diff --git a/hanzo3.ino b/hanzo3.ino
index 2154561..478c201 100644
--- a/hanzo3.ino
+++ b/hanzo3.ino
@@ -9,33 +9,32 @@
 #include "Motor.h"
 
 const unsigned long LAP_DISTANCE  = 10000;  //ロータリーエンコーダーのカウント数/周
-const unsigned long TURN_DISTANCE = LAP_DISTANCE*90/848;  //カーブ中でのカウント数
+const unsigned long TURN_DISTANCE =  1500;  //カーブ中でのカウント数
 
-/*ここまだ*/
-const int LANCE_ANGLE_PARALLEL_1 =  90 -  53;  //度
-const int LANCE_ANGLE_PARALLEL_2 =  90 -  43;  //度
+const int LANCE_ANGLE_PARALLEL_1 =  90 -  62;  //度
+const int LANCE_ANGLE_PARALLEL_2 =  90 -  50;  //度
 const int LANCE_ANGLE_VERTICAL_L =  90 - 120;  //度
-const int LANCE_ANGLE_VERTICAL_R =  90 -  57;  //度
+const int LANCE_ANGLE_VERTICAL_R =  90 -  62;  //度
 
-const byte SPEED_DEFAULT = 128;
+const byte SPEED_DEFAULT = 0x5f;
 
 // Servo : DHCM (2013-03-13)
 // 60deg : 1250 us
 // 90deg : 1440 us
 //120deg : 1630 us
 const int STEERING_DEFAULT = 90; //度
-const unsigned int STEERING_MIN = (1440-570); //us
-const unsigned int STEERING_MAX = (1440+570); //us
+const unsigned int STEERING_MIN = (1450-570); //us
+const unsigned int STEERING_MAX = (1450+570); //us
 
-const float STEERING_KP = 4.0;
+//const float STEERING_KP = 3.8;
 
 //Servo  : SC-0352
 // 60deg : 1265 us
 // 90deg : 1535 us
 //120deg : 1805 us
 const int LANCE_DEFAULT = 90; //度
-const unsigned int LANCE_MIN = (1535-780); //us
-const unsigned int LANCE_MAX = (1535+780); //us
+const unsigned int LANCE_MIN = (1620-780); //us
+const unsigned int LANCE_MAX = (1620+780); //us
 
 const byte PIN_BUZZER =  3;
 const byte PIN_ROT    =  2;
@@ -77,47 +76,41 @@ enum mode_t {
   MODE_STOP,      //停止
   MODE_STRAIGHT,  //まっすぐ進む
   MODE_TURN,      //左に曲がる
-  MODE_ATTACK     //標的を狙う
+  MODE_ATTACK_PARALLEL_1,  //平行標的1
+  MODE_ATTACK_PARALLEL_2,  //平行標的2
+  MODE_ATTACK_VERTICAL_R,  //右垂直標的
+  MODE_ATTACK_VERTICAL_L,  //左垂直標的
+  MODE_ATTACK_CYLINDER     //円筒標的
 } 
 mode;
 
-enum target_t {
-  TARGET_NONE,
-  TARGET_PARALLEL_1,  //平行標的1
-  TARGET_PARALLEL_2,  //平行標的2
-  TARGET_VERTICAL_R,  //右垂直標的
-  TARGET_VERTICAL_L,  //左垂直標的
-  TARGET_CYLINDER     //円筒標的
-} 
-target;
-
 /**************************************/
 
 /* センサーを読んで、車体の動作を決定する */
 void trace(){
   switch(sensor&MASK_LINE){
   case 0b01000000:
-    steering(-5*STEERING_KP);
+    steering(-19);
     motorL.speed(0);
     motorR.speed(SPEED_DEFAULT*0.7);
     break;
   case 0b01100000:
-    steering(-4*STEERING_KP);
+    steering(-15);
     motorL.speed(0);
     motorR.speed(SPEED_DEFAULT*0.7);
     break;
   case 0b00100000:
-    steering(-3*STEERING_KP);
+    steering(-11);
     motorL.speed(0);
     motorR.speed(SPEED_DEFAULT);
     break;
   case 0b00110000:
-    steering(-2*STEERING_KP);
-    motorL.speed(0);
+    steering(-4);
+    motorL.speed(SPEED_DEFAULT);
     motorR.speed(SPEED_DEFAULT);
     break;
   case 0b00010000:
-    steering(-1);
+    steering(-2);
     motorL.speed(SPEED_DEFAULT);
     motorR.speed(SPEED_DEFAULT);
     break;
@@ -127,27 +120,27 @@ void trace(){
     motorR.speed(SPEED_DEFAULT);
     break;
   case 0b00001000:
-    steering(1);
+    steering(2);
     motorL.speed(SPEED_DEFAULT);
     motorR.speed(SPEED_DEFAULT);
     break;
   case 0b00001100:
-    steering(2*STEERING_KP);
+    steering(4);
     motorL.speed(SPEED_DEFAULT);
     motorR.speed(SPEED_DEFAULT);
     break;
   case 0b00000100:
-    steering(3*STEERING_KP);
-    motorL.speed(0);
-    motorR.speed(0);
+    steering(11);
+    motorL.speed(SPEED_DEFAULT);
+    motorR.speed(SPEED_DEFAULT);
     break;
   case 0b00000110:
-    steering(4*STEERING_KP);
+    steering(15);
     motorL.speed(0);
     motorR.speed(0);
     break;
   case 0b00000010:
-    steering(5*STEERING_KP);
+    steering(19);
     motorL.speed(0);
     motorR.speed(0);
     break;
@@ -155,22 +148,22 @@ void trace(){
 }
 
 /* ステアリングを中央からa[度]だけ動かす
- <- - 0 + ->
- |      |
- |      |
+  <- - 0 + ->
+   |      |
+   |      |
  []---{}---[]
- / .\
- */
+     / .\
+*/
 void steering(int a){
   steeringServo.write(STEERING_DEFAULT - a);
 }
 
 /* ランスを中央からa[度]だけ動かす
- <- - 0 + ->
- / .\
- /  | \
+  <- - 0 + ->
+     / .\
+    /  | \
  []+--{}--+[]
- */
+*/
 void lance(int a){
   lanceServo.write(LANCE_DEFAULT - a);
 }
@@ -204,7 +197,7 @@ byte sensorRead(){
 }
 
 void modeSet(){
-  if(distance > LAP_DISTANCE*5){  //5周したら停止
+  if(distance > 90000){
     mode = MODE_STOP;
     return;
   }
@@ -212,85 +205,24 @@ void modeSet(){
   default:
   case 0b00000000:
     mode = MODE_STRAIGHT;
-    target = TARGET_NONE;
+    break;
   case 0b10000001:
     modeChangedDistance = distance;
     mode = MODE_TURN;
-    target = TARGET_NONE;
     break;
   case 0b00000001:
     modeChangedDistance = distance;
-    mode = MODE_ATTACK;
-    if(distance%LAP_DISTANCE < LAP_DISTANCE/7){  //まずは、E的をねらいたい
-      target = TARGET_PARALLEL_1;
-    }else if(distance%LAP_DISTANCE < LAP_DISTANCE/3){  //次に、F的をねらいたい
-      target = TARGET_PARALLEL_2;
-    }else{  //後半は垂直標的をねらいたい
-      target = TARGET_VERTICAL_R;
+    if(distance%LAP_DISTANCE < 1429){  //まずは、E的をねらいたい
+      mode = MODE_ATTACK_PARALLEL_1;
+    }else if(distance%LAP_DISTANCE < 3333){  //次に、F的をねらいたい
+      mode = MODE_ATTACK_PARALLEL_2;
+    }else if(distance%LAP_DISTANCE){  //後半は垂直標的をねらいたい
+      mode = MODE_ATTACK_VERTICAL_R;
     }
     break;
   case 0b10000000:
     modeChangedDistance = distance;
-    mode = MODE_ATTACK;
-    target = TARGET_VERTICAL_L;
-    break;
-  }
-}
-
-void stop(){
-  motorL.mode(STOP);
-  motorR.mode(STOP);
-}
-
-void straight(){
-  trace();
-  modeSet();
-}
-
-void turn(){
-  trace();
-  lance(0);
-  if(distance - modeChangedDistance > TURN_DISTANCE){
-    modeSet();
-  }
-}
-
-void attack(){
-  switch(target){
-  default:
-  case TARGET_NONE:
-    trace();
-    modeSet();
-    break;
-  case TARGET_PARALLEL_1:  //平行標的1
-    trace();
-    lance(LANCE_ANGLE_PARALLEL_1);
-    if(distance - modeChangedDistance > 24){ //マーカーから少し進んで、叩く
-      lance(LANCE_ANGLE_PARALLEL_1+8);
-      modeSet();
-    }
-    break;
-  case TARGET_PARALLEL_2:  //平行標的2
-    trace();
-    lance(LANCE_ANGLE_PARALLEL_2);
-    if(distance - modeChangedDistance > 26){ //マーカーから少し進んで、叩く
-      lance(LANCE_ANGLE_PARALLEL_2+8);
-      modeSet();
-    }
-    break;
-  case TARGET_VERTICAL_R:  //右垂直標
-    trace();
-    lance(LANCE_ANGLE_VERTICAL_R);
-    modeSet();
-    break;
-  case TARGET_VERTICAL_L:  //左垂直標
-    trace();
-    lance(LANCE_ANGLE_VERTICAL_L);
-    modeSet();
-    break;
-  case TARGET_CYLINDER:    //円筒標的
-    trace();
-    modeSet();
+    if(distance%LAP_DISTANCE > 5000) mode = MODE_ATTACK_VERTICAL_L;
     break;
   }
 }
@@ -299,9 +231,17 @@ void rot(){
   distance++;
 }
 
+void startBeep(){
+  tone(PIN_BUZZER,2000);
+  delay(100);
+  tone(PIN_BUZZER,1000);
+  delay(100);
+  noTone(PIN_BUZZER);
+}
+
 void setup(){
   //サーボ
-  steeringServo.attach(PIN_SERVO_STEERING, STEERING_MIN, STEERGING_MAX);
+  steeringServo.attach(PIN_SERVO_STEERING, STEERING_MIN, STEERING_MAX);
   lanceServo.attach(PIN_SERVO_LANCE, LANCE_MIN, LANCE_MAX);
   steering(0);
   lance(0);
@@ -314,12 +254,16 @@ void setup(){
   sensorInit();
   //エンコーダー
   pinMode(PIN_ROT, INPUT);
-  attachInterrupt(0, rot, FALLING);
+  attachInterrupt(0, rot, RISING);
+  //ブザー
+  pinMode(PIN_BUZZER, OUTPUT);
+  startBeep();
   /* 3秒停止 */
-  stop();
+  motorL.mode(STOP);
+  motorR.mode(STOP);
   delay(3000);
   /* スタート */
-  modeSet();
+  mode = MODE_STRAIGHT;
 }
 
 void loop(){
@@ -327,16 +271,61 @@ void loop(){
   switch(mode){
   default:
   case MODE_STOP:      //停止
-    stop();
+    motorL.mode(STOP);
+    motorR.mode(STOP);
+    tone(PIN_BUZZER, 2000);
+    delay(2000);
+    noTone(PIN_BUZZER);
+    while(1){
+      ;
+    };
     break;
   case MODE_STRAIGHT:  //まっすぐ進む
-    straight();
+    trace();
+    modeSet();
     break;
   case MODE_TURN:      //左に曲がる
-    turn();
+    trace();
+    lance(0);
+    if(distance - modeChangedDistance > TURN_DISTANCE){
+      mode = MODE_STRAIGHT;
+    }
     break;
-  case MODE_ATTACK:    //標的を狙う
-    attack();
+  case MODE_ATTACK_PARALLEL_1:  //平行標的1
+    trace();
+    lance(LANCE_ANGLE_PARALLEL_1);
+    if(distance - modeChangedDistance > 255){ //マーカーから少し進んで、叩く
+      lance(LANCE_ANGLE_PARALLEL_1 + 10);
+      mode = MODE_STRAIGHT;
+    }
+    break;
+  case MODE_ATTACK_PARALLEL_2:  //平行標的2
+    trace();
+    lance(LANCE_ANGLE_PARALLEL_2);
+    if(distance - modeChangedDistance > 283){ //マーカーから少し進んで、叩く
+      lance(LANCE_ANGLE_PARALLEL_2 + 10);
+      mode = MODE_STRAIGHT;
+    }
+    break;
+  case MODE_ATTACK_VERTICAL_R:  //右垂直標
+    trace();
+    lance(LANCE_ANGLE_VERTICAL_R);
+    if(distance - modeChangedDistance > 300){ //マーカーから少し進んで、まっすぐに戻す
+      lance(0);
+      mode = MODE_STRAIGHT;
+    }
+    break;
+  case MODE_ATTACK_VERTICAL_L:  //左垂直標
+    trace();
+    lance(LANCE_ANGLE_VERTICAL_L);
+    if(distance - modeChangedDistance > 300){ //マーカーから少し進んで、まっすぐに戻す
+      lance(0);
+      mode = MODE_STRAIGHT;
+    }
+    break;
+  case MODE_ATTACK_CYLINDER:    //円筒標的
+    trace();
+    mode = MODE_STRAIGHT;
     break;
   }
-}
+}
diff --git a/pitches.h b/pitches.h
new file mode 100644
index 0000000..55c7d54
--- /dev/null
+++ b/pitches.h
@@ -0,0 +1,95 @@
+/*************************************************
+ * Public Constants
+ *************************************************/
+
+#define NOTE_B0  31
+#define NOTE_C1  33
+#define NOTE_CS1 35
+#define NOTE_D1  37
+#define NOTE_DS1 39
+#define NOTE_E1  41
+#define NOTE_F1  44
+#define NOTE_FS1 46
+#define NOTE_G1  49
+#define NOTE_GS1 52
+#define NOTE_A1  55
+#define NOTE_AS1 58
+#define NOTE_B1  62
+#define NOTE_C2  65
+#define NOTE_CS2 69
+#define NOTE_D2  73
+#define NOTE_DS2 78
+#define NOTE_E2  82
+#define NOTE_F2  87
+#define NOTE_FS2 93
+#define NOTE_G2  98
+#define NOTE_GS2 104
+#define NOTE_A2  110
+#define NOTE_AS2 117
+#define NOTE_B2  123
+#define NOTE_C3  131
+#define NOTE_CS3 139
+#define NOTE_D3  147
+#define NOTE_DS3 156
+#define NOTE_E3  165
+#define NOTE_F3  175
+#define NOTE_FS3 185
+#define NOTE_G3  196
+#define NOTE_GS3 208
+#define NOTE_A3  220
+#define NOTE_AS3 233
+#define NOTE_B3  247
+#define NOTE_C4  262
+#define NOTE_CS4 277
+#define NOTE_D4  294
+#define NOTE_DS4 311
+#define NOTE_E4  330
+#define NOTE_F4  349
+#define NOTE_FS4 370
+#define NOTE_G4  392
+#define NOTE_GS4 415
+#define NOTE_A4  440
+#define NOTE_AS4 466
+#define NOTE_B4  494
+#define NOTE_C5  523
+#define NOTE_CS5 554
+#define NOTE_D5  587
+#define NOTE_DS5 622
+#define NOTE_E5  659
+#define NOTE_F5  698
+#define NOTE_FS5 740
+#define NOTE_G5  784
+#define NOTE_GS5 831
+#define NOTE_A5  880
+#define NOTE_AS5 932
+#define NOTE_B5  988
+#define NOTE_C6  1047
+#define NOTE_CS6 1109
+#define NOTE_D6  1175
+#define NOTE_DS6 1245
+#define NOTE_E6  1319
+#define NOTE_F6  1397
+#define NOTE_FS6 1480
+#define NOTE_G6  1568
+#define NOTE_GS6 1661
+#define NOTE_A6  1760
+#define NOTE_AS6 1865
+#define NOTE_B6  1976
+#define NOTE_C7  2093
+#define NOTE_CS7 2217
+#define NOTE_D7  2349
+#define NOTE_DS7 2489
+#define NOTE_E7  2637
+#define NOTE_F7  2794
+#define NOTE_FS7 2960
+#define NOTE_G7  3136
+#define NOTE_GS7 3322
+#define NOTE_A7  3520
+#define NOTE_AS7 3729
+#define NOTE_B7  3951
+#define NOTE_C8  4186
+#define NOTE_CS8 4435
+#define NOTE_D8  4699
+#define NOTE_DS8 4978
+
+