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*²ÝÂê2 [#ze94ad70]
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**¥³¡¼¥¹ [#s8de8959]

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*¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#d1081fe1]

**¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎ [#c1e673a9]
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**ƹÂÎ [#xc23c187]
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**¸÷¥»¥ó¥µ¡¼ [#sbc2b3bb]
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**¤Ä¤«¤àÉôʬ [#j0244368]
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*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#xaeb4206]

**¥é¥¤¥ó¥È¥ì¡¼¥¹ [#eec3449e]
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¥×¥í¥°¥é¥ß¥ó¥°¤Ç¤Ï°Ê²¼¤Î¤è¤¦¤ËÄêµÁ¤¹¤ë¡¥
 #define black 20
 #define white 50
 #define lightgray 40
 #define darkgray 28
 #define center 35
¤Þ¤¿¡¤¥È¥ì¡¼¥¹»þ¤ÎÆ°ºî¤â¤½¤ì¤¾¤ìÄêµÁ¤·¤Æ¤ª¤¯¡¥
 #define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15);//±¦ÀÞ
 #define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15);//º¸ÀÞ
 #define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,20);//±¦Àû²ó
 #define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,20);//º¸Àû²ó
 #define go_straight OnFwd(OUT_BC,20);//½ÐÎÏ20¤Îľ¿Ê
 #define go_straight2 OnFwd(OUT_BC,15);//½ÐÎÏ15¤Îľ¿Ê

**¥µ¥Ö¥ë¡¼¥Á¥ó [#yc4e5aff]

***º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#g13f81db]
 sub followline_L(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){ //¸½ºß¤Î»þ¹ï¤¬°ìÄê¤ÎÃͤòĶ¤¨¤ë¤Þ¤Ç
         if(SENSOR_1<black){            //¥»¥ó¥µ¡¼¤¬¹õ¤Î»þ
         rotate_left;                   //º¸Àû²ó
         }else if(SENSOR_1<darkgray){   //¥»¥ó¥µ¡¼¤¬¹õ³¥¤Ê¤é
         turn_left;                     //º¸ÀÞ
         }else if(SENSOR_1>lightgray){  //¥»¥ó¥µ¡¼¤¬Çò³¥¤Ê¤é
         turn_right;                    //±¦ÀÞ
         t0=CurrentTick();              //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }else if(SENSOR_1<35){         //ÌÀ¤ë¤µ35°Ê²¼¤Ç
         go_straight;                   //ľ¿Ê
         t0=CurrentTick();              //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }else{                         //¤½¤ì°Ê³°¤Ï
         rotate_right;                  //±¦Àû²ó
         t0=CurrentTick();              //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }
     }    
     Off(OUT_BC);          //»þ¹ï¤¬°ìÄê¤ÎÃͤòĶ¤¨¤ë¤ÈÄä»ß
     Wait(1000);           //1ÉôÖÄä»ß
 }

***±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#p36e96c9]
 sub followline_R(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){  //¸½ºß¤Î»þ¹ï¤¬°ìÄê¤ÎÃͤòĶ¤¨¤ë¤Þ¤Ç
         if(SENSOR_1<black){             //¥»¥ó¥µ¡¼¤¬¹õ¤Î»þ
         rotate_right;                   //±¦Àû²ó
         }else if(SENSOR_1<darkgray){    //¥»¥ó¥µ¡¼¤¬¹õ³¥¤Ê¤é
         turn_right;                     //±¦ÀÞ
         }else if(SENSOR_1>lightgray){   //¥»¥ó¥µ¡¼¤¬Çò³¥¤Ê¤é
         turn_left;                      //º¸ÀÞ
         t0=CurrentTick();               //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }else if(SENSOR_1<35){          //¥»¥ó¥µ¡¼¤¬35°Ê²¼¤Ê¤é
         go_straight;                    //ľ¿Ê
         t0=CurrentTick();               //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }else{                          //¤½¤ì°Ê³°¤Ï
         rotate_left;                    //º¸Àû²ó
         t0=CurrentTick();               //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }
     }    
     Off(OUT_BC);           //°ìÄê¤Î»þ´Ö¤òĶ¤¨¤ë¤ÈÄä»ß
     Wait(1000);            //°ìÉôÖÄä»ß
 }

***JÃÏÅÀ¤Ç¤ÎT»úÏ©¤Þ¤Ç±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#n8f9379f]

 sub followline_R2(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){   //»þ¹ï¤¬¤¢¤ë°ìÄê¤ÎÃͤè¤ê¾®¤µ¤¤¤È¤­
         if(SENSOR_1<black){              //¹õ¤Ê¤é
         rotate_right;                    //±¦Àû²ó
         t0=CurrentTick();                //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }else if(SENSOR_1<darkgray){     //³¥¹õ¿§¤Ê¤é
         turn_right;                      //±¦ÀÞ
         t0=CurrentTick();                //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }else if(SENSOR_1>lightgray){    //³¥Çò¿§¤Ê¤é
         turn_left;                       //º¸ÀÞ
         }else if(SENSOR_1<35){           //ÌÀ¤ë¤µ35°Ê²¼¤Ç
         go_straight2;                    //¤æ¤Ã¤¯¤êľ¿Ê
         t0=CurrentTick();                //»þ´Ö¤ò¥ê¥»¥Ã¥È
         }else{                           //¤½¤ì°Ê³°¤Ê¤é
         rotate_left;                     //º¸Àû²ó
         }
     }    
     Off(OUT_BC);            //Ää»ß
     Wait(2000);             //2ÉôÖÄä»ß
 }


***¸òº¹ÅÀ²£ÃÇ [#dea5769a]
-ľ¿Ê
¹õ³¥(28)¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ·¤Æ¤¤¤ë»þ¤Ïľ¿Ê¤·¡¤
¹õ³¥(28)¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ·¤¿¤é»ß¤Þ¤ë¡¥¢ª¹õ¤¤Àþ¾å¤Ç¤Ïľ¿Ê
 sub Blackto_White()
 {
     while(SENSOR_1<darkgray){
         OnFwd(OUT_BC,15);
     }
     Off(OUT_BC);
 }

-±¦Àû²ó
Çò³¥(40)¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ·¤Æ¤¤¤ë»þ¤Ï±¦ÀÞ¤·¡¤
Çò³¥(40)¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ·¤¿¤é»ß¤Þ¤ë¡¥ ¢ª¹õ¤¤Àþ¾å¤Ç¤Ï±¦Àû²ó
 sub Blackto_White_R()
 {
     while(SENSOR_1<lightgray){
         OnFwd(OUT_C,20);
         OnRev(OUT_B,20);
     }
     Off(OUT_BC);
 }

-º¸Àû²ó
Çò³¥(40)¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ·¤Æ¤¤¤ë»þ¤Ïº¸ÀÞ¤·¡¤
Çò³¥(40)¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ·¤¿¤é»ß¤Þ¤ë¡¥¢ª¹õ¤¤Àþ¾å¤Ç¤Ïº¸Àû²ó
 sub Blackto_White_L()
 {
     while(SENSOR_1<lightgray){
         OnFwd(OUT_B,20);
         OnRev(OUT_C,20);
     }
     Off(OUT_BC);
 }


**¸òº¹ÅÀǧ¼± [#x6b6474f]
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¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤ëºÝ¡¤¸òº¹ÅÀ¤Ë¤¿¤É¤êÃ夤¤Æ¤â¤½¤Î¤Þ¤Þ¥È¥ì¡¼¥¹¤ò³¤±¤Æ¤·¤Þ¤¤¶Ê¤¬¤Ã¤Æ¤·¤Þ¤¦¡¥¤½¤Î¤¿¤á¡¤¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡¥¤Þ¤¿¡¤¾ò·ï¤Ç¤¢¤ë¸òº¹ÅÀ¤Ç¤Î1ÉÃÄä»ß¤Î¥×¥í¥°¥é¥à¤òÁȤ߹þ¤ó¤À¡¥

***º¸Â¦¥È¥ì¡¼¥¹¤Î¸òº¹ÅÀǧ¼± [#l9128f0d]
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º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ì¹ç¡¤¡Ö¹õ¡×¤È¡Ö¹õ³¥¡×¤Î­¢¤È­¤¤ÎÆ°ºî¤¬Ï¢Â³¤Ç²¿Éô֤«Â³¤¤¤¿¤È¤­¡¤»ß¤Þ¤ë¤è¤¦¤Ë¤¹¤ë¡¥
 sub followline_L(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø
         if(SENSOR_1<black){             //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó
             rotate_left;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
         }else if(SENSOR_1<darkgray){¡¡¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø
             turn_left;           ¡¡¡¡¡¡ //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
         }else if(SENSOR_1>lightdark){¡¡¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø¶Ê¤¬¤ë
             turn_right;          ¡¡¡¡¡¡ //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }else if(SENSOR_1<center){¡¡¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë
             go_straight;        ¡¡¡¡¡¡  //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó
             rotate_right;        ¡¡¡¡¡¡ //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }
     }
     Off(OUT_BC);
     Wait(1000);
 }

***±¦Â¦¥È¥ì¡¼¥¹¤Î¸òº¹ÅÀǧ¼± [#s4f7665d]
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 sub followline_R(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø
         if(SENSOR_1<black){             //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó
             rotate_right;                //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
         }else if(SENSOR_1<darkgray){¡¡¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø
             turn_right;                  //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
         }else if(SENSOR_1>lightdark){¡¡¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø¶Ê¤¬¤ë
             turn_left;                   //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }else if(SENSOR_1<center){¡¡¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë
             go_straight;                 //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó
             rotate_left;                 //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }
     }
     Off(OUT_BC);
     Wait(1000);
 } 

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¤Þ¤¿¡¤¥³¡¼¥¹¤ÎK¤«¤éL¤Ë¸þ¤«¤¤¡¤L¤Ç»ß¤Þ¤ë¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤ª¤¤¤Æ¤Ï¡¤±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¡ÖÇò¡×¤È¡ÖÇò¤Î¶­Ìܡפέ¢¤È­¤¤ÎÆ°ºî¤òϢ³¤Ç¹Ô¤¦¤È»ß¤Þ¤ë¤è¤¦¤Ë¤·¤¿¡£lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤ÃÍ¡¢white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ·¤¿»þ´Ö¤¬stop_time¤ÎÃͤλþ´Öʬ¤òĶ²á¤·¤¿¾ì¹ç¤Ë¤Ïwhile¤ÎÆ°ºî¤¬Ää»ß¤¹¤ë¡¥

 sub followline_R2(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){¡¡//stop_time¤Ë¤¤¤ì¤¿ÃͤòĶ²á¤¹¤ë¤È¼¡¤Î¥×¥í¥°¥é¥à¤Ø
         if(SENSOR_1<black){               //black¤¹¤Ê¤ï¤Á20¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤ØÀû²ó
             rotate_right;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }else if(SENSOR_1<darkgray){¡¡  ¡¡//darkgray¤¹¤Ê¤ï¤Á28¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤È±¦¤Ø
             turn_right;                   //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }else if(SENSOR_1>lightdark){¡¡ ¡¡//lightdray¤¹¤Ê¤ï¤Á40¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤Ø¶Ê¤¬¤ë
             turn_left;                    //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
         }else if(SENSOR_1<center){¡¡  ¡¡¡¡//center¤¹¤Ê¤ï¤Á35¤è¤ê¾®¤µ¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èľ¿Ê¤¹¤ë
             go_straight2;                 //¤³¤ÎÆ°ºîÃæ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤·Â³¤±¤ë
             t0=CurrentTick();
         }else{¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  ¡¡//white¤¹¤Ê¤ï¤Á50¤è¤êÂ礭¤¤Ãͤò¸¡ÃΤ¹¤ë¤Èº¸¤ØÀû²ó
             rotate_left;                  //¤³¤ÎÆ°ºî¤¬Ï¢Â³¤¹¤ë¤È»ß¤Þ¤ë
         }
     }
     Off(OUT_BC);
     Wait(2000);
 }


**¥Ü¡¼¥ë¤Î¥·¥å¡¼¥È [#i119d10d]
º£²ó¤Î²ÝÂê¤Ç¤Ï¡¤¥³¡¼¥¹¤ÎÅÓÃæ¤Ç¥Ü¡¼¥ë¤òÄϤߡ¤¥´¡¼¥ëÁ°¤ÇÊü¤·¡¤¥·¥å¡¼¥È¤¹¤ëÆ°¤­¤¬¤¢¤ë¡¥»ä¤¿¤Á¤Î ¥°¥ë¡¼¥×¤Ç¤Ï¡¤¥Ü¡¼¥ë¤òÊü¤·¤¿¸å¤Ë¥í¥Ü¥Ã¥ÈËÜÂΤÇÁ°¤Ë²¡¤·½Ð¤·¤Æ¥·¥å¡¼¥È¤¹¤ë¥×¥í¥°¥é¥à¤òºî¤Ã¤¿¡¥¤Þ¤¿¡¤¤½¤ì¤¾¤ì¤ò #define ¤ÇÄêµÁ¤·¤¿¡¥
-¥Ü¡¼¥ë¤òÄϤà¥×¥í¥°¥é¥à
 #define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A);
-¥Ü¡¼¥ë¤òÊü¤¹¥×¥í¥°¥é¥à
 #define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A);
-¥Ü¡¼¥ë¤ò²¡¤·½Ð¤¹¥×¥í¥°¥é¥à
¥â¡¼¥¿¡¼¤Î½ÐÎϤòÂçÉý¤Ë¾å¤²¤Æ¥Ü¡¼¥ë¤¬¤Þ¤Ã¤¹¤°¿Ê¤à¤è¤¦¤Ë¤·¤¿¡¥
 #define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);

*¥³¡¼¥¹¾å¤òÆ°¤«¤¹ [#t492d4c1]
¥³¡¼¥¹¤Î¾å¤òÆ°¤¯Î®¤ì¤Ï¼¡¤Î¤è¤¦¤Ë¤Ê¤ë¡¥

&ref(2019a/Member/Kasai/Mission2/map_junnbann.png,50%);

**¥á¥¤¥ó¥×¥í¥°¥é¥à [#k8a404a7]
 task main()
 {
     SetSensorLight(S1);
     followline_R(150);     //1
     Blackto_White_L();     //2
     followline_L(200);     //3
     Blackto_White_R();     //4
     followline_R2(200);    //5
     catch;                 //¥Ü¡¼¥ë¤òÄϤà
     turn;                  //º¸¤ËÀû²ó
     followline_R(150);     //6
     Blackto_White();       //7
     followline_L(150);     //8
     Blackto_White_L();     //9
     followline_L(200);     //10
     Blackto_White();       //11
     followline_L(200);     //12
     Blackto_White();       //13
     followline_L(200);     //14
     Blackto_White();       //15
     followline_R(150);     //16
     Blackto_White();       //17
     followline_R(150);     //18
     release;               //¥Ü¡¼¥ë¤òÊü¤¹
     osidasi;               //¥´¡¼¥ë¤¹¤ë
 }

**Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#d398e02c]
 #define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15);
 #define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15);
 #define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,25);
 #define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,25);
 #define go_straight OnFwd(OUT_BC,20);
 #define go_straight2 OnFwd(OUT_BC,15);
 #define turn OnRev(OUT_C,25);OnFwd(OUT_B,25);Wait(1500);Off(OUT_BC);
 #define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A);
 #define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A);
 #define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);
 #define black 20
 #define white 50
 #define lightgray 40
 #define darkgray 28
 
 sub followline_L(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){
 if(SENSOR_1<black){
    rotate_left;
 }else if(SENSOR_1<darkgray){
    turn_left;
 }else if(SENSOR_1>lightgray){
    turn_right;
    t0=CurrentTick();
 }else if(SENSOR_1<35){
    go_straight;
    t0=CurrentTick();
 }else{
    rotate_right;
    t0=CurrentTick();
 }
     }    
     Off(OUT_BC);
     Wait(1000);
 }
 
 sub followline_R(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){
 if(SENSOR_1<black){
    rotate_right;
 }else if(SENSOR_1<darkgray){
    turn_right;
 }else if(SENSOR_1>lightgray){
    turn_left;
    t0=CurrentTick();
 }else if(SENSOR_1<35){
    go_straight;
    t0=CurrentTick();
 }else{
    rotate_left;
    t0=CurrentTick();
 }
     }    
     Off(OUT_BC);
     Wait(1000);
 }
 
 sub followline_R2(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){
 if(SENSOR_1<black){
    rotate_right;
    t0=CurrentTick();
 }else if(SENSOR_1<darkgray){
    turn_right;
    t0=CurrentTick();
 }else if(SENSOR_1>lightgray){
    turn_left;
 }else if(SENSOR_1<35){
    go_straight2;
    t0=CurrentTick();
 }else{
    rotate_left;
 }
     }    
     Off(OUT_BC);
     Wait(2000);
 }
 
 sub Blackto_White()
 {
     while(SENSOR_1<darkgray){
     OnFwd(OUT_BC,15);
     }
     Off(OUT_BC);
 }
 
 sub Blackto_White_R()
 {
     while(SENSOR_1<darkgray){
     OnFwd(OUT_C,20);
     OnRev(OUT_B,20);
     }
     Off(OUT_BC);
 }
 
 sub Blackto_White_L()
 {
     while(SENSOR_1<lightgray){
     OnFwd(OUT_B,20);
     OnRev(OUT_C,20);
     }
     Off(OUT_BC);
 }
 
 task main()
 {
     SetSensorLight(S1);
     followline_R(150);
     Blackto_White_L();
     followline_L(200);
     Blackto_White_R();
     followline_R2(200);
     catch;
     turn;
     followline_R(150);
     Blackto_White();
     followline_L(150);
     Blackto_White_L();
     followline_L(200);
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_R(150);
     Blackto_White();
     followline_R(150);
     release;
     osidasi;
 }

*¤Þ¤È¤á [#b411665f]
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