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#contents
*¥í¥Ü¥Ã¥È [#t854e2b1]
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*¥×¥í¥°¥é¥à [#ib783cec]
**°ì¹æµ¡¡Ê²¾¾Î¡Ë [#i88e3e43]
#define front(j) OnFwd(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C); //Á°¿Ê¥Þ¥¯¥í
#define back(j) OnRev(OUT_A+OUT_C);Wait(j);Off(OUT_A+OUT_C); //¸åÂà¥Þ¥¯¥í
#define right(j) OnRev(OUT_C);OnFwd(OUT_A);Wait(j);Off(OUT_A+OUT_C); //±¦²óž¥Þ¥¯¥í
#define left(j) OnRev(OUT_A);OnFwd(OUT_C);Wait(j);Off(OUT_A+OUT_C); //º¸²óž¥Þ¥¯¥í
#define tomaru(j) Off(OUT_A+OUT_C);Wait(j); //Ää»ß¥Þ¥¯¥í
task main()
{
tomaru(2400); //Æó¹æµ¡¤¬´Ì¤ò»ý¤Ã¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡
front(140);tomaru(150); //´Ì¤ò¼õ¤±¼è¤ë
back(395);tomaru(150); //¸åÂà
front(50);tomaru(150); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢Á°¿Ê
right(80);tomaru(150); //±¦²óž
front(280);tomaru(150); //Á°¿Ê
back(50);tomaru(50); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢¸åÂà
left(83);tomaru(150); //º¸²óž
front(250); //Á°¿Ê
right(30);left(60);right(30); //¼ó¤ò¿¶¤Ã¤Æ¡¢ÌÚ¤ËÂФ·¤ÆËÜÂΤò¿âľ¤Ë
front(100);tomaru(150); //´Ì¤ò²¡¤·Æþ¤ì¤ë
back(160);tomaru(150); //½é´ü°ÌÃ֤ص¢´Ô
left(71);tomaru(150);
front(240);tomaru(150);
right(71);tomaru(150);
front(220);tomaru(100);
front(165);tomaru(150); //´Ì¤ò¼õ¤±¼è¤ë
back(395);tomaru(150); //¸åÂà
front(50);tomaru(150); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢¸åÂà
right(80);tomaru(150); //±¦²óž
front(280);tomaru(150); //Á°¿Ê
back(50);tomaru(50); //´Ì¤Î®ÅÙ¤òÍî¤È¤¹¤¿¤á¡¢¸åÂà
left(83);tomaru(150); //º¸²óž
front(250); //Á°¿Ê
right(30);left(60);right(30); //¼ó¤ò¿¶¤Ã¤Æ¡¢ÌÚ¤ËÂФ·¤ÆËÜÂΤò¿âľ¤Ë
front(100);tomaru(150); //´Ì¤ò²¡¤·Æþ¤ì¤ë
back(160);tomaru(150); //½é´ü°ÌÃ֤ص¢´Ô
left(71);tomaru(150);
front(240);tomaru(150);
right(71);tomaru(150);
front(220);tomaru(100);
}
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À½ºî¼Ô¤ÎÊý¤Ï¥Á¥§¥Ã¥¯¤È¡¢À½ºî¼Ô̾¤ò¤ª´ê¤¤¤·¤Þ¤¹¡£ by.t5
**Æó¹æµ¡¡Ê²¾¾Î¡Ë [#u99a284e]
#define front(t) OnFwd(OUT_A+OUT_C);Wait(t);
#define right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);
#define left(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);
#define back(t) OnRev(OUT_A+OUT_C);Wait(t);
#define up(t) OnFwd(OUT_B);Wait(t);
#define down(t) OnRev(OUT_B);Wait(t);
#define ACoff Off(OUT_A+OUT_C);
#define Boff Off(OUT_B);
#define ABCoff Off(OUT_A+OUT_B+OUT_C);
task main() {
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_TOUCH);
SetPower(OUT_A,7);
SetPower(OUT_C,7);
SetPower(OUT_B,3);
OnFwd(OUT_A+OUT_C);
while (true)
{
if(SENSOR_2==1)
{
ACoff;down(100);
right(45);ABCoff;
front(50)ABCoff;
Wait(100);up(150);Boff;Wait(100);
back(120);left(14);
OnFwd(OUT_A+OUT_C);
while (true)
{
if(SENSOR_2==1)
{
ACoff;
down(200);Boff;
back(210);
until (SENSOR_3==1);
ACoff;Wait(100);down(25);Boff;
right(10);ACoff;Wait(200);
front(15);ACoff;Wait(10);
up(250);Boff;right(70);ABCoff;
Wait(100);
up(20);left(70);ACoff;Wait(200);
front(300);Boff;
back(120);right(20);ACoff;
OnFwd(OUT_A+OUT_C);
while (true)
{
if(SENSOR_2==1)
{
ACoff;
down(450);Boff;
back(210);
until (SENSOR_3==1);
ACoff;Wait(100);
back(100);ACoff;
front(15);ACoff;right(10);ACoff;Wait(200);
up(200);Boff;right(50);ABCoff;
Wait(100);
back(24);ACoff;
left(14);ACoff;Wait(200);
OnFwd(OUT_A+OUT_C);
while(true)
{
if(SENSOR_2==1)
{
down(50);back(100);ABCoff;Wait(200);
up(100);Boff;
}
}
}
}
}
}
}
}
}
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