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*¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#facc07ea]
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**¥»¥ó¥µ¡¼¤Î¼è¤êÉÕ¤±°ÌÃ֤ˤĤ¤¤Æ [#sb6dc43f]
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**¥¢¡¼¥à¤Ë¤Ä¤¤¤Æ [#y1753b87]
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*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#i014699a]
¤³¤Î¥í¥Ü¥Ã¥È¤Ï¡¤£²¤Ä¤ÎNXT¡Ê¥Þ¥¹¥¿¡¼Â¦¤È¥¹¥ì¥¤¥Ö¦¡Ë¤ÇÄÌ¿®¤ò¹Ô¤¤¡¤¥Þ¥¹¥¿¡¼Â¦¤Ïµ¡ÂΤΰÜÆ°¡¤¥¹¥ì¥¤¥Ö¦¤Ï¥¢¡¼¥à¤Î³«ÊÄ¡¦¾å²¼¤ò¤½¤ì¤¾¤ìôÅö¤·¤Æ¤¤¤ë¡¥

**¥Þ¥¹¥¿¡¼¤Î¥×¥í¥°¥é¥à [#j6999681]
***ÄêµÁ [#tbc2f6b5]
¤Þ¤º¡¤°Ê²¼¤Î¤è¤¦¤ËÄêµÁ¤·¤¿¡¥
 #define black 30                                         //´°Á´¤Ë¹õ¤Î¤È¤­¤ÎÃÍ
 #define white 50                                         //´°Á´¤ËÇò¤Î¤È¤­¤ÎÃÍ
 #define speedH 60                                        //®¤¤¥¹¥Ô¡¼¥É
 #define speedL 30                                        //ÃÙ¤¤¥¹¥Ô¡¼¥É
 #define speedM 20                                        //µÕ²óž¤È¤­¤Î¥¹¥Ô¡¼¥É
 #define mae OnFwd(OUT_BC,speedH);                        //Á°¿Ê¤ÎÆ°ºî
 #define ushiro OnRev(OUT_BC,speedH);                     //¸åÂà¤ÎÆ°ºî
 #define turnRRR OnFwd(OUT_C,speedH);OnRev(OUT_B,speedM); //°ìÈÖ¥­¥Ä¤¤±¦¶Ê¤¬¤ê
 #define turnLLL OnFwd(OUT_C,speedH);OnRev(OUT_C,speedM); //°ìÈÖ¥­¥Ä¤¤º¸¶Ê¤¬¤ê
 #define turnRR OnFwd(OUT_C,speedH);Off(OUT_B);           //±¦¶Ê¤¬¤ê
 #define turnLL OnFwd(OUT_B,speedH);Off(OUT_C);           //º¸¶Ê¤¬¤ê
 #define turnR OnFwd(OUT_C,speedH);OnFwd(OUT_B,speedL);   //´Ë¤á¤Î±¦¶Ê¤¬¤ê
 #define turnL OnFwd(OUT_B,speedH);OnFwd(OUT_C,speedL);   //´Ë¤á¤Îº¸¶Ê¤¬¤ê
 #define step 1                                           //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆ°ºî»þ´Ö
 #define jikan 100                     //´°Á´¤Ë¹õ¤Çµï³¤±¤é¤ì¤ë»þ´Ö¤ÎºÇÂçÃ͡ʤ·¤­¤¤ÃÍ¡Ë
 #define teishi Off(OUT_BC);Wait(300);                    //°ì»þÄä»ß
 #define CONN 1                                           //¥¹¥ì¥¤¥Ö¤ÎÈÖ¹æ
 #define SIGNAL1 11                                       //¥¹¥ì¥¤¥Ö¤ËÁ÷¤ë¿®¹æ¤ÎÈÖ¹æ
 #define SIGNAL2 12                                       //Ʊ¾å
 #define SIGNAL3 13                                       //Ʊ¾å
 #define SIGNAL4 14                                       //Ʊ¾å
 #define curveL OnFwd(OUT_B,20);OnRev(OUT_C,10);          //º¸¤Ë²óž¤·¤Æ¥«¡¼¥Ö¤¹¤ëÆ°ºî

***ľÀþ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤È¥ë¡¼¥×¤«¤éÈ´¤±¤ë¡Ë¤Î¥µ¥Ö¥ë¡¼¥Á¥ó [#g929b9c4]
¸÷¥»¥ó¥µ¡¼¤¬»ØÄꤷ¤¿»þ´Ö°Ê¾å¡¤¹õ¤È¬Äꤷ¤¿¤é»ß¤Þ¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤µ¤ì¤Æ¤¤¤ë¡¥
void linetraceS()                      //´°Á´¤Ë¹õ¤¬jikan°Ê¾å¤À¤Ã¤¿¤é³°¤ì¤ë
{
    long t0=0,t_black=0,t_max=jikan;

    t0=CurrentTick();                  
    while(t_black<t_max){        //t_black¤¬t_max¤ÎÃͤè¤êÂ礭¤¯¤Ê¤Ã¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±¤ë
        if(SENSOR_3>white){            //´°Á´¤ËÇò¤Î¤È¤­
         turnRR;                       //±¦¶Ê¤¬¤ê
        } else if(SENSOR_3>white-5){   //Çò¤è¤ê¤Î³¥¿§¤Î¤È¤­
         turnR;                        //´Ë¤¤±¦¶Ê¤¬¤ê
        } else if(SENSOR_3>black+5){   //³¥¿§¤Î¤È¤­
         mae;                          //Á°¿Ê
        } else if(SENSOR_3>black){     //¹õ´ó¤ê¤Î³¥¿§¤Î¤È¤­
         turnL;                        //´Ë¤¤º¸¶Ê¤¬¤ê
        } else{                        //´°Á´¤Ë¹õ¤Î¤È¤­
         turnLL;                       //º¸¶Ê¤¬¤ê
         t0=CurrentTick();             //¸½ºß»þ´Ö¤òt0¤È¤¹¤ë(»þ´Ö¤ò¬¤ê»Ï¤á¤ë)
         until((SENSOR_3<black+5)&&(SENSOR_3>black));//¹õ´ó¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤Ç¬¤ê³¤±¤ë
         t_black=CurrentTick()-t0;     //¸½ºß»þ¹ï¤«¤ét0¤ÎÃͤò°ú¤¤¤¿¤â¤Î
        }
     Wait(step);
    }
}
***¥«¡¼¥Ö¤Î¤È¤­¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤ë¤È¥ë¡¼¥×¤«¤éÈ´¤±¤ë¡Ë¤Î¥µ¥Ö¥ë¡¼¥Á¥ó [#zf0d28b1]
´ðËÜŪ¤Ë¤ÏľÀþ¤Î»þ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤È»÷¤Æ¤¤¤ë¤¬¡¤¥«¡¼¥Ö¤Î»þ¤ËľÀþ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¹Ô¤¦¤È¶Ê¤¬¤ë¤Î¤¬¤­¤Ä¤¹¤®¤Æ¾å¼ê¤¯¥é¥¤¥ó¥È¥ì¡¼¥¹½ÐÍè¤Ê¤«¤Ã¤¿¤Î¤Ç¡¤¶Ê¤¬¤ë¤È¤­¤Ë¥¿¥¤¥ä¤ËµÕ²óž¤ò²Ã¤¨¤¿¤Î¤ò¤³¤Î»þ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¤·¤¿¡¥

void linetraceS()                      //´°Á´¤Ë¹õ¤¬jikan°Ê¾å¤À¤Ã¤¿¤é³°¤ì¤ë
{
    long t0=0,t_black=0,t_max=jikan;

    t0=CurrentTick();                  
    while(t_black<t_max){        //t_black¤¬t_max¤ÎÃͤè¤êÂ礭¤¯¤Ê¤Ã¤¿¤é¥ë¡¼¥×¤«¤éÈ´¤±¤ë
        if(SENSOR_3>white){            //´°Á´¤ËÇò¤Î¤È¤­
         turnRRR;                      //¥­¥Ä¤¤±¦¶Ê¤¬¤ê
        } else if(SENSOR_3>white-5){   //Çò¤è¤ê¤Î³¥¿§¤Î¤È¤­
         turnRR;                       //±¦¶Ê¤¬¤ê
        } else if(SENSOR_3>black+5){   //³¥¿§¤Î¤È¤­
         mae;                          //Á°¿Ê
        } else if(SENSOR_3>black){     //¹õ´ó¤ê¤Î³¥¿§¤Î¤È¤­
         turnLL;                       //º¸¶Ê¤¬¤ê
        } else{                        //´°Á´¤Ë¹õ¤Î¤È¤­
         turnLLL;                      //¥­¥Ä¤¤º¸¶Ê¤¬¤ê
         t0=CurrentTick();             //¸½ºß»þ´Ö¤òt0¤È¤¹¤ë(»þ´Ö¤ò¬¤ê»Ï¤á¤ë)
         until((SENSOR_3<black+5)&&(SENSOR_3>black));//¹õ´ó¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤Ç¬¤ê³¤±¤ë
         t_black=CurrentTick()-t0;     //¸½ºß»þ¹ï¤«¤ét0¤ÎÃͤò°ú¤¤¤¿¤â¤Î
        }
     Wait(step);
    }
}

***¸òº¹ÅÀ¤òľ¿Ê¤·¤ÆÆÍÇˤ¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#o8048ad6]
¸òº¹ÅÀ¤Ç»ß¤Þ¤ê¡¥¤òÆÍÇˤ¹¤ë¤¿¤á¤Ë¡¤¤Þ¤ºÇò¤è¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¤·¤½¤Î¸å¹õ´ó¤ê¤Î³¥¿§¤Ë¤Ê¤ë¤Þ¤Ç±¦¶Ê¤¬¤ê¤ò³¤±¤ë¤È¤¤¤¦¥×¥í¥°¥é¥à¤òÁȤó¤À¡¥
 void crossline()
 {
     mae;                    //Á°¿Ê
     until(SENSOR_3>white-5);//Çò¤è¤ê¤Î¥°¥ì¡¼¤Þ¤Ç
     turnRR;                 //±¦¶Ê¤¬¤ê
     until(SENSOR_3<black);  //¹õ´ó¤ê¤Î¥°¥ì¡¼¤Þ¤Ç
 }

***¸òº¹ÅÀ¤ò¶Ê¤¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#x185dbc5]
¡¦±¦¤Ë¶Ê¤¬¤ë¤È¤­¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
 void Rcurve()
 {
     turnRRR;                //¥­¥Ä¤¤±¦¶Ê¤¬¤ê       
     until(SENSOR_3>white);  //´°Á´¤ËÇò¤Ë¤Ê¤ë¤Þ¤Ç
 }

¡¦º¸¤Ë¶Ê¤¬¤ë¤È¤­¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
 void Lcurve()
 {
     curveL;                 //º¸¶Ê¤¬¤ê
     until(SENSOR_3>white);  //´°Á´¤ËÇò¤Ë¤Ê¤ë¤Þ¤Ç
 }

***²óž¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó [#a4669234]
¥³¡¼¥¹¤ÎL¡¦L'¤ÎÃÏÅÀ¤Ë¤ª¤¤¤Æ¡¤¥Ü¡¼¥ë¤òÄϤó¤À¤¢¤ÈÆ»¤ò°ú¤­ÊÖ¤¹ºÝ²óž¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
 void kaiten()
 {
     mae;                               
     Wait(900);                         
     OnFwd(OUT_C,20);OnRev(OUT_B,10);   
     until(SENSOR_3<black+5);          
 } 


***¥Ü¡¼¥ë¤òÄϤࡦΥ¤¹ºÝ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¡Ê¥Þ¥¹¥¿¡¼Â¦¡Ë [#w18c5592]
¡¦¥Ü¡¼¥ë¤òÄϤàºÝ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
ÄϤàºÝ¥Þ¥¹¥¿¡¼¤È¥¹¥ì¥¤¥Ö¤Ç¤ä¤ê¼è¤ê¤¹¤ë¿®¹æ¤òmsg1¤È¤·¤Æ¤½¤³¤ËSIGNAL1(¤³¤³¤Ç¤Ï¥Ü¡¼¥ëÁ°¤Ë¤Ä¤¤¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ),SIGNAL2(¤³¤³¤Ç¤ÏÄϤàÆ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤òÂåÆþ¤·¡¤¤½¤ì¤òMAILBOX1¤òÄ̤·¤Æ¤ä¤ê¼è¤ê¤·¤Æ¤¤¤ë¡¥
 void catch()
 {
    int msg1;                                    //msg1¤òÄêµÁ¤¹¤ë

    SendRemoteNumber(CONN,MAILBOX1,SIGNAL1);     //CONN(¤³¤³¤Ç¤Ï¥¹¥ì¥¤¥Ö£±)¤ËMAILX1¤òÄÌ 
                                                   ¤·¤ÆSIGNAL1(¤³¤³¤Ç¤Ï¥Ü¡¼¥ëÁ°¤Ë¤Ä¤¤¤¿ 
                                                    ¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤òÁ÷¿®¤¹¤ë
    while(msg1!=SIGNAL2){                        //msg1¤ÎÃͤ¬SIGNAL2(¤³¤³¤Ç¤ÏÄϤàÆ°ºî¤¬ 
                                                   ½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤Ë¤Ê¤Ã¤¿ 
                                                   ¤é¥ë¡¼¥×¤òÈ´¤±¤ë
        ReceiveRemoteNumber(MAILBOX1,true,msg1); //MAILBOX1¤Ç¥¹¥ì¥¤¥Ö¤«¤é¿®¹æ¤ò¼õ¤±¼è¤ë
        Off(OUT_BC);                             //¥ë¡¼¥×¤Î´Ö¡ÊÄϤàÆ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤ò 
                                                   ÃΤ餻¤ë¿®¹æ¤¬¥¹¥ì¥¤¥Ö¤«¤éµ¢¤Ã¤Æ¤¯¤ë 
                                                   ¤Þ¤Ç¡Ëµ¡ÂΤòÄä»ß¤µ¤»¤ë
     
 }

¡¦¥Ü¡¼¥ë¤òÎ¥¤¹ºÝ¤Î¥µ¥Ö¥ë¡¼¥Á¥ó

Î¥¤¹ºÝ¥Þ¥¹¥¿¡¼¤È¥¹¥ì¥¤¥Ö¤Ç¤ä¤ê¼è¤ê¤¹¤ë¿®¹æ¤òmsg2¤È¤·¤Æ¤½¤³¤ËSIGNAL3(¤³¤³¤Ç¤Ï¥´¡¼¥ë¤ÎÈ¢¤ÎÁ°¤Ë¤Ä¤¤¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ),SIGNAL4(¤³¤³¤Ç¤Ï¥Ü¡¼¥ë¤òÎ¥¤¹Æ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤òÂåÆþ¤·¡¤¤½¤ì¤òMAILBOX2¤òÄ̤·¤Æ¤ä¤ê¼è¤ê¤·¤Æ¤¤¤ë¡¥
 void release()
 {
    int msg2;                                   //msg2¤òÄêµÁ¤¹¤ë

    SendRemoteNumber(CONN,MAILBOX2,SIGNAL3);    //¥¹¥ì¥¤¥Ö¤ËMAILBOX2¤òÄ̤·¤ÆSIGNAL3(¤³ 
                                                  ¤³¤Ç¤Ï¥´¡¼¥ë¤ÎÈ¢¤ÎÁ°¤Ë¤Ä¤¤¤¿¤³¤È¤òÃÎ 
                                                  ¤é¤»¤ë¿®¹æ)¤òÁ÷¿®¤¹¤ë
    while(msg2!=SIGNAL4){                       //msg2¤ÎÃͤ¬SIGNAL4(¤³¤³¤Ç¤Ï¥Ü¡¼¥ë¤òÎ¥ 
                                                  ¤¹Æ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¿®¹æ)¤Ë 
                                                  ¤Ê¤Ã¤¿¤é¥ë¡¼¥×¤òÈ´¤±¤ë
        ReceiveRemoteNumber(MAILBOX2,true,msg2);//MAILBOX2¤Ç¥¹¥ì¥¤¥Ö¤«¤é¿®¹æ¤ò¼õ¤±¼è¤ë
        Off(OUT_BC);                            //¥ë¡¼¥×¤Î´Ö¡ÊÎ¥¤¹Æ°ºî¤¬½ªÎ»¤·¤¿¤³¤È¤ò 
                                                   ÃΤ餻¤ë¿®¹æ¤¬¥¹¥ì¥¤¥Ö¤«¤éµ¢¤Ã¤Æ¤¯¤ë 
                                                   ¤Þ¤Ç¡Ëµ¡ÂΤòÄä»ß¤µ¤»¤ë
     }  
 }


*¥×¥í¥°¥é¥àÁ´ÂÎ [#f6a316a5]
º£²ó¤Î²ÝÂê¤Ç¤Ï¡¤È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤ò1¤Ä¡¤L¡¤L'¤ÎÃÏÅÀ¤Î¡¡¥Ü¡¼¥ë¤ò¤½¤ì¤¾¤ì¼è¤ë¤³¤È¤Ë¤·¤¿¡¥
 task main()
 {
     SetSensorLight(S3);


     mae;       //Á°¿Ê
     Wait(300);
     linetraceC();    //M to K
     Lcurve();    //È¢¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceC();    //K to J
     OnRev(OUT_C,speedL);    //¸þ¤­¤ÎÈùÄ´À°
     Wait(500);    //¾å¤ËƱ¤¸
     catch();    //¥Ü¡¼¥ë¤òÄϤà
     linetraceC();    //J to I
     Lcurve();    //I¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceC();    //I to C
     Lcurve();    //B¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceS();    //C to B
     Rcurve();    //Ãæ±û¤ÎÀþ¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceC();    //B to Ãæ±û¤ÎÀþ
     Rcurve();    //A'¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceS();    //to A'
     Lcurve();    //B'¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceC();    //to B'
     Lcurve();    //C'¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceS();    //B' to D'
     Rcurve();    //H'¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceC();    //D' to H'
     OnRev(OUT_C,speedL);    //¸þ¤­¤ÎÈùÄ´À°
     Wait(500);    //¾å¤ËƱ¤¸
     release();    //¥Ü¡¼¥ë¤ò¤Ï¤Ê¤¹
     ushiro;//£²¤ÄÌܤΥܡ¼¥ë
     Wait(2000);
     OnFwd(OUT_C,20);OnRev(OUT_B,10);
     until(SENSOR_3>white-5);
     linetraceC(); //C' to D'
     crossline(); //¸òº¹ÅÀ¤òÅϤë
     linetraceS();//B' to C'
     Lcurve(); //º¸¤Ë¶Ê¤¬¤ë
     linetraceS();//M' to B'
     Rcurve();//±¦¤Ë¶Ê¤¬¤ë
     linetraceS();//M' to B'
     Lcurve(); //¸þ¤­¤òÊѤ¨¤ë
     linetraceC();// K' to M'
     crossline();//¸òº¹ÅÀ¤òÅϤë
     OnFwd(OUT_BC,30);Wait(2900);Off(OUT_BC);//L' to K'
     catch();//L'¤Î¥Ü¡¼¥ë¤òÄϤà
     OnRev(OUT_BC,30);Wait(2900);Off(OUT_BC);//K' to L'
     Lcurve();//J'¤ÎÊý¤Ë¸þ¤­¤òÊѤ¨¤ë
     linetraceS();//J' to K'
     release();//L'¤Î¥Ü¡¼¥ë¤òÎ¥¤¹
     ushiro;//£³¤ÄÌܤΥܡ¼¥ë
     Wait(2000);
     OnFwd(OUT_C,20);OnRev(OUT_B,10);
     until(SENSOR_3>white-5);
     linetraceC();//M' to K'
     Rcurve();//¸þ¤­¤òÊѤ¨¤ë
     linetraceS();//B' to M'
      Rcurve();//¸þ¤­¤òÊѤ¨¤ë
     linetraceS();//B' to M'
     Lcurve();//¸þ¤­¤òÊѤ¨¤ë
     linetraceS();//B' to M'
     crossline();//¸òº¹ÅÀ¤òÅϤë
     linetraceS();//»æ¤Î¶­³¦¤Þ¤Ç¿Ê¤à
     Lcurve();//¸þ¤­¤òÊѤ¨¤ë
     linetraceC();//to B
     crossline(); //  K   
     linetraceS();  //K to L      
     Wait(2900);          
     catch(); //L¤Ç¥Ü¡¼¥ë¤òÄÏ¤à             
     kaiten();//L¤Ç²óž            
     linetraceC();//L to M
     Rcurve();//M
     linetraceS();//toB¤ÈM¤Î´Ö¤Î³Ñ
     Lcurve();//B¤ÈM¤Î´Ö¤Î³Ñ
     linetraceS(); //toÆóËç¤Î´Ö¤ÎÀþ¤Ëº¹¤·³Ý¤«¤ë¤È¤³¤í
     Rcurve();//ÆóËç¤Î´Ö¤ÎÀþ¤Ëº¹¤·³Ý¤«¤ë¤È¤³¤í
     linetraceS();//´Ö¤ÎÀþ¾å
     Lcurve();//´Ö¤ÎÀ褫¤éº¸¤Î¥³¡¼¥È¤ËÈ´¤±¤ë¤È¤³¤í
     linetraceS();//toB
     Lcurve();//B'
     linetraceS();//B'toD'
     Rcurve(); //D'
     linetraceS(); //D'toH'
     release();//H'¤Ç¥Ü¡¼¥ë¤òÎ¥¤¹
 }

**¥¹¥ì¥¤¥Ö¦¤Î¥×¥í¥°¥é¥à [#l93ce642]
***ÄêµÁ [#b6b83cff]
 #define SIGNAL1 11  //¥Þ¥¹¥¿¡¼¤È¤ä¤ê¼è¤ê¤¹¤ë¿®¹æ¤ÎÈÖ¹æ
 #define SIGNAL2 12  //Ʊ¾å
 #define SIGNAL3 13  //Ʊ¾å
 #define SIGNAL4 14  //Ʊ¾å
 #define tukamu OnRev(OUT_A,20);Wait(800);//¥Ü¡¼¥ë¤òÄϤà
 #define hanasu OnFwd(OUT_A,20);Wait(300);//¥Ü¡¼¥ë¤òÍî¤È¤¹
 #define up OnFwd(OUT_B,50);Wait(1800);//¥¢¡¼¥à¤ò¾å¤²¤ë
 #define down OnRev(OUT_B,50);Wait(900);//¥¢¡¼¥à¤ò²¼¤í¤¹

***¥×¥í¥°¥é¥àÁ´ÂÎ [#ie6ec132]
 task main ()
 {
    int msg1;  // ¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô
    int msg2;  // Ʊ¾å
    while(true){
        ReceiveRemoteNumber(MAILBOX1,true,msg1);//MAILBOX1¤Ç¼õ¤±¼è¤Ã¤¿¿®¹æ¤òmsg1¤Ë³ÊǼ
        ReceiveRemoteNumber(MAILBOX2,true,msg2);//MAILBOX2¤Ç¼õ¤±¼è¤Ã¤¿¿®¹æ¤òmsg2¤Ë³ÊǼ
        if(msg1==SIGNAL1){                      //msg1¤ËSIGNAL1¤¬Æþ¤Ã¤Æ¤¤¤¿¤Ê¤é
            down;   
            tukamu;
            up;
            Off(OUT_AB);                        //¥â¡¼¥¿¡¼¤òÄä»ß¤µ¤»¤ë
            SendResponseNumber(MAILBOX1,SIGNAL2);//¥Þ¥¹¥¿¡¼Â¦¤ÎMAILBOX1¤ËSIGNAL2¤òÁ÷¤ë
        }
        if(msg2==SIGNAL3){                      //msg2¤ËSIGNAL3¤¬Æþ¤Ã¤Æ¤¤¤¿¤Ê¤é
            hanasu;
            Off(OUT_A);                         //¥â¡¼¥¿¡¼¤òÄä»ß
            SendResponseNumber(MAILBOX2,SIGNAL4);//¥Þ¥¹¥¿¡¼Â¦¤ÎMAILBOX2¤ËSIGNAL4¤òÁ÷¤ë
        }
    }   
 }

*¤Þ¤È¤á [#n4876335]
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