#contents
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[[2019a/Mission2]]

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**¸òº¹ÅÀ¤Ç¤Î»ß¤Þ¤êÊý [#r0a1c5c8]
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**¡ôdefine[#lab1035a]
***£µÃʳ¬¤Ëʬ¤±¤¿¸÷¥»¥ó¥µ¡¼¤Î¼è¤ëÃÍ [#kf9da661]
 #define BLACKS 38
 #define BLACK 45
 #define THRESHOLD 53
 #define WHITE 60
 #define WHITES 68
***¸÷¥»¥ó¥µ¡¼¤ËÂбþ¤·¤¿¥í¥Ü¥Ã¥È¤ÎÆ°¤­ [#g27bc6bf]
 #define left_s OnFwd(OUT_A,20);OnRev(OUT_B,20);
 #define left OnFwd(OUT_A,20);Off(OUT_B);
 #define right_s OnFwd(OUT_B,20);OnRev(OUT_A,20);
 #define right OnFwd(OUT_B,20);Off(OUT_A);
 #define forward OnFwd(OUT_AB,20);
**¥µ¥Ö¥ë¡¼¥Á¥ó [#wb67a32a]
***Àþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥ß¥ó¥° [#x98e539a]
 sub follow_line_left()
 {
    SetSensorLight(S3);
   
    long t0=0,t1=0,time_max=2;
 
    while(t1-t0<time_max){
        if(SENSOR_3<BLACKS){
            t0=CurrentTick();
            left_s;until(SENSOR_3<THRESHOLD);
            t1=CurrentTick();
        }else if(SENSOR_3<BLACK){
            left;
        }else if(SENSOR_3<THRESHOLD){
            forward;     
        }else if(SENSOR_3<WHITE){
            right;
        }else if(SENSOR_3<WHITES){
            right_s;
        }
     }
     Off(OUT_AB);
     Wait(1000);
 } 
***Àþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥ß¥ó¥° [#ja616424]
 sub follow_line_right()
 {
    SetSensorLight(S3);
   
    long t0=0,t1=0,time_max=2;
 
    while(t1-t0<time_max){
        if(SENSOR_3<BLACKS){
           t0=CurrentTick();
            right_s; until(SENSOR_3<THRESHOLD);
            t1=CurrentTick();
        }else if(SENSOR_3<BLACK){
            right;
        }else if(SENSOR_3<THRESHOLD){
            forward;     
        }else if(SENSOR_3<WHITE){
            left;
        }else if(SENSOR_3<WHITES){
            left_s;
        }
    }
    Off(OUT_AB);
    Wait(1000);
 }

**¥á¥¤¥ó¥×¥í¥°¥é¥à [#ne8b38c8]
 task main()
 {
     long t=1000;
     forward;
     Wait(1000);¡¡¡¡¡¡¡¡¡¡//A¤«¤é½Ð¤ë¡£
     follow_line_left();¡¡ ¡¡¡¡¡¡//B¤«¤éC¤òÄ̤êD¤Ç»ß¤Þ¤ë¡£
     forward;
     Wait(t);¡¡¡¡¡¡¡¡¡¡//D¤Î¸òº¹ÅÀ¤òÅϤ롣
     follow_line_left();¡¡¡¡¡¡¡¡¡¡//D¤«¤éE¤òÄ̤êF¤Ç»ß¤Þ¤ë¡£
     right;
     Wait(t);¡¡¡¡¡¡¡¡¡¡//G¤ÇÊý¸þž²ó¡£
     follow_line_right();¡¡¡¡¡¡¡¡¡¡//G¤«¤éH¤Þ¤Ç°ÜÆ°¡£
     repeat(2){
         forward;
         Wait(t);
         follow_line_right();
     }¡¡¡¡¡¡¡¡¡¡//H¤«¤éI¤òÄ̤êJ¤Ç»ß¤Þ¤ë¡£
     right_s;
     Wait(t);
     follow_line_right();¡¡¡¡¡¡¡¡¡¡//J¤«¤éK¤Þ¤Ç°ÜÆ°¡£
     left_s;
     Wait(t);¡¡¡¡¡¡¡¡¡¡¡¡//K¤ÇÊý¸þž´¹¡£
     follow_line_left();¡¡¡¡¡¡¡¡¡¡¡¡//K¤«¤éL¤Ë°ÜÆ°¡£
     OnRev(OUT_C,20); 
     Wait(500);¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò¤¹¤¯¤¤¼è¤ë¡£
     left_s;
     Wait(4000);¡¡¡¡¡¡¡¡¡¡¡¡//L¤ÇÊý¸þž´¹¡£
     follow_line_right();¡¡¡¡¡¡¡¡¡¡¡¡//L¤«¤éK¤Ë°ÜÆ°¡£
     forward;¡¡¡¡¡¡¡¡¡¡
     Wait(2000);¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òÅϤ롣
     follow_line_right();¡¡¡¡¡¡¡¡¡¡//K¤«¤éM¤Ë°ÜÆ°¡£
     OnFwd(OUT_C,20);
     Wait(500); ¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò²¼¤í¤¹¡£
     OnRev(OUT_AB,20);
     Wait(500);
     OnFwd(OUT_AB,100);
     Wait(t);¡¡¡¡¡¡¡¡¡¡//¥·¥å¡¼¥È¡£
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß¡£
 }
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