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 #define signal_catch 1
 #define signal_release 2
 #define signal_end 3
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 sub CATCH()
 {
 ClearMessage();
 until(Message()==signal_catch);
 OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);//  ²¼¤¬¤ë
 SetPower(OUT_A,2);
 OnRev(OUT_A);Wait(90);Off(OUT_A);Wait(100);// ÄϤà
 OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);//  ¾å¤¬¤ë
 OnFwd(OUT_A);Wait(90);Off(OUT_A);Wait(100);//  ¼ê¤ò¸µ¤ËÌ᤹
 OnFwd(OUT_C);Wait(200);Off(OUT_C);Wait(100);// ±ü¤ØÁ÷¤ë
 SendMessage(signal_end);
 }

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 sub release()
 {
 ClearMessage();
 until(Message()==signal_release);  
 OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);//  ²¼¤¬¤ë
 OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);// Á°¤ØÁ÷¤ë
 OnRev(OUT_B);Wait(50);Off(OUT_B);Wait(100);//  ¾å¤¬¤ë
 SendMessage(signal_end);
 }
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 task main()
 {
 ClearMessage();
 CATCH();
 release();
 CATCH();
 CATCH();
 CATCH();
 ClearMessage();
 until(Message()==signal_release);  
 OnFwd(OUT_B);Wait(30);Off(OUT_B);Wait(100);//  ²¼¤¬¤ë
 OnRev(OUT_C);Wait(200);Off(OUT_C);Wait(100);// Á°¤ØÁ÷¤ë
 OnRev(OUT_BC);Wait(50);Off(OUT_BC);Wait(100);//  ¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë
 SendMessage(signal_end);
 }
CATCH();3Ϣ³¤Î¤¢¤È¤ÎÉôʬ¤Ë¤Ä¤¤¤Æ¡£1ʸÌܤÈ2ʸÌܤϥµ¥Ö¥ë¡¼¥Á¥óŽ¢releaseŽ£¤ÈƱ¤¸¤Ç¤¢¤ë¡£3ʸÌܤΎ¢¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ëŽ£¤ÎÉôʬ¤¬°ã¤Ã¤Æ¤¤¤ë¡£¥Ü¡¼¥ë¤òÊ£¿ô¸ÄƱ»þ¤ËÈ¢¤ËÆþ¤ì¤ë¾ì¹ç¡¢¥µ¥Ö¥ë¡¼¥Á¥óŽ¢releaseŽ£¤ò»È¤¦¤È¡¢Á´¤Æ¤Î¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ëÁ°¤ËÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¦¡£¤½¤ì¤òËɤ°¤¿¤á¡¢ºÇ¸å¤Ï¥¢¡¼¥à¤ò¤¢¤²¤ë»þ¤Ë¡¢Æ±»þ¤Ë¥³¥ó¥Ù¥¢¡¼¤âÆ°¤«¤¹¡£¤³¤¦¤¹¤ë¤³¤È¤ÇÄϤó¤À¥Ü¡¼¥ë¤ÏÁ´¤ÆÈ¢¤ËÆþ¤ë¡£
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 #define black 40
 #define gray_black 44
 #define gray 47
 #define gray_white 50
 #define white 60
 #define go_ahead OnFwd(OUT_AC);
 #define turn_left OnFwd(OUT_A);Off(OUT_C);
 #define turn_right OnFwd(OUT_C);Off(OUT_A);
 #define circling_left OnRev(OUT_C);OnFwd(OUT_A);
 #define circling_right OnRev(OUT_A);OnFwd(OUT_C);
go_ahead¤ÏÁ°¤Ë¿Ê¤à¡¢turn_right¤Ï±¦Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æ±¦²óž¤¹¤ë¡¢turn_left¤Ïº¸Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æº¸²óž¤¹¤ë¡¢circling
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 sub follow_line()
 {
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 ClearTimer(0);
 while(FastTimer(0)<t){
   if(SENSOR_2<black){circling_right;}
   else if(SENSOR_2<gray_black){turn_right;}
   else if(SENSOR_2<gray){go_ahead;}
   else if(SENSOR_2<gray_white){turn_left;}
   else if(SENSOR_2<white){circling_left;}
   }
 Off(OUT_AC);Wait(100);
 }
ºÇ¸å¤ÎWait(100);¤ÏµóÆ°¤ò¸«¤ä¤¹¤¯¤¹¤ë¤¿¤á¤ËÆþ¤ì¤Æ¤¢¤ë¡£

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***­¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#pce59bde]
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 task main()
 {
 ClearMessage();
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  ¹õ¤Ê¤é¿Ê¤à
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 t=90;follow_line();//­¡
 Wait(100);
 SendMessage(signal_catch);//  L'¤Î¥Ü¡¼¥ë¤òÄϤàÌ¿Îá¤òÁ÷¤ë
 ClearMessage();
 until(Message()==signal_end);//¡ù
 circling_left;Wait(102);Off(OUT_AC);//  90¡ë¤½¤Î¾ì¤Çº¸²óž
 SendMessage(signal_release);//  ¥Ü¡¼¥ë¤ò1¸ÄÈ¢¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë
 ClearMessage();
 until(Message()==signal_end);
 OnRev(OUT_AC);Wait(30);Off(OUT_AC);//  ¸å¤í¤Ë²¼¤¬¤ë
 circling_left;Wait(102);Off(OUT_AC);//  90¡ë¤½¤Î¾ì¤Çº¸²óž
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  ¹õ¤Ê¤é¿Ê¤à
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100); 
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 turn_right;Wait(100);//  ±¦Â¦¤Î¥¿¥¤¥ä¤ò¸ÇÄꤷ¤Æ±¦²óž
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//  ¹õ¤Ê¤é¿Ê¤à
 t=150;follow_line();//­¡
 SendMessage(signal_catch);//  LÄϤà
 ClearMessage();
 until(Message()==signal_end);
 circling_left;Wait(102);Off(OUT_AC);//  ¤½¤Î¾ì¤Çº¸²óž
 OnRev(OUT_AC);Wait(23);Off(OUT_AC);//  ¸å¤í¤Ë²¼¤¬¤ë
 SendMessage(signal_catch);//  È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(1¤ÄÌÜ)
 ClearMessage();
 until(Message()==signal_end);
 Wait(100);
 SendMessage(signal_catch);//  È¢¤ÎÃæ¤Î¥Ü¡¼¥ë¤òÄϤà(2¤ÄÌÜ)
 ClearMessage();
 until(Message()==signal_end);
 OnRev(OUT_AC);Wait(90);Off(OUT_AC);//  ¸å¤í¤Ë²¼¤¬¤ë
 circling_left;Wait(102);Off(OUT_AC);//  ¤½¤Î¾ì¤Çº¸²óž
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//Çò¤Ê¤é¿Ê¤à
 while(SENSOR_2<gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);//¹õ¤Ê¤é¿Ê¤à
 while(SENSOR_2>gray){OnFwd(OUT_AC);}Off(OUT_AC);Wait(100);
 go_ahead;Wait(15);Off(OUT_AC);//  Á°¤Ë¿Ê¤à
 SendMessage(signal_release);//  
 ClearMessage();
 until(Message()==signal_end);
 OnRev(OUT_AC);Wait(100);Off(OUT_AC);//­¢
 }
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