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#define go(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);			//Á°¤Ët¤Î»þ´Ö¿Ê¤à
#define back(t) OnRev(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);			//¸å¤í¤Ët¤Î»þ´Ö¿Ê¤à
#define turn_right(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C);	//t¤Î»þ´Ö±¦¤Ë²ó¤ë
#define turn_left(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);	//t¤Î»þ´Öº¸¤Ë²ó¤ë

void pen_up()		//¥Ú¥ó¤ò¾å¤²¤ë
{
	SetPower(OUT_B,1);
	OnRev(OUT_B);
	Wait(15);
	Off(OUT_B);
}
void pen_down()		//¥Ú¥ó¤ò²¼¤²¤ë
{
	SetPower(OUT_B,2);
	OnFwd(OUT_B);
	Wait(20);
	Off(OUT_B);
}

task main()
{

		/*ÎØ³Ô¤òÉÁ¤¯(±ß)*/
	pen_down();
	OnFwd(OUT_A);
	Wait(700);
	Off(OUT_A);
	pen_up();
	turn_left(100);	//¸þ¤­¡¢µ÷Î¥¤òÄ´À°
	go(20);
	turn_right(100);
	go(15);
		/*ȱ¤ÎÌÓ¤òÉÁ¤¯*/
	pen_down();
	repeat(3){
	OnRev(OUT_A);Wait(36);Off(OUT_A);
	OnRev(OUT_C);Wait(36);Off(OUT_C);
	}
	pen_up();
	go(70);		//¸þ¤­¡¢µ÷Î¥¤òÄ´À°
	turn_right(110);
	back(36);
		/*±¦ÌܤòÉÁ¤¯*/
	pen_down();
	back(20);
	pen_up();
	turn_left(90);	//¸þ¤­¡¢µ÷Î¥¤òÄ´À°
	go(50);
	turn_right(90);
	go(20);
		/*º¸ÌܤòÉÁ¤¯*/
	pen_down();
	back(20);
	pen_up();
	turn_left(90);	//¸þ¤­¡¢µ÷Î¥¤òÄ´À°
	back(25);
	turn_right(90);
		/*É¡¤òÉÁ¤¯*/
	pen_down();
	back(20);
	pen_up();
	go(60);		//¸þ¤­¡¢µ÷Î¥¤òÄ´À°
	turn_left(120);
		/*¸ý¤òÉÁ¤¯*/
	pen_down();
	turn_left(150);
	pen_up();
}
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#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);		//tÉôÖÁ°¿Ê
#define go_back(t) OnRev(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);			//tÉôָåÂà
#define turn_left(t) OnRev(OUT_C);OnFwd(OUT_A);Wait(t);Off(OUT_A+OUT_C);	//tÉôֺ¸¤Ë¶Ê¤¬¤ë
#define turn_right(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_A+OUT_C);	//tÉôֱ¦¤Ë¶Ê¤¬¤ë
#define pen_up(t) OnFwd(OUT_B);Wait(t);Off(OUT_B);				//¥Ú¥ó¤ò¾å¤²¤ë
#define pen_down(t) OnRev(OUT_B);Wait(t);Off(OUT_B);				//¥Ú¥ó¤ò²¼¤²¤ë

task main()
{

		pen_down(10);			//½ñ¤­»Ï¤á¤ë
	OnFwd(OUT_A);
	Wait(700);
	Off(OUT_A);				//ÎØ³Ô¤ò½ñ¤¯
	pen_up(10);
	turn_left(70);
		pen_down(15);			//º¸Ìܤò½ñ¤¯
	go_straight(30);
	pen_up(5);
	go_straight(20);
		pen_down(10);			//±¦Ìܤò½ñ¤¯
	go_straight(30);
	pen_up(5);
	turn_left(90);
		pen_down(10);			//É¡¤ò½ñ¤¯
	go_straight(20);
	pen_up(5);
	go_straight(20);
	turn_right(90);
	go_straight(15);
		pen_down(10);			//¸ý¤ò½ñ¤¯
	go_back(30);
}
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  • ¥í¥Ü¥Ã¥È¤Î¹©Éפ·¤¿ÅÀ¤¬¤Ï¤Ã¤­¤ê¤È¤·¤Æ¤ª¤ê¡¢Îɤ¤¤È»×¤¤¤Þ¤¹¡£¤Þ¤¿¡¢´Ø¿ô¤ò»È¤Ã¤Æ¥×¥í¥°¥é¥à¤ò¤¹¤Ã¤­¤ê¤µ¤»¤Æ¤¤¤Þ¤¹¡£¤è¤ê³ê¤é¤«¤Êư¤­¤ò¤¹¤ë¤Ë¤Ï¤É¤¦¤ë¤«¤ÎµÄÏÀ¤ä¹Í»¡(º£Æü¤Î¼ø¶È¤Ç½Ð¤¿¤³¤È¡¢¥í¥Ü¥Ã¥È¤Î½Å¤µ¡¢±¦º¸¤Î¥¿¥¤¥ä¤ÎÉýÅù¡¹)¤ò²Ã¤¨¤¿¤ê¡¢¥ª¥ê¥¸¥Ê¥ë¤ÊÅÀ¤ò¤É¤ó¤É¤óÁý¤ä¤¹¤È¤µ¤é¤ËÎɤ¤¥ì¥Ý¡¼¥È¤Ë¤Ê¤ë¤È»×¤¤¤Þ¤¹¡£ -- FI? 2010-11-12 (¶â) 18:03:36


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Last-modified: 2011-01-24 (·î) 00:59:56