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**°ì¹æµ¡¡Ê²¾¾Î¡Ë [#i88e3e43]

 2006/8/2¡¡ À½ºî¼Ô//¥·¥å¡¼¥È¡¦tomo
 #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
 right(30);left(60);right(30);	//¼ó¤ò¿¶¤Ã¤Æ¡¢ÌÚ¤ËÂФ·¤ÆËÜÂΤò¿âľ¤Ë¡Ê¤·¤Ã¤«¤ê²¡¤·¹þ¤à¤¿¤á¡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
 right(30);left(60);right(30);	//¼ó¤ò¿¶¤Ã¤Æ¡¢ÌÚ¤ËÂФ·¤ÆËÜÂΤò¿âľ¤Ë¡Ê¤·¤Ã¤«¤ê²¡¤·¹þ¤à¤¿¤á¡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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**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);
 2006/8/2 À½ºî¼Ô//ËÍ
 #define front(t) OnFwd(OUT_A+OUT_C);Wait(t);         //Á°¿Ê
 #define right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);  //±¦ÀÞ
 #define left(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);   //º¸ÀÞ
 #define back(t) OnRev(OUT_A+OUT_C);Wait(t);          //¸åÂà
 #define up(t) OnFwd(OUT_B);Wait(t);                  //¥¢¡¼¥à¾å¤²¤ë
 #define down(t) OnRev(OUT_B);Wait(t);                //¥¢¡¼¥à²¼¤²¤ë
 #define ACoff Off(OUT_A+OUT_C);                      //¼ÖÎØÄä»ß
 #define Boff Off(OUT_B);                             //¥¢¡¼¥àÄä»ß
 #define ABCoff Off(OUT_A+OUT_B+OUT_C);               //¥â¡¼¥¿¡¼Á´Ää»ß
 
 task main() {
 task main()
 {
 
       SetSensor(SENSOR_2,SENSOR_TOUCH);
       SetSensor(SENSOR_3,SENSOR_TOUCH);
       SetPower(OUT_A,7);
       SetPower(OUT_C,7);
       SetPower(OUT_B,3);
       SetSensor(SENSOR_2,SENSOR_TOUCH);              //¥»¥ó¥µ¡¼£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÈÄêµÁ¡ÊÁ°¡Ë
       SetSensor(SENSOR_3,SENSOR_TOUCH);              //¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ÈÄêµÁ¡Ê¸å¡Ë
       SetPower(OUT_A,7);                             //¼ÖÎؤÎ
       SetPower(OUT_C,7);                               ¥Ñ¥ï¡¼ºÇÂç
       SetPower(OUT_B,3);                             //¥¢¡¼¥à¤Î¥Ñ¥ï¡¼¤ò£³¤ËÄêµÁ
       
       OnFwd(OUT_A+OUT_C);
       OnFwd(OUT_A+OUT_C);                            //Á°¿Ê
       
       while (true)
       {
              if(SENSOR_2==1)
              {
                   ACoff;down(100);
                        right(45);ABCoff;
                   front(50)ABCoff;
                   Wait(100);up(150);Boff;Wait(100);
          if(SENSOR_2==1)                         //¤â¤·(Á°)¥»¥ó¥µ¡¼¿¨¤ì¤¿¤é
          {
              ACoff;down(100);right(45);ABCoff;  //Ää»ß¡¦´Ì¤ò¤Ä¤«¤ó¤Ç±¦¤Ø¤º¤é¤¹¡¦Á´Ää»ß
              front(50)ABCoff;                   //Á°¤Ø²¡¤¹
              Wait(100);up(150);Boff;Wait(100);  //¥¢¡¼¥à¤ò¾å¤²¤ë
                   
                   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);
              back(120);left(14);                //¸åÂष¤Æ¿ÊÏ©Ä´Àá
              OnFwd(OUT_A+OUT_C);                //Á°¿Ê
 
              while (true)                              //£±ËÜÌÜ°ú¤­½Ð¤·
                   {               
                      if(SENSOR_2==1)                   //¤â¤·¡ÊÁ°¡Ë¤¬¥¿¥Ã¥Á¤·¤¿¤é
                      {
                          ACoff;                        //Ää»ß
                          down(200);Boff;               //¥¢¡¼¥à²¼¤²
                          back(210);                    //(¸å)¤¬¥¿¥Ã¥Á¤¹¤ë¤Þ¤Ç¸åÂà
                          until (SENSOR_3==1);
                          ACoff;Wait(100);
                          down(25);Boff;                //ÊäÀµ
                          right(10);ACoff;Wait(200);
                          front(15);ACoff;Wait(10);     //ÊɤòÈò¤±¤ë¤¿¤á¤ËÁ°¿Ê
                          up(250);Boff;right(70);       //¥¢¡¼¥à¾å¤²¤Æ
                          ABCoff;                      ´Ì¤òž¤¬¤¹
                          Wait(100);up(20);left(70);    //¾ã³²ÊªB¤Ø
 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡ACoff;Wait(200);
                          front(300);Boff;              //²¡¤·¤Î¤±¤ë
                          back(120);right(20);ACoff;    //£²ËÜÌܤØ
                          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;
                                                                               }
                                                           }
                                 }
                          while (true)                  //£²ËÜÌÜ°ú¤­¤À¤·
                          {                         
                             if(SENSOR_2==1)
                             {
                                ACoff;                  //£±ËÜÌܤÈƱ¤¸
                                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); //¾ã³²ÊªA¤Ø 
                                OnFwd(OUT_A+OUT_C);
                                
                                while(true)             //¾ã³²ÊªA¤òÌ᤹
                                {
                                   if(SENSOR_2==1)
                                   {
                                       down(50);back(100);  //¤Ä¤«¤ó¤Ç°ú¤ÃÄ¥¤ë
                                       ABCoff;Wait(200);
                                       up(100);Boff;
                                   }
                                                                                            }
                           }
                        }
                     }
                }
                           
       
                                                          
              }
            }
       }
    }

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