report.nxc

#define turn_left OnRev(OUT_A,100);OnRev(OUT_C,slow); //左回転
#define turn_right OnRev(OUT_C,100);OnRev(OUT_A,slow); //右回転
#define LIGHT Sensor(IN_1)

while(counter < cset){
  L_forward = L_present;
  L_present = LIGHT;

  if(L_present - L_forward < -2){ //黒の急な回転に対応
  OnRev(OUT_C,100); OnFwd(OUT_A,100);Wait(10);
  L_forward = L_present;
  L_present = LIGHT;}

  turn = (p_gain * (L_present - gray) + d_gain * (L_present - L_forward))*100.0/(white - black); //※3 旋回値計算

  //black -> turn right
  if(turn < 0.0){
    if(turn < bset){
      slow = b_min;}
    else{
      slow = 100.0 + turn;}//※4 車輪回転値計算
    turn_right;

    counter = 0;}

  //white -> turn left
  else{
    if(turn > wset){
      slow = w_min;}
    else{
      slow = 100 - turn;} //※4 車輪回転値計算
    turn_left;

    counter = counter + 1;} //白判定を数え上げる
  Wait(3);}