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#define go(t) OnFwd(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C); #define turn_left OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_A+OUT_C); #define turn_right OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_A+OUT_C); #define pen_up SetPower(OUT_B); OnFwd(OUT_B); Wait(30); Off(OUT_B); #define pen_down SetPower(OUT_B); OnRev(OUT_B); Wait(30); Off(OUT_B); ¤ï¤«¤ê¤ä¤¹¤¯½ñ¤¯¤È [#i27b4c39]
go Á°¿Ê turn_left º¸ÀÞ turn_right±¦ÀÞ pen_up ¥Ú¥ó¤ò¾å¤²¤ë pen_down¡¡¥Ú¥ó¤ò²¼¤²¤ë
¡¡¡¡task main() {
go(20);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÎسԤò½ñ¤¯ pen_down; turn_left; go(22); pen_up; turn_right;¡¡¡¡¡¡¡¡¡¡ go(10); pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³Ü¡¡ turn_right;¡¡¡¡¡¡¡¡¡¡ go(10); turn_left; go(22); turn_left; pen_up; go(10); turn_right; //ÌÜ go(22); repeat(2){ turn_right; go(10); pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦ÌÜ turn_left; go(22); pen_up; turn_left; go(10); pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸ÌÜ turn_right; go(22); pen_up;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ turn_right; go(20); turn_left; pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸ý go(22); pen_up; off(OUT_A+OUT_C);
¡¡}
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#define felt_pen 27¡¡¡¡¡¡//¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ë»þ´Ö #define pepushi OnFwd(OUT_C);OnRev(OUT_A);Wait(110);Off(OUT_A+OUT_C);¡¡¡¡¡¡//ľ³Ñ¤Ë¶Ê¤¬¤ë #define zero_nine 90
task main() { OnFwd(OUT_A+OUT_C); //1,5£óÁ°¿Ê Wait(150); OnFwd(OUT_B); Wait( felt_pen );¡¡¡¡¡¡¡¡¡¡//¡¥Ú¥ó¤ò¾å¤²¤ë Off(OUT_B); OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡//0,5sÌá¤ë Wait(50); OnRev(OUT_A); //¸þ¤¤òÊѤ¨¤ë Wait(100); Off(OUT_A+OUT_C); pepushi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥³¥ó¥Ñ¥¯¥È¤Ë¸þ¤¤òÊѤ¨¤ë
B¤òFwd¤ËÁàºî¤¹¤ë¤³¤È¤Ë¤è¤ê¥Õ¥§¥ë¥È¥Ú¥ó¤ò¤µ¤²¤ÆÂÀפò¤Î¤³¤»¤ë¤è¤¦¤Ë¤¹¤ë¡Ê¥¹¥¿¡¼¥È¤Ç¤ÏºÇ½é¤Ï¥Õ¥§¥ë¥È¤¬»æ¤ËÀÜÃϤ·¤¿¾õÂÖ¡Ë
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OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¢¥Ú¥ó¤ò¤µ¤²¤ë¡ÊÎسԳÜÉôʬ¡Ë Wait( felt_pen ); Off(OUT_B); OnFwd(OUT_A+OUT_C);¡¡¡¡//2,0Á°¿Ê Wait(200); Off(OUT_A+OUT_C); OnRev(OUT_A+OUT_C);¡¡¡¡//0.5¥Ð¥Ã¥¯ Wait(50); OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡//¥³¥ó¥Ñ¥¯¥È¤Ë¶Ê¤¬¤ë Wait(100); Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡ OnFwd(OUT_B); Wait( felt_pen ); Off(OUT_B); OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡//¤³¤³¤«¤é³ÜÉôʬ¡¡¡¡¡¡
¡¡ OnRev(OUT_A);
Wait(110); Off(OUT_A+OUT_C); OnRev(OUT_B); Wait( felt_pen );¡¡¡¡¡¡//º¸ÎسԤΤ¿¤á¤Ë¥Ú¥ó¤ò²¼¤²¤ë Off(OUT_B);
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OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡//º¸ÎØ³Ô Wait(200);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦ÎسԤÈƱ¤¸Ä¹¤µ¤Ë¤Ê¤ë¤è¤¦¤Ë»þ´Ö¤ò£²£°£°¤Ë Off(OUT_A+OUT_C); OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡ Wait( felt_pen ); Off(OUT_B);
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OnRev(OUT_C);¡¡¡¡¡¡¡¡//±¦ÌÜ Wait(10); Off(OUT_C); OnRev(OUT_B); Wait( felt_pen ); Off(OUT_B); OnRev(OUT_C);¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò²¼¤·¤¿¤Þ¤ÞƬ¤ò¿¶¤ë¤³¤È¤Ç»°Æü·î·¿¤òÉÁ¤¯ Wait(zero_nine); OnFwd(OUT_C); Wait(zero_nine); Off(OUT_C); OnFwd(OUT_B); Wait( felt_pen ); Off(OUT_B);
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¡¡ OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡//º¸ÌÜ
Wait(180); Off(OUT_C); OnRev(OUT_B); Wait( felt_pen );¡¡¡¡//±¦ÌܤÈƱ¤¸¤¯»°Æü·î¤òÉÁ¤¯¡¡¡¡ Off(OUT_B); OnFwd(OUT_C); Wait(zero_nine); Off(OUT_C); OnFwd(OUT_B); Wait( felt_pen );¡¡¡¡//¸ý¤Î°ÌÃ֤ޤǥڥó¤ò¾å¤²¤Æ¤¤¤¯ Off(OUT_B); OnRev(OUT_A); //¸ý¤ò½ñ¤¯¤¿¤á¤Ë²¼¤¬¤ë¤Î¤ÇÊý¸þÄ´À° Wait(90); Off(OUT_A);
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