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sub close_arm() {OnFwd(OUT_A)/;Wait(90);Off(OUT_A);} ¡¡¡¡ ¡¡¡¡¡¡¡¡¡¡//Åã¤ò¤Ä¤«¤à¥¢¡¼¥à¤òÊĤ¸¤ë°ìÏ¢¤ÎÆ°¤¤ò¤³¤³¤ÇÄêµÁ sub open_arm() {OnRev(OUT_A);Wait(90);Off(OUT_A);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Åã¤ò¤Ä¤«¤à¥¢¡¼¥à¤ò³«¤¯Æ°¤¤òÄêµÁ sub high_attack() {OnFwd(OUT_B);Wait(60);Off(OUT_B);OnRev(OUT_B);Wait(60);Off(OUT_B);}¡¡¡¡¡¡¡¡ //Åã¤Î°ìÈÖ¾å¤Î¥â¥Î¤òÍî¤È¤¹Æ°¤¤òÄêµÁ sub middle_attack() {OnRev(OUT_B);Wait(60);Off(OUT_B);OnFwd(OUT_B);Wait(60);Off(OUT_B);}¡¡¡¡¡¡¡¡¡¡ //Åã¤Î¿¿¤óÃæ¤Î¥â¥Î¤òÍî¤È¤¹Æ°¤¤òÄêµÁ sub low_attack() {OnFwd(OUT_C);Wait(150);Off(OUT_C);OnRev(OUT_C);Wait(150);Off(OUT_C);}¡¡¡¡¡¡ //Åã¤Î°ìÈÖ²¼¤Î¥â¥Î¤òÍî¤È¤¹¡ÊÀµ³Î¤Ë¤Ï²¡¤·½Ð¤¹¡ËÆ°¤¤òÄêµÁ task main() { SetSensor(SENSOR_1,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_TOUCH); ClearMessage(); until(SENSOR_1==1);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬Åã¤Î¤Ë¿¨¤ì¤¿¤é¡Ä PlaySound(2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤ì¤òÃΤ餻¤ë²»¤¬ÌĤë ClearTimer(0); while(FastTimer(0)<50){¡¡¡¡¡¡//£µÉô֥֡á¥Ã¥»¡¼¥¸£±¡×¤ò¤â¤¦°ì¤Ä¤ÎRCXËÜÂΤËÁ÷¿® SendMessage(1); } until(Message()==10);¡¡¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£±£°¡×¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂԤäƤë PlaySound(4);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Ô¤í¤Ô¤íÌĤë close_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Åã¤ò¤¬¤Ã¤Á¤ê¥¥ã¥Ã¥Á ClearTimer(0); while(FastTimer(0)<50){ //¡Ö¥á¥Ã¥»¡¼¥¸£²¡×¤òÁ÷¿® SendMessage(2); PlaySound(5); //¤Ô¤í¤ê¤ó¤Ô¤í¤ê¤óÌĤë } ClearMessage(); until(Message()==11); PlaySound(6); until(SENSOR_3==1);¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬Ê¬Ê̤¹¤ë¤È¤³¤ËÅö¤¿¤Ã¤¿¤é¡Ä PlaySound(5); ClearTimer(0); while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£³¡×¤òÁ÷¿® SendMessage(3); } ClearMessage(); until(Message()==12); open_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯ high_attack();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¾åÃʹ¶·â¡£´Ì¤«µíÆý¥Ñ¥Ã¥¯¤ÏÍî¤Á¤ë¤Ï¤º close_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥¢¡¼¥à¤òÊĤ¸¤ë ClearTimer(0); while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£´¡×¤òÁ÷¿® SendMessage(4); } ClearMessage(); until(Message()==13); open_arm(); middle_attack(); //ÃæÃʹ¶·â¡ª close_arm(); ClearTimer(0); while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£µ¡×¤òÁ÷¿® SendMessage(5); } ClearMessage(); until(Message()==14); open_arm(); low_attack();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²¼Ãʹ¶·â¡ª¡ª ClearTimer(0); while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£¶¡×¤òÁ÷¿® SendMessage(6); } ¤½¤Î¸å¤â¤¦°ì¤Ä¤ÎÅã¤Ë¹Ô¤¡¢¾åµ¤ÈƱ¤¸¤è¤¦¤ËÆ°¤¯ ClearMessage(); until(SENSOR_1==1); PlaySound(2); ClearTimer(0); while(FastTimer(0)<50){ SendMessage(21); } until(Message()==30); PlaySound(4); close_arm(); ClearTimer(0); while(FastTimer(0)<50){ SendMessage(22); PlaySound(5); } ClearMessage(); until(Message()==31); PlaySound(6); until(SENSOR_3==1); PlaySound(5); ClearTimer(0); while(FastTimer(0)<50){ SendMessage(23); } ClearMessage(); until(Message()==32); open_arm(); high_attack(); close_arm(); ClearTimer(0); while(FastTimer(0)<50){ SendMessage(24); } ClearMessage(); until(Message()==33); open_arm(); middle_attack(); close_arm(); ClearTimer(0); while(FastTimer(0)<50){ SendMessage(25); } ClearMessage(); until(Message()==34); open_arm(); low_attack(); }
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sub turn_back() {OnRev(OUT_A+OUT_B);Wait(200);OnRev(OUT_A);OnFwd(OUT_B);Wait(240);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡//180¡ë¸å¤í¤Ë²óž¤¹¤ëÆ°¤¤òÄêµÁ sub go_straight() {OnFwd(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Þ¤Ã¤¹¤°¿Ê¤à¤À¤±¤Î¤³¤È¤òÄêµÁ sub stop_move() {Off(OUT_A+OUT_B);}¡¡//»ß¤Þ¤ë¤³¤È¤ÎÄêµÁ sub turn_right() {OnRev(OUT_A+OUT_B);Wait(50);Off(OUT_A+OUT_B);OnFwd(OUT_A);OnRev(OUT_B);Wait(120);Off(OUT_A+OUT_B); OnFwd(OUT_A+OUT_B);Wait(150);Off(OUT_A+OUT_B); OnFwd(OUT_B);OnRev(OUT_A);Wait(120);Off(OUT_A+OUT_B);OnFwd(OUT_A+OUT_B); Wait(50);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦£¹£°¡ë¸þ¤¤¤Æ¿Ê¤ß¡¢¤Þ¤¿º¸£¹£°¡ë¤ò¸þ¤¯ sub turn_left() {OnRev(OUT_A+OUT_B);Wait(50);Off(OUT_A+OUT_B);OnFwd(OUT_B);OnRev(OUT_A);Wait(120);Off(OUT_A+OUT_B); OnFwd(OUT_A+OUT_B);Wait(150);Off(OUT_A+OUT_B); OnFwd(OUT_A);OnRev(OUT_B);Wait(120);Off(OUT_A+OUT_B);OnFwd(OUT_A+OUT_B); Wait(50);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡//turn_right¤ÈµÕ¤ÎÆ°¤¤òÄêµÁ task main() { ClearMessage(); go_straight();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤Þ¤Ã¤¹¤°¤¹¤¹¤à until(Message()==1); stop_move();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤¹¤È¤Ã¤× ClearTimer(0); while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£±£°¡×Á÷¿® SendMessage(10); } PlaySound(1); until(Message()==2); turn_back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¤í¡ÊʬÊ̤ΤȤ³¤Î¤Û¤¦¡Ë¤ò¸þ¤¯ ClearTimer(0); while(FastTimer(0)<100){ //¡Ö¥á¥Ã¥»¡¼¥¸£±£±¡×Á÷¿® SendMessage(11); } ClearMessage(); go_straight();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤Þ¤Ã¤¹¤°¤¹¤¹¤à until(Message()==3); stop_move(); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //»ß¤Þ¤ì ClearTimer(0); while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£²¡×Á÷¿® SendMessage(12); } ClearMessage(); until(Message()==4); turn_right();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë°ÜÆ° ClearTimer(0); while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£³¡×Á÷¿® SendMessage(13); } ClearMessage(); until(Message()==5); turn_left();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //º¸¤Ë°ÜÆ° ClearTimer(0); while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£´¡×Á÷¿® SendMessage(14); } ClearMessage(); until(Message()==6); turn_right();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë°ÜÆ° turn_back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¤í¡Ê¤â¤¦°ì¤Ä¤ÎÅã¤ÎÊý¡Ë¤ò¸þ¤¯ go_straight(); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Þ¤Ã¤¹¤°¤¹¤¹¤à ClearMessage(); until(Message()==21); stop_move();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤³¤³¤ÇºÆ¤ÓÅã¤Î¤È¤³¤ËÍ褿¡£¤³¤Î¤¢¤È¾åµ¤Îº¸±¦ÂоΤÎÆ°¤¤ò¤¹¤ë¡£ ClearTimer(0); while(FastTimer(0)<100){ SendMessage(30); } PlaySound(1); until(Message()==22); turn_back(); ClearTimer(0); while(FastTimer(0)<100){ SendMessage(31); } ClearMessage(); go_straight(); until(Message()==23); stop_move(); ClearTimer(0); while(FastTimer(0)<100){ SendMessage(32); } ClearMessage(); until(Message()==24); turn_left(); ClearTimer(0); while(FastTimer(0)<100){ SendMessage(33); } ClearMessage(); until(Message()==25); turn_right(); ClearTimer(0); while(FastTimer(0)<100){ SendMessage(34); } }
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