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***¸òº¹ÅÀ¤ÎȽÃÇ [#oa38b9a1]
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*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#s7843b79]
**define¤Î¥×¥í¥°¥é¥à [#a74845ee]
  #define RUN_TIME1 30
  #define RUN_TIME_JIH 170            
  #define RUN_TIME_HGF 380
  #define RUN_TIME_FE 180
  #define RUN_TIME_DB 1000
  #define turn_right OnFwd(OUT_A);OnRev(OUT_C);
  #define turn_left90 OnRev(OUT_A);OnFwd(OUT_C);Wait(100);
  #define turn_left OnRev(OUT_A);OnFwd(OUT_C);Wait(30);
  #define go_straight OnFwd(OUT_AC);
  #define turn180 OnRev(OUT_A);OnFwd(OUT_C);Wait(130);
  #define go_back OnRev(OUT_AC);

  #define THRESHOLD 42
  #define turn_left Off(OUT_A); OnFwd(OUT_C);
  #define turn_right OnFwd(OUT_A); Off(OUT_C);
  #define turn180 OnFwd(OUT_C);OnRev(OUT_A);Wait(190);Off(OUT_AC);//£±£¸£°ÅÙ²óž
  #define runtime 1450
  #define runtime1 50
  #define turn90 OnFwd(OUT_A);OnRev(OUT_C);Wait(100);Off(OUT_AC);//£¹£°ÅÙ²óž
  #define power(s) SetPower(OUT_B,s); //¥â¡¼¥¿¤Î¥Ñ¥ï¡¼¤ò£ó¤Ë¤¹¤ë
  #define STEP 1  // °ì²ó¤ÎȽÄê¤Ç¿Ê¤à»þ´Ö

**¥µ¥Ö¥ë¡¼¥Á¥ó¥×¥í¥°¥é¥à [#h8048afa]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤½¤ì¤¾¤ì¤Î¶è´Ö¤´¤È¤Ë»þ´ÖÆâ¤Ç·«¤êÊÖ¤¹¤è¤¦¤ËÀßÄꤷ¡¢ºÙ¤«¤¯Ê¬¤±¤Æ¤¢¤ê¤Þ¤¹¡£
***½ÐȯÅÀA¤«¤é¥Ü¡¼¥ë¤òÄϤàL¤Þ¤Ç¤Î¥×¥í¥°¥é¥à [#a205abbc]
  sub across_turn()
  {
    SetSensor(SENSOR_2, SENSOR_LIGHT);
  
    ClearTimer(0);
    while (FastTimer(0) <= runtime) {
      if (SENSOR_2 < THRESHOLD){  // Àþ¾å¤Ê¤é
        turn_left;                // º¸¤Ø
      } else {                    // Àþ¾å¤Ç¤Ê¤±¤ì¤Ð
        turn_right;               // ±¦¤Ø
      }
      Wait(STEP);  // STEP¤ÎÃÍ
    }
  }

***¥Ü¡¼¥ë¤òÄϤ߽ª¤ï¤êL¤«¤éK¤Þ¤Ç¿Ê¤à¥×¥í¥°¥é¥à [#g3f248b1]
  sub across_turn1()
  {
    SetSensor(SENSOR_2, SENSOR_LIGHT);
  
    ClearTimer(0);
    while (FastTimer(0) <= runtime1) {
      if (SENSOR_2 < THRESHOLD){  // Àþ¾å¤Ê¤é
        turn_left;                // º¸¤Ø
      } else {                    // Àþ¾å¤Ç¤Ê¤±¤ì¤Ð
        turn_right;               // ±¦¤Ø
      }
      Wait(STEP);  // STEP¤ÎÃÍ
    }
  }
  
***¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤Þ¤ÇÆ°¤­Â³¤±¤ë¥×¥í¥°¥é¥à [#gab04cab]
  sub line_trace1()    //¸òº¹ÅÀ¤Ç»ß¤Þ¤ë¤Þ¤ÇÆ°¤­Â³¤±¤ë¥×¥í¥°¥é¥à
    { SetSensor(SENSOR_2,SENSOR_LIGHT);
  
    ClearTimer(0);
    while ( FastTimer(0) <= RUN_TIME1 ) {
        if ( 48 < SENSOR_2 ){
            OnFwd(OUT_A); Off(OUT_C);ClearTimer(0);    //Çò¤Ê¤é±¦¤Ø
        } else if (45 <SENSOR_2 < 49) {
            Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
        } else {
            OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
         }
     }
    Off(OUT_AC);Wait(100);
  }
***J¤«¤éI¡¢I¤«¤éH¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹°ìÄê»þ´ÖÆâ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#r844b152]
  sub line_trace_JIH()
    { SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
        while ( FastTimer(0) <= RUN_TIME_JIH ) {
            if ( 48 < SENSOR_2 ){
                OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
            } else if (45 <SENSOR_2 < 49) {
                Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
            } else {
                OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
             }
        }
    turn_right;Wait(22);OnFwd(OUT_AC);Wait(15);
   }

***H¤«¤éF¤Þ¤Ç°ìÄê»þ´ÖÆâ¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#ad14dcb9]
  sub line_trace_HGF()
    { SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while ( FastTimer(0) <= RUN_TIME_HGF ) {
        if ( 48 < SENSOR_2 ){
            OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
        } else if (45 <SENSOR_2 < 49) {
            Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
        } else {
            OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
         }
     }
  }

***F¤«¤éE¤Þ¤Ç°ìÄê»þ´ÖÆâ¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#sd63a8eb]
  sub line_trace_FE()
    { SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while ( FastTimer(0) <= RUN_TIME_FE ) {
        if ( 48 < SENSOR_2 ){
            OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
        } else if (45 <SENSOR_2 < 49) {
            Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
        } else {
            OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
         }
     }
  }

***D¤«¤éB¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹°ìÄê»þ´ÖÆâ¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë [#o92004ea]
  sub line_trace_DB()
    { SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while ( FastTimer(0) <= RUN_TIME_DB ) {
        if ( 48 < SENSOR_2 ){
            OnFwd(OUT_A); Off(OUT_C);    //Çò¤Ê¤é±¦¤Ø
        } else if (45 <SENSOR_2 < 49) {
            Off(OUT_A); OnFwd(OUT_C);    //³¥¿§¤Ê¤éº¸¤Ø
        } else {
            OnRev(OUT_A);OnFwd(OUT_C);    //¹õ¤Ê¤é±¦¤ØÀû²ó
         }
     }
  }
**¥á¥¤¥ó¥×¥í¥°¥é¥à [#x0a4eba2]
  task main(){
        across_turn();
    turn180;
    OnFwd(OUT_B);
    power(0);//¤æ¤Ã¤¯¤ê¥Ü¡¼¥ë¤òÄϤà
    Wait(25);
    Off(OUT_B);
    across_turn1();
    turn90;
    Off(OUT_AC);
    line_trace1();    //k¤«¤é½Ðȯ
    line_trace_JIH();    //J¤«¤éI
    line_trace_JIH();    //I¤«¤éH
    line_trace_HGF();    //H¤«¤éF
    turn_left90;    //F¤Çº¸90ÅÙÀû²ó
    line_trace_FE();    //F¤«¤éE
    turn_left;    //E¤Çº¸Àû²ó(90Åٰʲ¼)
    line_trace1();    //E¤«¤éD¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¸å¡¢°ì»þÄä»ß
    turn_right;Wait(25);    //D¤Çº¸¤Ø·¹¤¤¤¿Ê¬¡¢±¦¤Ë¶Ê¤¬¤Ã¤Æ°ÌÃÖÄ´À°
    line_trace_DB();    //D¤«¤éB
    turn180;    //180ÅÙÀû²ó
    OnRev(OUT_B);    //¥¢¡¼¥àŸ³«
    power(0);
    Wait(25);
    Off(OUT_B);   
    go_straight;    //¥Ü¡¼¥ë¤«¤éÎ¥¤ì¤ë
    Wait(100);
    OnFwd(OUT_B);    //¥¢¡¼¥à¤òÊĤ¸¤ë
    power(0);
    Wait(25);
    go_back;    //¸å¤í¤Ë²¼¤¬¤Ã¤Æ°ÌÃÖÄ´À°
    Wait(55);
    OnFwd(OUT_B);   
    Wait(10);    //¥Ü¡¼¥ë¤ò¥¢¡¼¥à¤ÇÃƤ¤¤ÆA¤Ë¥·¥å¡¼¥È
}
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