Wait(100);
     PlayTone(MI,90);Wait(230);
     PlayTone(SO_H,90);Wait(420);
     PlayTone(SO,170);Wait(180);
 }



* Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#k59ec0d9]
°Ê¾å¤Î¥×¥í¥°¥é¥à¹ç¤ï¤»¡¢Å¬ÀڤʰÌÃÖ¤ËSE¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¡£

°Ê²¼¤Ï´°À®¤·¤¿Á´ÂÎ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤È¤Ê¤ë¡£

 #define SO 392 //¥½¤Î²»
 #define DO 523 //¥É¤Î²»
 #define MI 659 //¥ß¤Î²»
 #define SO_H 784 //¹â¤¤¥½¤Î²»
 #define SI 988 //¥·¤Î²»
 #define DO_H 1047 //¹â¤¤¥É¤Î²»
 #define MI_H 1318 //¹â¤¤¥ß¤Î²»
 #define RE 1175 //¥ì¤Î²»
 #define SO_SH 1568 //°ìÈֹ⤤¥½¤Î²»
 
 
 sub pose_SE() //°ì»þÄä»ß¤Î»þ¤Ë¤Ê¤ë²»(¥Þ¥ê¥ª¤Î¥Ý¡¼¥º¤Î²»¡Ë
 {
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
     PlayTone(MI_H,90);Wait(100);
     PlayTone(DO_H,90);Wait(100);
 }
 sub one_UP_SE() //»æ¥³¥Ã¥×¤Ë´Ø¤¹¤ëÆ°ºî¤ò¤¹¤ë»þ¤Î²»¡¢¥´¡¼¥ë¤·¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î1UP¤Î²»¡Ë
 {
     PlayTone(MI,110);Wait(120);
     PlayTone(SO_H,110);Wait(120);
     PlayTone(MI_H,110);Wait(120);
     PlayTone(DO_H,110);Wait(120);
     PlayTone(RE,110);Wait(120);
     PlayTone(SO_SH,110);Wait(120);
 
 }
 sub coin_SE() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¡¢¥¢¥·¥¹¥È¥¿¥¤¥à¤¬½ª¤ï¤Ã¤¿»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥³¥¤¥ó¤ò³ÍÆÀ¤·¤¿»þ¤Î²»¡Ë
 {
     PlayTone(SI,90);Wait(100);
     PlayTone(MI_H,140);Wait(150);
 }
 
 sub Start_SE() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë»þ¤Î²»¡Ê¥Þ¥ê¥ª¤Î¥²¡¼¥à¤Ç°ìÈÖ¤ªÆëÀ÷¤ß¤ÎBGM¤Î¥¤¥ó¥È¥íÉôʬ¡Ë
 {
     PlayTone(MI,100);Wait(110);
     PlayTone(MI,100);Wait(250);
     PlayTone(MI,100);Wait(160);
     PlayTone(DO,90);Wait(100);
     PlayTone(MI,90);Wait(230);
     PlayTone(SO_H,90);Wait(420);
     PlayTone(SO,170);Wait(180);
 }
 
 
 #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //1¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //2¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //3¤ÎÊý¸þ¤Ø¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //4¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //5¤ÎÊý¸þ¤Ë¸þ¤«¤¦°Ù¤Î¥×¥í¥°¥é¥à
 
 #define average 45 //º£²ó¤Î¥é¥¤¥ó¤È;ÇòÉôʬ¤Î¶­³¦Àþ¾å¤ÎÃÍ
 
 
 sub Stop_Motion() //°ì»þÄä»ß¤ò¤¹¤ë»þ¤Î¥×¥í¥°¥é¥à
 {
     Wait(300); //¸òº¹ÅÀǧ¼±¤ò¤·¤¿»þ¤Î²»¤È²¼¤Î²»¤òº®Æ±¤µ¤»¤Ê¤¤°Ù¤ÎÂÔ¤Á»þ´Ö
     pose_SE(); //¥Ý¡¼¥º²»
     Wait(1000); //°ì»þÄä»ß¤Î»þ´Ö
 }
 
 sub L_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     long ta=CurrentTick();
     while (CurrentTick()-ta<=Assist_time){
         if (SENSOR_1<average-11) {
             move1
         }else if (SENSOR_1<average-7){
             move2;
         } else if (SENSOR_1<average+7){  
             move3;
         } else if (SENSOR_1<average+11){
             move4;
         } else {
             move5;
          }
      }
     coin_SE(); //¥³¥¤¥ó¤Î²»
 }
 
 sub R_Assist_line(int Assist_time) //Assist_time¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     long tb=CurrentTick();
     while (CurrentTick()-tb<=Assist_time){
         if (SENSOR_1<average-11) {
             move5;
         } else if (SENSOR_1<average-7){
             move4;
         } else if (SENSOR_1<average+7){  
             move3;
         } else if (SENSOR_1<average+11){
             move2;
         } else {
             move1;
          }
      }
     coin_SE(); //¥³¥¤¥ó¤Î²»
 }
 
 sub L_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move1¤ò¤·Â³¤±¤ë¤È¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
 {
     L_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë 
     long t1=CurrentTick();
     while (CurrentTick()-t1<=Stop_time){
         if (SENSOR_1<average-11) {
             move1;
         } else if (SENSOR_1<average-7){
             move2;
             t1=CurrentTick();
         } else if (SENSOR_1<average+7){  
             move3;
             t1=CurrentTick();
         } else if (SENSOR_1<average+11){
             move4;
             t1=CurrentTick();
         } else {
             move5;
             t1=CurrentTick();
          }
      }
     Off(OUT_AB);
     coin_SE(); //¥³¥¤¥ó¤Î²»
 }
 
 sub R_line(int Assist_time,int Stop_time) //Stop_time¤Ë¤¤¤ì¤¿Ê¬¤Î»þ´Ö¡¢move5¤ò¤·Â³¤±¤ë¤È¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï½ªÎ»¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
 {
     R_Assist_line(Assist_time); //¸òº¹ÅÀǧ¼±¤ò¤·¡¢Êý¸þž´¹¤ò¤·¤¿¤½¤Î¸å¤Îµ¡ÂΤ¬³ÑÅ٤ˤè¤Ã¤Æ¸í¤Ã¤Æ¸òº¹ÅÀǧ¼±¤·¤Æ¤·¤Þ¤ï¤Ê¤¤¤è¤¦¤Ë¸òº¹ÅÀǧ¼±¤ò¤·¤Ê¤¤¥¢¥·¥¹¥È¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤Æ¤¤¤ë
  
     long t2=CurrentTick();
     while (CurrentTick()-t2<=Stop_time){
         if (SENSOR_1<average-11) {
             move5;
         } else if (SENSOR_1<average-8){
             move4;
             t2=CurrentTick();
         } else if (SENSOR_1<average+6){  
             move3;
             t2=CurrentTick();
         } else if (SENSOR_1<average+11){
             move2;
             t2=CurrentTick();
         } else {
             move1;
             t2=CurrentTick();
          }
      }
     Off(OUT_AB);
     coin_SE(); //¥³¥¤¥ó¤Î²»
 }
 
 sub White_to_Black(int blight,int A_speed,int B_speed) //Çò¤¤Éôʬ¤«¤é¹õ¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     while (SENSOR_1>blight){
         OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
         OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
      }
     Off(OUT_AB);
 }
 
 sub Black_to_White(int blight,int A_speed,int B_speed) //¹õ¤¤Éôʬ¤«¤éÇò¤¤Éôʬ¤Ë°Ü¹Ô¤¹¤ë¡Ê¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬blight¤ËÆþ¤ì¤¿¿ôÃͰʾå¤Ë¤Ê¤ë¡Ë¤Þ¤ÇÆ°ºî¤·Â³¤±¤ë¥×¥í¥°¥é¥à
 {
     while (SENSOR_1<blight){
         OnFwd(OUT_A,A_speed); //A_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢A¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
         OnFwd(OUT_B,B_speed); //B_speed¤ËÆþ¤ì¤¿¿ôÃÍʬ¡¢B¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼¤¬²ó¤ë
      }
     Off(OUT_AB);
 }
 
 sub Get_cup() //»æ¥³¥Ã¥×¤ò¼è¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     Black_to_White(53,0,30); //¤³¤Î¥×¥í¥°¥é¥à¤òÆþ¤ì¤ë¤³¤È¤Ç¤Ç¤­¤ë¤À¤±¡¢»æ¥³¥Ã¥×¤ò¼è¤ë¤È¤­¤Îµ¡ÂΤκ¸±¦¤Î¥Ö¥ì¤ò¸º¤é¤·¡¢³î¤Ä¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤò³ÎÄꤵ¤»¤ë°Ù¤Ë¤¢¤ë
     OnFwd(OUT_C,30); //C¤ËÀܳ¤µ¤ì¤¿¥â¡¼¥¿¡¼²ó¤¹°Ù¤Î¥×¥í¥°¥é¥à
     Wait(800);
     Off(OUT_C);
     one_UP_SE(); //1UP¤Î²»
 }
 
 sub Put_cup() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Î¥×¥í¥°¥é¥à
 {
     OnFwd(OUT_C,-30);
     Wait(900);
     Off(OUT_C);
     one_UP_SE(); //1UP¤Î²»
 }
 
 sub Straight() //¸òº¹ÅÀǧ¼±¤ò¤·¤¿¸å¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
 {
     Black_to_White(48,40,35);
 }
 
 sub Right() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤ò±¦ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     Black_to_White(48,-10,30);
 }
 
 sub Leght() //¸òº¹ÅÀǧ¼±¤·¤¿¸å¡¢¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     Black_to_White(48,40,10);
 } 
 
 sub Return_cource_1() //»æ¥³¥Ã¥×¤ò¼è¤Ã¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     White_to_Black(33,-28,35);
     Black_to_White(48,-20,35);
 } 
 
 sub Derailment_cource() //»æ¥³¥Ã¥×¤òÃÖ¤¯°Ù¤Ë¥³¡¼¥¹¤«¤é³°¤ì¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     White_to_Black(30,-50,0);
     Black_to_White(53,-30,0); 
 }
 
 sub Return_cource_2() //»æ¥³¥Ã¥×¤òÃÖ¤¤¤¿¸å¡¢¥³¡¼¥¹¤ËÉüµ¢¤¹¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     White_to_Black(35,30,-10);
 }
 
 sub Go_goal() //ºÇ´ü¤Î°ì»þÄä»ß¤ò¤·¤¿¸å¤«¤é¤Î¥×¥í¥°¥é¥à¡£¾¯¤·¤À¤±Æüì¤Ê¥×¥í¥°¥é¥à¤Ê°Ù¡¢¤³¤³¤À¤±ÆÃÊ̤˥µ¥Ö¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿
 {
     Black_to_White(48,10,40);
     L_line(200,100);
     Black_to_White(48,20,30);
     OnFwd(OUT_A,20);
     OnFwd(OUT_B,40);
     Wait(500);
     Off(OUT_AB);
     one_UP_SE(); //1UP¤Î²»
 }
 
 sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
 {
     move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
     Start_SE(); //¥¹¥¿¡¼¥È¤Î²»
     Wait(100);
     White_to_Black(48,5,30); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶­³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤­¤ë
 }
 
 task main()
 {
     SetSensorLight(S1); //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ°
     Start_Set(); //¥¹¥¿¡¼¥È
     L_line(6000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢6ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
     Get_cup(); //»æ¥³¥Ã¥×¤ò¼è¤ë
     Return_cource_1(); //¥³¡¼¥¹¤ËÌá¤ë
     L_line(200,200); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.2ÉäǸòº¹ÅÀǧ¼±
     Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
     R_line(700,110); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢0.7ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.11ÉäǸòº¹ÅÀǧ¼±
     Straight(); //¸òº¹ÅÀǧ¼±¤òľ¿Ê
     R_line(3000,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
     R_line(3500,120); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢3.5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.12ÉäǸòº¹ÅÀǧ¼±
     R_line(1000,100); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.1ÉäǸòº¹ÅÀǧ¼±
     Stop_Motion(); //°ì»þÄä»ß
     Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
     R_Assist_line(5000); //5ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡Ê»æ¥³¥Ã¥×¤ÎÃÖ¤¯¤È¤³¤í¤Þ¤Ç¤Î°ÜÆ°¡Ë
     Derailment_cource(); //¥³¡¼¥¹¤òæÀþ¡Ê»æ¥³¥Ã¥×¤òÃÖ¤¯¾ì½ê¤òÄ´À°¡Ë
     Put_cup(); //»æ¥³¥Ã¥×¤òÃÖ¤¯
     Return_cource_2(); //¥³¡¼¥¹¤ËÌá¤ë
     L_line(2000,150); //º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢2ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.15ÉäǸòº¹ÅÀǧ¼±
     Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
     R_line(1000,180); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.18ÉäǸòº¹ÅÀǧ¼±
     Stop_Motion(); //°ì»þÄä»ß
     Right(); //¸òº¹ÅÀ¤ò±¦ÀÞ
     L_line(1000,250); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.25ÉäǸòº¹ÅÀǧ¼±
     Stop_Motion(); //°ì»þÄä»ß
     Leght(); //¸òº¹ÅÀ¤òº¸ÀÞ
     R_line(1000,130); //±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢1ÉäΥ¢¥·¥¹¥È¥È¥ì¡¼¥¹¡¢0.13ÉäǸòº¹ÅÀǧ¼±
     Stop_Motion(); //°ì»þÄä»ß
     Go_goal(); //¥´¡¼¥ë¤Ø¸þ¤«¤¦
 }


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