#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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**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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