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//This is a program to draw faces
//100miliseconds = 580mm as of 5.15.09
//465 miliseconds = 360 degrees as of 5.15.09

#define PEN_MOVE_TIME  250 //kore ha pen no ugoiteru jikan
#define TIME_FOR360    465
#define PEN_SPEED      7
#define WHEEL_SPEED    7

sub raisePen()
{
  SetPower(OUT_B, PEN_SPEED);
  OnRev(OUT_B);
  Wait(PEN_MOVE_TIME);
  Off(OUT_B);
}

sub lowerPen()
{
  SetPower(OUT_B, PEN_SPEED);
  OnFwd(OUT_B);
  Wait(PEN_MOVE_TIME);
  Off(OUT_B);
  Wait(35);
} 

void turn(int leftRight,int degrees)
{
  SetPower(OUT_A+OUT_C, WHEEL_SPEED);
  
  if (leftRight == 0)
  {
    OnFwd(OUT_A);
    OnRev(OUT_C);
  }
  else
  {
    OnFwd(OUT_C);
    OnRev(OUT_A);
   }
  
  Wait(degrees);     //*465)/360
  Off(OUT_A+OUT_C);
  
}

void driveF(int driveF_time)
{
  SetPower(OUT_A+OUT_C, WHEEL_SPEED);
  OnFwd(OUT_A+OUT_C);
  Wait(driveF_time);
  Off(OUT_A+OUT_C);
}


task main()
{
//100miliseconds = 580mm as of 5.15.09
//465 miliseconds = 360 degrees as of 5.15.09


  //´é¤Îº¸Â¦
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  driveF(225);
  
  //¤¢¤´
  repeat(17)
  {
  turn(0,14);
  Wait(20);
  driveF(20);
  }

  //´é¤Î±¦Â¦
  driveF(200);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë
  
  //¤ª¤Ç¤³
  turn(0,116);
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  driveF(220);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë
  
  // ¤ª¤Ç¤³¤«¤éÌÜ
  turn(0,58+116);
  driveF(60);

  
  //º¸ÌÜ
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  turn(1,407);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë
  
  // ±¦ÌܤعԤ¯
  driveF(100);
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  turn(1,583);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë
  
  //  ±¦Ìܤ«¤éÉ¡
  driveF(100);
  turn(1,117);
  driveF(50);
  
  //É¡¤òÉÁ¤¯

  turn(0,348);
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  turn(0,233);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë


  //¸ý¤Ø¸þ¤«¤¦
  driveF(100);
  turn(1,117);
  driveF(50);
  turn(0,117);
  
  //¸ý¤òÉÁ¤¯
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  repeat(17)
  {
  turn(0,14);
  Wait(20);
  driveF(10);
  }
  raisePen();
  
}

¥Ð¥Ó¥í¥ó¤µ¤ó¤Î´é

//This is a program to draw faces
//100miliseconds = 580mm as of 5.15.09
//465 miliseconds = 360 degrees as of 5.15.09

#define PEN_MOVE_TIME  250 //kore ha pen no ugoiteru jikan
#define TIME_FOR360    465
#define PEN_SPEED      7
#define WHEEL_SPEED    7

sub raisePen()
{
  SetPower(OUT_B, PEN_SPEED);
  OnRev(OUT_B);
  Wait(PEN_MOVE_TIME);
  Off(OUT_B);
}

sub lowerPen()
{
  SetPower(OUT_B, PEN_SPEED);
  OnFwd(OUT_B);
  Wait(PEN_MOVE_TIME);
  Off(OUT_B);
  Wait(35);
}

void turn(int leftRight,int degrees)
{
  SetPower(OUT_A+OUT_C, WHEEL_SPEED);

  if (leftRight == 0)
  {
    OnFwd(OUT_A);
    OnRev(OUT_C);
  }
  else
  {
    OnFwd(OUT_C);
    OnRev(OUT_A);
  }

  Wait(degrees);     //*465)/360
  Off(OUT_A+OUT_C);

}

void driveF(int driveF_time)
{
  SetPower(OUT_A+OUT_C, WHEEL_SPEED);
  OnFwd(OUT_A+OUT_C);
  Wait(driveF_time);
  Off(OUT_A+OUT_C);
}


task main()
{
//100miliseconds = 580mm as of 5.15.09
//465 miliseconds = 360 degrees as of 5.15.09



  lowerPen(); ´é¤Îº¸Â¦
  driveF(225);


  repeat(18)¤¢¤´¤ÎÉôʬ
  {
   turn(0,14);
  Wait(20);
  driveF(20);
  }


  
  driveF(200);  //´é¤Î±¦Â¦
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë

  turn(0,135);¤ª¤Ç¤³
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  
  repeat(21)ȱ¤ÎÌÓ
  {
  driveF(10);
  turn(1,116);
  Wait(20);
  turn(0,118);
  }
 
  
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë

  turn(0,58+116);¤ª¤Ç¤³¤«¤éº¸ÌÜ
  driveF(70); 

  lowerPen();±¦ÌܤØ
  turn(1,407+10);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë


  driveF(100);É¡
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  turn(1,583+30);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë


  driveF(100);É¡¤«¤é¸ý¤Ø
  turn(1,117);
  driveF(50);


  turn(0,348);
  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  turn(0,233+30);
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë



  driveF(40);¸ý¤ÎÉôʬ
  turn(1,117);
  driveF(60);
  turn(0,117);


  lowerPen();¥Ú¥ó¤ò¤ª¤í¤¹
  repeat(14)²¼¿°
  {
  turn(0,14);
  Wait(20);
  driveF(10);¾å¿°
  }
  raisePen();¥Ú¥ó¤ò¤¢¤²¤ë

}

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Last-modified: 2009-07-24 (¶â) 17:50:19