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#define THRESHOLD 5£´ //¤·¤­¤¤ÃÍ

#define SPEED 30

#define speed 20

#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);

#define LEFT OnRL(speed,-speed);¡¡¡¡¡¡//º¸Àû²ó

#define left OnRL(speed,0);¡¡¡¡¡¡¡¡//º¸ÀÞ

#define straight OnRL(SPEED,SPEED);¡¡¡¡//ľ¿Ê

#define right OnRL(0,speed);¡¡¡¡¡¡//±¦ÀÞ

#define RIGHT OnRL(-speed,speed);¡¡¡¡¡¡¡¡//±¦Àû²ó

#define STEP 1

#define nMAX 300

#define short_break Off(OUT_BC);Wait(1000);¡¡¡¡¡¡¡¡//¾®µÙ»ß

#define CROSS_TIME 700

#define cross_line OnFwd(OUT_BC,speed);Wait(CROSS_TIME);short_break;

#define turn_time 3000

#define turn_left LEFT;Wait(turn_time);short_break;

#define turn_right RIGHT;Wait(turn_time);short_break;

#define kaiten OnRL(SPEED,-SPEED);

#define kaiten_time 5500¡¡¡¡¡¡¡¡¡¡//360¡ë²óž¤¹¤ë¤Î¤Ë¤«¤«¤ë»þ´Ö

#define arm_up OnRev(OUT_A,SPEED);Wait(500);Off(OUT_A);¡¡¡¡¡¡//ºô¤ò¾å¤²¤ë

sub kousaten_trace()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å²£ÃǤ¹¤ë

{
   SetSensorLight(S3);
   int nOnline=0;
  while (nOnline < nMAX) {                          //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ
   if (SENSOR_3 < THRESHOLD-10) {
    RIGHT;
    nOnline++;}
   else {
    if (SENSOR_3 < THRESHOLD-3) {right;}
    else if (SENSOR_3 < THRESHOLD+2) {straight;}
    else if (SENSOR_3 < THRESHOLD+6) {left;}
    else {LEFT;}
    nOnline=0;}
   Wait(STEP);
  }
  short_break;
  LEFT;
  Wait(nMAX*STEP);
  cross_line;
  nOnline=0;
 }

sub kousaten_usetsu()¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤Æ°ì»þÄä»ß¤·¤¿¸å±¦ÀÞ¤¹¤ë

{
   SetSensorLight(S3);
   int nOnline=0;
  while (nOnline < nMAX) {                    //¹õ¤òǧ¼±¤·¤¿²ó¿ô¤¬nMAX(300)¤ò±Û¤¨¤¿¤é¸òº¹ÅÀȽÃǤ·¤Æ²£ÃÇ
   if (SENSOR_3 < THRESHOLD-8) {
    LEFT;
    nOnline++;}
   else {
    if (SENSOR_3 < THRESHOLD-3) {left;}
    else if (SENSOR_3 < THRESHOLD+2) {straight;}
    else if (SENSOR_3 < THRESHOLD+6) {right;}
    else {RIGHT;}
    nOnline=0;}
   Wait(STEP);
  }
  short_break;
  RIGHT;
  Wait(nMAX*STEP);
  turn_right;
  nOnline=0;
 }

sub kousaten_teishi()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸òº¹ÅÀ¤òȽÃǤ·¤¿¤é1ÉôÖÄä»ß¤·¤¿¸åºÆȯ¿Ê

{
   SetSensorLight(S3);
   int nOnline=0;
  while (nOnline < nMAX) {
   if (SENSOR_3 < THRESHOLD-8) {
    LEFT;
    nOnline++;}
   else {
    if (SENSOR_3 < THRESHOLD-3) {left;}
    else if (SENSOR_3 < THRESHOLD+2) {straight;}
    else if (SENSOR_3 < THRESHOLD+6) {right;}
    else {RIGHT;}
    nOnline=0;}
   Wait(STEP);
  }
  short_break;
  nOnline=0;
 }

sub serch_kan()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡360¡ë²óž¤·¤Æ¾ã³²Êª(´Ì)¤ò¸«¤Ä¤±½Ð¤·¤½¤ÎÊý¸þ¤Ë¸þ¤«¤¦

{
 SetSensorLowspeed(S4);
 long t10,t11;         ¡¡ 
 int L=10000;¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®ÃÍ
 t10=CurrentTick();     //²óžÁ°¤Î»þ¹ï
 while(CurrentTick()-t10<=kaiten_time){
  OnRL(speed,-speed);
  if(SensorUS(S4)<L)
  {
   L=SensorUS(S4);
   t11=CurrentTick()-t10;¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤè¤ê¶á¤¤¤â¤Î¤ò¸«¤Ä¤±¤¿»þ¤Î»þ´Ö
  }
 }
 OnRL(-speed,speed);
 Wait(kaiten_time-t11);
 Off(OUT_BC);
 }

sub shoot()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥·¥å¡¼¥È(ÂÎÅö¤¿¤ê)¤ò¤¹¤ë

{
 arm_up;
 OnFwd(OUT_BC,100);
 Wait(200);
 Off(OUT_BC);
 }

task main()

{
 SetSensorLight(S3);
 SetSensorLowspeed(S4);
 long t0,t1,t2,t3;         //¤½¤ì¤¾¤ì¤Î»þ´Ö¤òÄêµÁ
 t0=CurrentTick();¡¡¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤·¤¿»þ´Ö¤òt0¤È¤¹¤ë
 while(CurrentTick()-t0<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
     if(SENSOR_3<THRESHOLD-8){RIGHT;}
     else if(SENSOR_3<THRESHOLD-3){right;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){left;}
     else{LEFT;}
    Wait(STEP);
    }
 kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀK¤òȯ¸«¤·¤¿¤é²£ÃÇ¡¡¡¡¡¡¡¡//¥¹¥¿¡¼¥È¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¡
 t1=CurrentTick();¡¡¡¡¡¡¡¡//KÃÏÅÀ¤ò²£ÃǤ·¤¿¤é¤½¤Î»þ´Ö¤òt1¤È¤¹¤ë
 while(CurrentTick()-t1<=15000){¡¡¡¡¡¡¡¡¡¡¡¡//15Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
     if(SENSOR_3<THRESHOLD-8){RIGHT;}
     else if(SENSOR_3<THRESHOLD-3){right;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){left;}
     else{LEFT;}
    Wait(STEP);
    }
 serch_kan();¡¡¡¡¡¡¡¡//´Ì¤òõ¤¹¡£¸«¤Ä¤±¤¿¤é¥Ü¡¼¥ë¤ËÂÎÅö¤¿¤ê¤·¤Æ¥·¥å¡¼¥È¤¹¤ë
 shoot();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¡¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¢
 t2=CurrentTick();
 while(CurrentTick()-t2<=18000){
     if(SENSOR_3<THRESHOLD-8){LEFT;}
     else if(SENSOR_3<THRESHOLD-3){left;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){right;}
     else{RIGHT;}
    Wait(STEP);
    }
 kousaten_teishi();¡¡¡¡//¸òº¹ÅÀG¤òȯ¸«¤·¤¿¤é°ì»þÄä»ß¡¡¡¡¡¡¡¡¡¡¡¡//­¢¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­£
 t3=CurrentTick();¡¡¡¡¡¡//ÃÏÅÀG¤ò½Ðȯ¤¹¤ë»þ´Ö¤òt3¤È¤¹¤ë
 while(CurrentTick()-t3<=40000){¡¡¡¡¡¡¡¡¡¡¡¡//40Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
     if(SENSOR_3<THRESHOLD-8){LEFT;}
     else if(SENSOR_3<THRESHOLD-3){left;}
     else if(SENSOR_3<THRESHOLD+2){straight;}
     else if(SENSOR_3<THRESHOLD+6){right;}
     else{RIGHT;}
    Wait(STEP);
    }
 kousaten_usetsu();¡¡¡¡¡¡//¸òº¹ÅÀE¤òȯ¸«¤·¤¿¤é±¦ÀÞ¡¡¡¡¡¡¡¡//­£¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¤
 kousaten_trace();¡¡¡¡¡¡//¸òº¹ÅÀL¤òȯ¸«¤·¤¿¤é²£ÃÇ
 OnFwd(OUT_BC,SPEED);¡¡¡¡¡¡Á°¿Ê¤·¤ÆÏÈÆâ¤ËÆþ¤ë
 Wait(2000);
 Off(OUT_BC);
 }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¤¤«¤é¤³¤³¤Þ¤Ç¤¬¹¶Î¬­¥

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