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#define FRONT_M(a) OnFwd(OUT_A);Wait(a);Off(OUT_A);Wait(100);
#define BACK_M(b) OnRev(OUT_A);Wait(b);Off(OUT_A);Wait(100);
#define LEFT_M(t) OnRev(OUT_B);Wait(t);Off(OUT_B);Wait(100);
#define RIGHT_M(s) OnFwd(OUT_B);Wait(s);Off(OUT_B);Wait(100);
#define ARM_ON OnRev(OUT_C);Wait(10);Off(OUT_C);Wait(150);
#define ARM_OFF OnFwd(OUT_C);Wait(10);Off(OUT_C);Wait(150);
#define LEFTFRONT_M(c) OnFwd(OUT_A);OnRev(OUT_B);Wait(c);Off(OUT_AB);Wait(100);
#define LEFTBACK_M(d) OnRev(OUT_A);OnRev(OUT_B);Wait(d);Off(OUT_AB);Wait(100);
task main()
{
	LEFT_M(15);//­¡³«»Ï
	ARM_ON;
	FRONT_M(15);
	ARM_OFF;
	RIGHT_M(15);
	ARM_ON;//­¢³«»Ï
	LEFT_M(22);
	BACK_M(13);//­£³«»Ï
	ARM_OFF;
	FRONT_M(13);
	ARM_ON;//­¤³«»Ï
	RIGHT_M(30);
	ARM_OFF;
	LEFT_M(20);
	BACK_M(5);
	ARM_ON;//­¥³«»Ï
	RIGHT_M(30);
	ARM_OFF;
	LEFT_M(20);
	BACK_M(7);
	ARM_ON;//­¦³«»Ï
	RIGHT_M(28);
	BACK_M(15);//­§³«»Ï
	LEFTFRONT_M(7);//­¨
	Off(OUT_AB);
	ARM_OFF;
	FRONT_M(7);
	LEFT_M(3);
	repeat(2){ //ÅÀÅÀ
	ARM_ON; 
	LEFTFRONT_M(3);
	ARM_OFF;
	LEFT_M(2);
	BACK_M(2);
	}
	ARM_ON; 
	LEFTFRONT_M(2);
	ARM_OFF;
	LEFT_M(3);
	ARM_ON;
	LEFTBACK_M(2);
	ARM_OFF;
}

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#define FRONT_M(a) OnFwd(OUT_A);Wait(a);Off(OUT_A);Wait(100);
#define BACK_M(b) OnRev(OUT_A);Wait(b);Off(OUT_A);Wait(100);
#define LEFT_M(t) OnRev(OUT_B);Wait(t);Off(OUT_B);Wait(100);
#define RIGHT_M(s) OnFwd(OUT_B);Wait(s);Off(OUT_B);Wait(100);

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#define LEFTFRONT_M(c) OnFwd(OUT_A);OnRev(OUT_B);Wait(c);Off(OUT_AB);Wait(100);
#define LEFTBACK_M(d) OnRev(OUT_A);OnRev(OUT_B);Wait(d);Off(OUT_AB);Wait(100);

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#define ARM_ON OnRev(OUT_C);Wait(10);Off(OUT_C);Wait(150);
#define ARM_OFF OnFwd(OUT_C);Wait(10);Off(OUT_C);Wait(150);

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#define ¤ò¤­¤Á¤ó¤È¤Ç¤­¤¿¤¿¤á¡¢¤³¤ì¤«¤é¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬³Ú¤Ë¤Ê¤ë¤À¤í¤¦¤È»×¤¤¤Þ¤·¤¿¡£ ÇϤΤ½¤ì¤¾¤ì¤ÎËÀ¤ÎŤµ¤ò¬¤Ã¤Æ¡¢É¬Íפʽñ¤¯»þ´Ö¤òͽ¬¤·¤Þ¤·¤¿¡£ ±ôÉ®¤Ç½ñ¤¤¤¿¤â¤Î¤Ï»þ´ÖɬÍפʻþ´Ö¤Ç¡¢¥Ü¡¼¥ë¥Ú¥ó¤Ç½ñ¤¤¤¿¤â¤Î¤Ï½ñ¤­½ç¤Ç¤¹¡£

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task main()
{
ARM_ON;
RIGHT_M(x);
ARM_OFF;
LEFT_M(x);
}

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task main()
{
ARM_ON;
FRONT_M(x);
ARM_OFF;
BACK_M(x);
}

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Last-modified: 2016-02-09 (²Ð) 20:20:04