diff --git a/arduino/hanzo2_1/hanzo2_1.ino b/arduino/hanzo2_1/hanzo2_1.ino
index 5635f1c..835b597 100644
--- a/arduino/hanzo2_1/hanzo2_1.ino
+++ b/arduino/hanzo2_1/hanzo2_1.ino
@@ -17,10 +17,9 @@
 #include "Motor.h"
 
 //#define LINE_BLACK //白地・黒ライン有効
-//#define PIN_SENSOR ( ((PINC<<2) & ~0x03) | ((PINB>>4) & 0x03) )
 
-const unsigned int TARGET_NONE_COUNT = 85;
 const unsigned long LAP_COUNT = 854;
+const unsigned long TARGET_NONE_COUNT = LAP_COUNT/10;
 
 const int LANCE_ANGLE0 =   0; //度
 const int LANCE_ANGLE1 =  43;
@@ -59,15 +58,16 @@ const byte PIN_MOTOR_LEFT_2  =  7;
 const byte PIN_MOTOR_RIGHT_1 =  6;
 const byte PIN_MOTOR_RIGHT_2 =  8;
 
-const byte MODE_STOP  = 0x10;
-const byte MODE_TRACE = 0x11;
-const byte MODE_LEFT  = 0x12; //左カーブ
-const byte MODE_RIGHT = 0x13; //右カーブ
-
-const byte TARGET_NONE     = 0x40;
-const byte TARGET_PARALLEL = 0x41;  //平行標的
-const byte TARGET_VERTICAL = 0x42;  //垂直標的
-const byte TARGET_CYLINDER = 0x43;  //円筒標的
+enum {
+  MODE_STOP,                  //停止
+  MODE_TRACE,                 //標準
+  MODE_LEFT,                  //左カーブ
+  MODE_TARGET_PARALLEL1,      //平行標的1
+  MODE_TARGET_PARALLEL2,      //平行標的2
+  MODE_TARGET_RIGHT_VERTICAL, //右垂直標的
+  MODE_TARGET_LEFT_VERTICAL,  //左垂直標的
+  MODE_TARGET_CYLINDER        //円筒標的
+};
 
 const byte MASK_MODE_TRACE         = 0b01111110;
 const byte MASK_CHECK_MARKER       = 0b10000001;
@@ -82,60 +82,58 @@ Motor motorR;
 Motor motorL;
 
 byte mode;
-byte target;
-unsigned int counterOld;
-char lanceAngle;
+unsigned long counterOld;
 
 /**************************************/
 
 void trace(byte sensor){
-  switch( sensor & MASK_MODE_TRACE ){
+  switch(sensor&MASK_MODE_TRACE){
   case 0b01000000:
     handle(-20);
-    motorMode(GO, GO, 0x40, 0xff);
-    lanceAngle = 0;
+    motorMode(GO, GO, SPEED_DEFAULT/4, SPEED_DEFAULT);
+//    lance(0);
     break;
   case 0b01100000:
     handle(-16);
-    motorMode(GO, GO, 0xff, 0xff);
-    lanceAngle = 0;
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
+//    lance(0);
     break;
   case 0b00100000:
     handle(-12);
-    motorMode(GO, GO, 0xff, 0xff);
-    lanceAngle = 0;
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
+//    lance(0);
     break;
   case 0b00110000:
     handle(-5);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00010000:
     handle(-2);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00011000:
     handle(0);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00001000:
     handle(2);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00001100:
     handle(5);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00000100:
     handle(7);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00000110:
     handle(10);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00000010:
     handle(12);
-    motorMode(GO, GO, 0xff, 0xff);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   }
 }
@@ -166,6 +164,30 @@ void count(){
   }
 }
 
+int checkMarker(byte sensor){
+  int mode;
+  switch(sensor & MASK_CHECK_MARKER){
+  case 0b10000001:
+    counterOld = counter;
+    mode = MODE_LEFT;
+    break;
+  case 0b00000001:
+    if(counter%LAP_COUNT > LAP_COUNT/2){
+      mode = MODE_TARGET_RIGHT_VERTICAL;
+    }else{
+      mode = MODE_TARGET_PARALLEL1;
+    }
+    break;
+  case 0b10000000:
+    mode = MODE_TARGET_LEFT_VERTICAL;
+    break;
+  default:
+    mode = MODE_TRACE;
+    break;
+  }
+  return mode;
+}
+
 void sensorInit(){
   pinMode(PIN_SENSOR_0, INPUT);
   pinMode(PIN_SENSOR_1, INPUT);
@@ -199,7 +221,8 @@ void setup() {
   //モーター
   motorL.attach( PIN_MOTOR_LEFT_1,  PIN_MOTOR_LEFT_2);
   motorR.attach(PIN_MOTOR_RIGHT_1, PIN_MOTOR_RIGHT_2);
-  motorMode(STOP, STOP, 0, 0);
+  motorL.mode(STOP);
+  motorR.mode(STOP);
   //センサー
   sensorInit();
   //エンコーダー
@@ -208,108 +231,83 @@ void setup() {
   pinMode(PIN_LED, OUTPUT);
   digitalWrite(PIN_LED, HIGH);
   //モード
-  mode = MODE_STOP;
+  mode = MODE_TRACE;
   delay(1000);
   /* スタート */
   digitalWrite(PIN_LED, LOW);
-  mode = MODE_TRACE;
   handle(0);
   lance(0);
-  motorMode(GO, GO, 0xff, 0xff);
+  motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
 }
 
 void loop(){
   //センサーを見る
   byte sensor = 0;
 #ifdef LINE_BLACK //黒ライン
-//  sensor = PIN_SENSOR;
   sensor = sensorRead();
 #else
-//  sensor = ~PIN_SENSOR;
   sensor = ~sensorRead();
 #endif
   //ロータリーエンコーダーの変化を見る
   count();
-  //ランスの動作を決定する
-  switch(target){
-  case TARGET_NONE:
-    lanceAngle = LANCE_ANGLE0;
-    if(counter - counterOld > TARGET_NONE_COUNT ) target = 0;
-    break;
-  default:
-  switch( sensor & MASK_CHECK_MARKER ){
-  case 0x81:
-    target = TARGET_NONE;
-    counterOld = counter;
-    break;
-  case 0x01:
-    lanceAngle = LANCE_ANGLE1;
-    target = TARGET_PARALLEL;
-    break;
-  case 0x80:
-    lanceAngle = LANCE_ANGLE3;
-    target = TARGET_VERTICAL;
-    break;
-  }
-  break;
-  }
-  if( lanceAngle == LANCE_ANGLE1 && counter%LAP_COUNT > LAP_COUNT/2) lanceAngle = LANCE_ANGLE4;
+  //平行標的を狙う時は、ランスをぷるぷるする
   static unsigned long millis_lance = 0;
   if(millis() - millis_lance > LANCE_INTERVAL){
     millis_lance = millis();
-    switch(lanceAngle){
-      case LANCE_ANGLE1:
-        lanceAngle = LANCE_ANGLE2;
-        break;
-      case LANCE_ANGLE2:
-        lanceAngle = LANCE_ANGLE1;
-        break;
+    switch(servoLance.read()){
+    case LANCE_ANGLE1:
+      lance(LANCE_ANGLE2);
+      break;
+    case LANCE_ANGLE2:
+      lance(LANCE_ANGLE1);
+      break;
     }
   }
-  //ランスの動作を決定する
-  switch(target){
-  case TARGET_NONE:
-    lanceAngle = LANCE_ANGLE0;
-    if(counter - counterOld > TARGET_NONE_COUNT ) target = 0;
-    break;
-  case TARGET_PARALLEL:
-  case TARGET_VERTICAL:
-  case TARGET_CYLINDER:
-  default:
-  switch( sensor & MASK_CHECK_MARKER ){
-  case 0x81:
-    target = TARGET_NONE;
-    counterOld = counter;
-    break;
-  case 0x01:
-    lanceAngle = LANCE_ANGLE1;
-    target = TARGET_PARALLEL;
-    break;
-  case 0x80:
-    lanceAngle = LANCE_ANGLE3;
-    target = TARGET_VERTICAL;
-    break;
-  }
-  break;
-  }
   //全体の動作を決定する
   switch(mode){
+  case MODE_TARGET_RIGHT_VERTICAL:   //右垂直標的
+    lance(LANCE_ANGLE4);
+    mode = MODE_TRACE;
+    break;
+  case MODE_TARGET_LEFT_VERTICAL:   //左垂直標的
+    lance(LANCE_ANGLE3);
+    mode = MODE_TRACE;
+    break;
+  case MODE_TARGET_PARALLEL1:  //平行標的1
+    lance(LANCE_ANGLE1);
+    mode = MODE_TRACE;
+    break;
+  case MODE_TARGET_PARALLEL2:  //平行標的2
+    lance(LANCE_ANGLE2);
+    mode = MODE_TRACE;
+    break;
   case MODE_TRACE:
     trace(sensor);
-    if( counter > LAP_COUNT*6 - LAP_COUNT/14 ){     // 6周したら、円筒標的を狙いに行く
+    mode = checkMarker(sensor);
+    //6周する前に、円筒標的を狙いに行く
+    if( counter > LAP_COUNT*6 - LAP_COUNT/14 ){
+      mode = MODE_TARGET_CYLINDER;
+    }
+    break;
+  case MODE_LEFT: //左カーブ
+    trace(sensor);
+    lance(LANCE_ANGLE0);
+    if(counter - counterOld > TARGET_NONE_COUNT) mode = MODE_TRACE;
+    break;
+  case MODE_TARGET_CYLINDER:  //円筒標的
+    digitalWrite(PIN_LED, HIGH);
+    handle(0);
+    lance(-90);
+    motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
+    if(sensor&MASK_CHECK_MARKER == 0b10000001){
+      counterOld = counter;
+    }else if( counter - counterOld > LAP_COUNT/21 ){
       mode = MODE_STOP;
     }
     break;
-  case MODE_STOP:
-  default:
-    digitalWrite(PIN_LED, HIGH);
-    handle(0);
-    lanceAngle = -90;
-    motorMode(GO, GO, 0xff, 0xff);
-    if( counter - counterOld > LAP_COUNT/21 ){
-      motorMode(STOP, STOP, 0xff, 0xff);
-    }
+  case MODE_STOP: //停止
+    motorL.mode(STOP);
+    motorR.mode(STOP);
+    break;
   }
-  
-  lance(lanceAngle);
 }