diff --git a/arduino/hanzo2_1/hanzo2_1.ino b/arduino/hanzo2_1/hanzo2_1.ino
index 4bbed9c..5635f1c 100644
--- a/arduino/hanzo2_1/hanzo2_1.ino
+++ b/arduino/hanzo2_1/hanzo2_1.ino
@@ -1,26 +1,23 @@
 /*
 競技用ランサーロボット
 半蔵 2.1
-(C)2012 kou029w - MIT License [http://kou029w.appspot.com/mit-license.txt]
-*/
-
-/*
-    <前>
 
 [7 654321 0]
-     |
-     |
-[]---*----[]
-     | /
-     |/
-[]---#----[]
+  |      |
+  |      |
+[]---{}---[]
+    / .\
+   /  | \
+[]+--{}--+[]
+
+(c)2012 kou029w - MIT License [http://kou029w.appspot.com/mit-license.txt]
 */
 
 #include <Servo.h>
 #include "Motor.h"
 
 //#define LINE_BLACK //白地・黒ライン有効
-#define PIN_SENSOR ( ((PINC<<2) & ~0x03) | ((PINB>>4) & 0x03) )
+//#define PIN_SENSOR ( ((PINC<<2) & ~0x03) | ((PINB>>4) & 0x03) )
 
 const unsigned int TARGET_NONE_COUNT = 85;
 const unsigned long LAP_COUNT = 854;
@@ -32,15 +29,15 @@ const int LANCE_ANGLE3 = -33;
 const int LANCE_ANGLE4 =  34;
 const unsigned int LANCE_INTERVAL = 70; //ms
 
-const byte SPEED_DEFAULT = 0xff;
+const byte SPEED_DEFAULT = 255;
 
 const int HANDLE_DEGREE_DEFAULT = 90; //度
-const unsigned int HANDLE_MIN = ( 800+30); //ms
-const unsigned int HANDLE_MAX = (2300+30); //ms
+const unsigned int HANDLE_MIN = ( 800+30); //us
+const unsigned int HANDLE_MAX = (2300+30); //us
 
 const int LANCE_DEGREE_DEFAULT = 90; //度
-const unsigned int LANCE_MIN =  544; //ms
-const unsigned int LANCE_MAX = 2400; //ms
+const unsigned int LANCE_MIN =  544; //us
+const unsigned int LANCE_MAX = 2400; //us
 
 const byte PIN_LED           =  4;
 const byte PIN_ROT           =  2;
@@ -156,7 +153,9 @@ void lance(int degree){
   servoLance.write(LANCE_DEGREE_DEFAULT - degree);
 }
 
-/* ロータリーエンコーダーの変化を見る */
+/* ロータリーエンコーダーの変化を見る
+  todo:外部割り込み使ってみたい、、、
+*/
 volatile unsigned long counter = 0;
 void count(){
   static byte rot[2] = {0}; //rot[0]:今の状態, rot[1]:前回の状態
@@ -178,6 +177,19 @@ void sensorInit(){
   pinMode(PIN_SENSOR_7, INPUT);
 }
 
+byte sensorRead(){
+  byte sensor = 0;
+  if(digitalRead(PIN_SENSOR_0)) sensor += 0b00000001;
+  if(digitalRead(PIN_SENSOR_1)) sensor += 0b00000010;
+  if(digitalRead(PIN_SENSOR_2)) sensor += 0b00000100;
+  if(digitalRead(PIN_SENSOR_3)) sensor += 0b00001000;
+  if(digitalRead(PIN_SENSOR_4)) sensor += 0b00010000;
+  if(digitalRead(PIN_SENSOR_5)) sensor += 0b00100000;
+  if(digitalRead(PIN_SENSOR_6)) sensor += 0b01000000;
+  if(digitalRead(PIN_SENSOR_7)) sensor += 0b10000000;
+  return sensor;
+}
+
 void setup() {
   //サーボ
   servoHandle.attach(PIN_SERVO_HANDLE, HANDLE_MIN, HANDLE_MAX);
@@ -210,9 +222,11 @@ void loop(){
   //センサーを見る
   byte sensor = 0;
 #ifdef LINE_BLACK //黒ライン
-  sensor = PIN_SENSOR;
+//  sensor = PIN_SENSOR;
+  sensor = sensorRead();
 #else
-  sensor = ~PIN_SENSOR;
+//  sensor = ~PIN_SENSOR;
+  sensor = ~sensorRead();
 #endif
   //ロータリーエンコーダーの変化を見る
   count();