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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(); }
//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();±¦ÌÜ¤Ø 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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