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**¶¦ÄÌ¤Î¥×¥í¥°¥é¥à [#n4cc6b0d]
2µ¡´Ö¤ÇÄÌ¿®¤¹¤ë¤¿¤á¤Ë°Ê²¼¤Î¥Þ¥¯¥í¤òÄêµÁ¤·¤¿¡£
 #define SIGNALON1 11
 #define SIGNALOFF1 12
 #define SIGNALON2 13
 #define SIGNALOFF2 14

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***¥¢¡¼¥à¤Î¾å¤²²¼¤²¤Î¥Þ¥¯¥í [#yfbde368]
 #define arm_down OnFwd(OUT_A,25);Wait(1500);Off(OUT_A);  //¥¢¡¼¥à¤ò²¼¤²¤ë
 #define arm_up OnRev(OUT_A,35);Wait(1500);Off(OUT_A);  //¥¢¡¼¥à¤ò¾å¤²¤ë
 
***¥¹¥ì¡¼¥Ö¤Î¥×¥í¥°¥é¥à [#x33fd690]

 #define SIGNALON1 11
 #define SIGNALOFF1 12
 #define SIGNALON2 13
 #define SIGNALOFF2 14
 #define CONN 1          //¥Þ¥¹¥¿¡¼¤ÎÀܳÈÖ¹æ
 
 task main()
 {
     int msg;            //¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô
     
     while(true){
         ReceiveRemoteNumber(MAILBOX1,true,msg);     //MAILBOX1¤ÎÃͤò¼õ¤±¼è¤êmsg¤Ë³ÊǼ
         
         if(msg==SIGNALON1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGNALON1¤ò¼õ¿®¤·¤¿¤È¤­
             OnRev(OUT_A,20);Wait(1000);¡¡//¥Ü¡¼¥ë¤òÄϤà
         }else if(msg==SIGNALOFF1){¡¡¡¡¡¡ //SIGNALOFF1¤ò¼õ¿®¤·¤¿¤È¤­
             Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿A¤ò»ß¤á¤ë
         }else if(msg==SIGNALON2){¡¡¡¡¡¡¡¡//SIGNALON2¤ò¼õ¿®¤·¤¿¤È¤­
             OnFwd(OUT_A,20);Wait(1000);¡¡//¥Ü¡¼¥ë¤òÊü¤¹
         }else if(msg==SIGNALOFF2){¡¡¡¡¡¡ //SIGNALOFF2¤ò¼õ¿®¤·¤¿¤È¤­
            Off(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿A¤ò»ß¤á¤ë
         }
     }
 }


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***¥Þ¥¯¥í [#h278ba8e]
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¸÷¥»¥ó¥µ¡¼¤Ç¸¡ÃΤ¹¤ë¿ôÃͤò°Ê²¼¤Î¥Þ¥¯¥í¤ÇÄêµÁ¤·¤¿¡£

 #define black 30
 #define white 60
 #define lightgray 50
 #define darkgray 39
 #define center 45
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 #define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,23);  //±¦ÀÞ
 #define turn_left OnFwd(OUT_B,28);OnRev(OUT_C,20);  //º¸ÀÞ
 #define rotate_right OnFwd(OUT_C,25);OnRev(OUT_B,22);  //±¦Àû²ó
 #define rotate_left OnFwd(OUT_B,28);OnRev(OUT_C,15);  //º¸Àû²ó
 #define go_straight OnFwd(OUT_B,23);OnFwd(OUT_C,20);  //ľ¿Ê
 #define go_straight2 OnFwd(OUT_B,20);OnFwd(OUT_C,17);  //K'¤«¤éL'¤Ç¤Î½ÐÎϼå¤á¤Îľ¿Ê
 #define turn OnRev(OUT_C,20);OnFwd(OUT_B,28);Wait(3200);Off(OUT_BC);  //L'¤Î¥Ü¡¼¥ëÄϤó¤Ç ¤«¤éÆþ¤ì¤ë¤Þ¤Ç¤ÎÀû²ó
 #define turn2 OnRev(OUT_B,28);OnFwd(OUT_C,20);Wait(1500);Off(OUT_BC);  //¥Ü¡¼¥ë¤ÎÆþ¤Ã¤Æ¤ë¥È¥ì¡¼¤Ø¤Î¤ï¤º¤«¤ÊÄ´À°
 #define sakittyo OnFwd(OUT_C,20);OnFwd(OUT_B,23);Wait(1150);Off(OUT_BC);  //¥Ü¡¼¥ë¤¬Æþ¤Ã¤Æ¤ë¥È¥ì¡¼Á°¤Ç¤Î¤ï¤º¤«¤ÊÁ°¿Ê
 #define turn3 OnRev(OUT_B,30);Wait(4800);Off(OUT_BC);  //¥È¥ì¡¼¤Î¥Ü¡¼¥ë¤òÄϤó¤À¸å¤ÎÊý¸þž´¹
 #define turn4 OnRev(OUT_B,30);Wait(5200);Off(OUT_BC);  //
 #define back OnRev(OUT_C,20);OnRev(OUT_B,28);Wait(3000);Off(OUT_BC);  //ºÇ¸å¥È¥ì¡¼¤Ë¿¨¤ì¤Ê¤¤¤è¤¦¤Ë¾¯¤·Î¥¤ì¤ë


***º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#a05ab4c7]
 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<center){         //ÌÀ¤ë¤µ45°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 [#qa9b1ed2]

 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<center){          //¥»¥ó¥µ¡¼¤¬45°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
 } 

Ëô¡¢K,L´Ö¡¢K`,L`´Ö¤Ç¤Ï¤½¤Î¤Þ¤Þ¤Î½ÐÎϤÇľ¿Ê¤·¤Æ¤·¤Þ¤¦¤È¥Ü¡¼¥ë¤Ë¿¨¤ì¤¿ºÝ¤Ë~
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±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤·¤¿¡£¤½¤ì¤¬²¼µ­¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
 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<center){           //ÌÀ¤ë¤µ45°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
 }
***²£ÃÇ [#d41cbe46]
Æó¤Ä¤Î¥Þ¥Ã¥×¤ò²£ÃǤ¹¤ëºÝ¡¢¹õ¤ò¸«¤Ä¤±¤ë¤Þ¤Çľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à¤ÈÇò¤ò¸«¤Ä¤±¤ë¤Þ¤Çľ¿Ê¤¹¤ë~
¥×¥í¥°¥é¥à¤ò¸ò¸ß¤ËÁȤ߹ç¤ï¤»¤Æ²£ÃǤ¹¤ë
-¹õ¤ò¸«¤Ä¤±¤ë¤Þ¤Çľ¿Ê
 sub Blackto_White()
 {
     while(SENSOR_1<lightgray){¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬Çò³¥¤è¤ê¾®¤µ¤¤¤È¤­
         OnFwd(OUT_C,25);¡¡¡¡¡¡¡¡¡¡¡¡
         OnFwd(OUT_B,25);¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê
     }
     Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Çò³¥¤è¤êÂ礭¤¯¤Ê¤ë¤È»ß¤Þ¤ë
 }
-Çò¤ò¸«¤Ä¤±¤ë¤Þ¤Çľ¿Ê
 sub Whiteto_Black()
 {
     while(SENSOR_1>darkgray){¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬¹õ³¥¤è¤ê¤âÂ礭¤¤¤È¤­
         OnFwd(OUT_C,25);¡¡¡¡¡¡¡¡¡¡ 
         OnFwd(OUT_B,25);           //ľ¿Ê
     }
     Off(OUT_BC);               //¹õ³¥¤è¤ê¤âÂ礭¤¯¤Ê¤ë¤È»ß¤Þ¤ë
 }
Ëô¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î±¦Â¦¤Èº¸Â¦¤òÆþ¤ìÂؤ¨¤ë»þ¤Ë»È¤¦²£ÃÇ¤Î¥×¥í¥°¥é¥à¤¬¤¢¤ë¡£
-¹õ¤ò¸«¤Ä¤±¤ë¤Þ¤Ç±¦Àû²ó
 sub Whiteto_Black_R()
 {
     while(SENSOR_1>darkgray){¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬¹õ³¥¤è¤ê¤âÂ礭¤¤¤È¤­
     OnFwd(OUT_C,25);¡¡¡¡¡¡¡¡¡¡ 
     OnRev(OUT_B,25);           //±¦Àû²ó
     }
     Off(OUT_BC);               //¹õ³¥¤è¤ê¤â¾®¤µ¤¯¤Ê¤ë¤È»ß¤Þ¤ë
 }    

-¹õ¤ò¸«¤Ä¤±¤ë¤Þ¤Çº¸Àû²ó
 sub Whiteto_Black_L()
 {
     while(SENSOR_1>black){¡¡//¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬¹õ¤è¤êÂ礭¤¤¤È¤­
     OnFwd(OUT_B,25);        
     OnRev(OUT_C,25);        //º¸Àû²ó
     }
     Off(OUT_BC);            //¹õ¤è¤ê¾®¤µ¤¤¤È¤­
 }
**¥Þ¥¹¥¿¡¼¤Î¥×¥í¥°¥é¥à [#g32bc84d]
 task main()
 {
     SetSensorLight(S1);     //ü»Ò£±¤Ë¸÷¥»¥ó¥µ¡¼
     RemoteStartProgram(CONN,"kodomo.nxc");¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°
     
     followline_R(200);
     Blackto_White();
     followline_L(150);
     Blackto_White_R();
     followline_R2(150);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);  //MAILBOX1¤ËSIGNALON1¤òÁ÷¿®
     Wait(1000);
     arm_up;
     turn;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);  //MAILBOX1¤ËSIGNALON2¤òÁ÷¿®
     Wait(1000);
     
     followline_R(150);
     Blackto_White_L();
     followline_L(100);
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(150);
     Blackto_White();
     turn2;
     sakittyo;
     arm_down;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);   //MAILBOX1¤ËSIGNALON1¤òÁ÷¿®
     Wait(1000);
     arm_up;
     turn3; 
 
     
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(200);
     Blackto_White();
     turn2;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);   //MAILBOX1¤ËSIGNALON2¤òÁ÷¿®
     Wait(1000);
     turn3;
      
 
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(200);
     Blackto_White();
     turn2;
     sakittyo;
     arm_down;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);   //MAILBOX1¤ËSIGNALON1¤òÁ÷¿®
     Wait(1000);
     arm_up;
     turn3;
      
      
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Blackto_White_R();
     followline_R(200);
     Blackto_White();
     turn2;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);   //MAILBOX1¤ËSIGNALON2¤òÁ÷¿®
     Wait(1500);
     turn4;
     arm_down
     
     
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_R(200);
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_R(200);
     Blackto_White();
     followline_L(150);
     Blackto_White_R();
     followline_R2(125);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);   //MAILBOX1¤ËSIGNALON1¤òÁ÷¿®
     Wait(1000);
     arm_up;
     turn;
     
     
     followline_R(100);
     Blackto_White_L();
     followline_L(100);
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(200);
     Blackto_White();
     turn2;
     sakittyo;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);   //MAILBOX1¤ËSIGNALON2¤òÁ÷¿®
     Wait(1000);
 }
¥´¡¼¥ë¤Î¥È¥ì¡¼¤òGT¡¤¤â¤È¤â¤È¥Ü¡¼¥ë¤òÆþ¤ì¤Æ¤¢¤ë¥È¥ì¡¼¤òST¤È¸Æ¤Ö¤È¡¤ °ì¤ÄÌܤβô¤Ï¡¤M'¤«¤é¥¹~¥¿¡¼¥È¤·L'¤Î¥Ü¡¼¥ë¤òÄϤó¤ÇGT¤ËÆþ¤ì¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à Æó¤ÄÌܤβô¤Ï¡¤L'¤Î¥Ü¡¼¥ë¤òÆþ¤ì¤¿¸å~ST¤Þ¤Ç¹Ô¤­¡¤¥Ü¡¼¥ë¤òÄϤà¤Þ¤Ç¤Î¥×¥í¥°¥é¥à »°¤ÄÌܤβô¤Ï¡¤ST¤«¤éGT¤Þ¤Ç¹Ô¤­¡¤¥Ü¡¼¥ë¤òÆþ¤ì¤ë~¥×¥í¥°¥é¥à »Í¤ÄÌܤβô¤Ï¡¤¥Ü¡¼¥ë¤òÆþ¤ì¤Æ¤«¤é¤Þ¤¿ST¤Þ¤Ç¹Ô¤­¡¤¥Ü¡¼¥ë¤òÄϤà¤Þ¤Ç¤Î¥×¥í¥°¥é¥à ~¸Þ¤ÄÌܤβô¤Ï¡¤¥Ü¡¼¥ë¤òÄϤó¤Ç¤«¤éGT¤Þ¤Ç¹Ô¤­¥´¡¼¥ë¤¹¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à Ï»¤ÄÌܤβô¤Ï¡¤ST¤«¤é~L¤Þ¤Ç°ÜÆ°¤·¡¤L¤Î¥Ü¡¼¥ë¤òÄϤà¤Þ¤Ç¤Î¥×¥í¥°¥é¥à ¼·¤ÄÌܤβô¤Ï¡¤L¤«¤éGT¤Þ¤Ç°ÜÆ°¤·¤Æ¥´¡¼¥ë¤·¡¤~¥È¥ì¡¼¤«¤é¾¯¤·Î¥¤ì¤Þ¤Ç¤Î¥×¥í¥°¥é¥à ¤Ç¤¢¤ë¡¥
*´°À®¤·¤¿¥×¥í¥°¥é¥à [#nd4c0788]
**¥Þ¥¹¥¿¡¼ [#ld48981e]
 #define CONN 1
 #define SIGNALON1 11
 #define SIGNALOFF1 12
 #define SIGNALON2 13
 #define SIGNALOFF2 14 
 
 
 #define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,23);
 #define turn_left OnFwd(OUT_B,28);OnRev(OUT_C,20);
 #define rotate_right OnFwd(OUT_C,25);OnRev(OUT_B,22);
 #define rotate_left OnFwd(OUT_B,28);OnRev(OUT_C,15);
 #define go_straight OnFwd(OUT_B,23);OnFwd(OUT_C,20);
 #define go_straight2 OnFwd(OUT_B,20);OnFwd(OUT_C,17);
 #define turn OnRev(OUT_C,20);OnFwd(OUT_B,28);Wait(3200);Off(OUT_BC);
 #define turn2 OnRev(OUT_B,28);OnFwd(OUT_C,20);Wait(1500);Off(OUT_BC);
 #define sakittyo OnFwd(OUT_C,20);OnFwd(OUT_B,23);Wait(1150);Off(OUT_BC);
 #define turn3 OnRev(OUT_B,30);Wait(4800);Off(OUT_BC);
 #define turn4 OnRev(OUT_B,30);Wait(5200);Off(OUT_BC);
 #define back OnRev(OUT_C,20);OnRev(OUT_B,28);Wait(3000);Off(OUT_BC);   
 
 #define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);
 #define arm_down OnFwd(OUT_A,25);Wait(1500);Off(OUT_A);
 #define arm_up OnRev(OUT_A,35);Wait(1500);Off(OUT_A);
 #define black 30
 #define white 60
 #define lightgray 50
 #define darkgray 39
 #define center 45 
 
 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<center){
    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<center){
    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<center){
    go_straight2;
    t0=CurrentTick();
 }else{
    rotate_left;
 }
     }    
     Off(OUT_BC);
     Wait(2000);
 }  
 
 sub Blackto_White()
 {
     while(SENSOR_1<lightgray){
     OnFwd(OUT_C,25);
     OnFwd(OUT_B,25);
     }
     Off(OUT_BC);
 }  
 
 sub Whiteto_Black()
 {
     while(SENSOR_1>darkgray){
     OnFwd(OUT_C,25);
     OnFwd(OUT_B,25);
     }
     Off(OUT_BC);
 } 
  
 
 sub Blackto_White_R()
 {
     while(SENSOR_1<darkgray){
     OnFwd(OUT_C,25);
     OnRev(OUT_B,25);
     }
     Off(OUT_BC);
 }  
 
 sub Blackto_White_L()
 {
     while(SENSOR_1<lightgray){
     OnFwd(OUT_B,25);
     OnRev(OUT_C,25);
     }
     Off(OUT_BC);
 }
 
  
 task main()
 {
     SetSensorLight(S1);
     RemoteStartProgram(CONN,"kodomo.nxc");
     
     followline_R(200);
     Blackto_White();
     followline_L(150);
     Blackto_White_R();
     followline_R2(150);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     Wait(1000);
     arm_up;
     turn;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     Wait(1000);
     
     followline_R(150);
     Blackto_White_L();
     followline_L(100);
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(150);
     Blackto_White();
     turn2;
     sakittyo;
     arm_down;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     Wait(1000);
     arm_up;
     turn3;
 
     
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(200);
     Blackto_White();
     turn2;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     Wait(1000);
     turn3;
       
 
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(200);
     Blackto_White();
     turn2;
     sakittyo;
     arm_down;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     Wait(1000);
     arm_up;
     turn3;
     
     
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Blackto_White_R();
     followline_R(200);
     Blackto_White();
     turn2;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     Wait(1500);
     turn4;
     arm_down
     
    
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_R(200);
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_R(200);
     Blackto_White();
     followline_L(150);
     Blackto_White_R();
     followline_R2(125);
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
     Wait(1000);
     arm_up;
     turn;
     
     
     followline_R(100);
     Blackto_White_L();
     followline_L(100);
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     Whiteto_Black();
     Blackto_White();
     followline_R(200);
     Blackto_White();
     turn2;
     sakittyo;
     SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
     Wait(1000);
 }


**¥¹¥ì¡¼¥Ö [#yb1b6b06]

 #define SIGNALON1 11
 #define SIGNALOFF1 12
 #define SIGNALON2 13
 #define SIGNALOFF2 14
 #define CONN 1 
 
 task main()
 {
     int msg;
     
     while(true){
         ReceiveRemoteNumber(MAILBOX1,true,msg);
         
         if(msg==SIGNALON1){
             OnRev(OUT_A,20);Wait(1000);
         }else if(msg==SIGNALOFF1){
             Off(OUT_A);
         }else if(msg==SIGNALON2){
             OnFwd(OUT_A,20);Wait(1000);
         }else if(msg==SIGNALOFF2){
             Off(OUT_A);
          }
      }
 }
*¤Þ¤È¤á [#b5c75a06]
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ºîÀ®¤·¤¿¡£¥×¥í¥°¥é¥à¤Ç¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï²ÝÂꣲ¤Ç»ÈÍѤ·¤¿¥â¥Î¤ò¤Þ¤ó¤Þ~
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