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 #define TURN_TIME 095
 #define TURN_TIME2 080
 #define TURN_TIME3 100
 #define MOTER OUT_A+OUT_C 
 sub write_on()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò¾å¤²¤ë
 {
 OnFwd(OUT_B);Wait(006);
 Off(OUT_B);
 }
 sub write_off()                                     //¥Ú¥ó¤ò²¼¤í¤¹
 {
 OnRev(OUT_B);Wait(003);
 Off(OUT_B);
 }
 sub turn_right()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦²óž
 {
 OnRev(OUT_A);
 OnFwd(OUT_C);Wait(TURN_TIME);Off(OUT_A+OUT_C);
 }
 sub turn_left()                                     //º¸²óž
 {
 OnRev(OUT_C);
 OnFwd(OUT_A);Wait(TURN_TIME);
 Off(OUT_A+OUT_C);
 } 
 task main()
 {
 write_on();OnFwd(MOTER);Wait(TURN_TIME2);write_off();     //­¡¢ª­¢°ÜÆ°
 OnRev(MOTER);Wait(TURN_TIME2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡    //­¢¢ª­¡°ÜÆ°
 write_on();OnFwd(MOTER);Wait(TURN_TIME2);write_off();     //�¢ª�°ÜÆ°
 OnRev(MOTER);Wait(TURN_TIME2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡    //�¢ª�°ÜÆ°
 turn_left();
 write_on();OnFwd(MOTER);Wait(TURN_TIME3);write_off();     //­¡¢ª­£°ÜÆ°
 write_on();OnFwd(MOTER);Wait(TURN_TIME3);write_off();     //�¢ª�°ÜÆ°
 turn_right();
 write_on();OnFwd(MOTER);Wait(TURN_TIME2);write_off();     //­£¢ª­¤°ÜÆ°
 write_on();OnFwd(MOTER);Wait(TURN_TIME2);write_off();     //�¢ª�°ÜÆ°
 turn_right();
 OnFwd(MOTER);Wait(TURN_TIME3);                            //­¤¢ª­¢°ÜÆ°
 OnFwd(MOTER);Wait(TURN_TIME3);                            //�¢ª�°ÜÆ°
 turn_right();
 OnFwd(MOTER);Wait(050);                                   //­¢¢ª­¥°ÜÆ°
 OnFwd(MOTER);Wait(050);                                   //�¢ª�°ÜÆ°
 turn_right();
 write_on();OnFwd(MOTER);Wait(TURN_TIME3);write_off();     //­¥¢ª­¦°ÜÆ°
 OnRev(MOTER);Wait(TURN_TIME3);                            //­¦¢ª­¥°ÜÆ°
 write_on();OnFwd(MOTER);Wait(TURN_TIME3);write_off();     //�¢ª�°ÜÆ°
 OnRev(MOTER);Wait(TURN_TIME3);                            //�¢ª�°ÜÆ°
 turn_right();
 OnFwd(MOTER);Wait(050);                                   //­¥¢ª­¢°ÜÆ°
 OnFwd(MOTER);Wait(050);                                   //�¢ª�°ÜÆ°
 turn_left();
 write_on();OnFwd(MOTER);Wait(TURN_TIME3);write_off();     //­¢¢ª­¤°ÜÆ°
 write_on();OnFwd(MOTER);Wait(TURN_TIME3);write_off();     //�¢ª�°ÜÆ°
 turn_left();
 OnFwd(MOTER);Wait(TURN_TIME2);                            //­¤¢ª­£°ÜÆ°
 OnFwd(MOTER);Wait(TURN_TIME2);                            //�¢ª�°ÜÆ°
 turn_left();
 OnFwd(MOTER);Wait(055);                                   //­£¢ª­§°ÜÆ°
 OnFwd(MOTER);Wait(055);                                   //�¢ª�°ÜÆ°
 turn_left();
 write_on();OnFwd(MOTER);Wait(150);write_off();            //­§¢ª­¨°ÜÆ°
 write_on();OnFwd(MOTER);Wait(150);write_off();            //�¢ª�°ÜÆ°
 Off(MOTER);
 }

#ref(./½£.jpg)

 sub p_up()                          //¥Ú¥ó¤ò¾å¤²¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
 {
 OnRev(OUT_B);Wait(006);Off(OUT_B);
 }
 sub p_down()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò²¼¤²¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
 {
 OnFwd(OUT_B);Wait(006);Off(OUT_B);
 }
 sub turn_right()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
 {
 OnFwd(OUT_A);OnRev(OUT_C);Wait(095);Off(OUT_A+OUT_C);
 }
 sub turn_left()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
 {
 OnRev(OUT_A);OnFwd(OUT_C);Wait(095);Off(OUT_A+OUT_C);
 }
 sub go_wark()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¤Ë¿Ê¤à¥µ¥Ö¥ë¡¼¥Á¥ó
 {
 OnFwd(OUT_A+OUT_C);Wait(020);Off(OUT_A+OUT_C);
 }
 task main()
 {
 OnFwd(OUT_A+OUT_C);Wait(030);Off(OUT_A+OUT_C);  ¡¡¡¡¡¡//£±¡Á£²¤ò½ñ¤¯
 p_up();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 OnFwd(OUT_A+OUT_C);Wait(050);Off(OUT_A+OUT_C);
 turn_left();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¤ËÆ°¤­¼¡¤ÎÀþ¤Î½àÈ÷¤ò
 go_wark();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¤¹¤ë
 turn_left();
 p_down();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£³¡Á£´¤ò½ñ¤¯¡¡
 OnFwd(OUT_A+OUT_C);Wait(100);Off(OUT_A+OUT_C);          
 OnFwd(OUT_A);OnRev(OUT_C);Wait(064);Off(OUT_A+OUT_C);¡¡//£´¡Á£µ¤ò½ñ¤¯
 OnFwd(OUT_A+OUT_C);Wait(050);Off(OUT_A+OUT_C);
 p_up();
 OnFwd(OUT_C);OnRev(OUT_A);Wait(127);Off(OUT_A+OUT_C);¡¡//Àµ»°³Ñ·Á¤ò½ñ¤¯¤è¤¦¤Ë¤·
 OnFwd(OUT_A+OUT_C);Wait(050);Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¤Æ¼¡¤ÎÀþ¤Î½àÈ÷¤ò¤¹¤ë
 OnFwd(OUT_C);OnRev(OUT_A);Wait(032);
 go_wark();
 turn_right();
 OnFwd(OUT_A+OUT_C);Wait(070);Off(OUT_A+OUT_C);         //£¶¡Á£·¤ò½ñ¤¯
 p_down();
 OnFwd(OUT_A+OUT_C);Wait(030);Off(OUT_A+OUT_C);
 p_up();
 OnFwd(OUT_A+OUT_C);Wait(050);Off(OUT_A+OUT_C);
 turn_left();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¼¡¤ÎÀþ¤Î¤¿¤á¤Î½àÈ÷¤ò
 go_wark();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¤¹¤ë
 turn_left();
 p_down();                                             //£¸¡Á£¹¤Î½ñ¤¯
 OnFwd(OUT_A+OUT_C);Wait(120);Off(OUT_A+OUT_C);
 p_up();
 OnFwd(OUT_A+OUT_C);Wait(030);Off(OUT_A+OUT_C);¡¡¡¡¡¡ //¼¡¤ÎÀþ¤Î¤¿¤á¤Î½àÈ÷¤ò¤·¤ë
 turn_right();
 go_wark();
 turn_right();
 OnFwd(OUT_A+OUT_C);Wait(070);Off(OUT_A+OUT_C);       //10¡Á11¤ò½ñ¤¯
 p_down();
 OnFwd(OUT_A+OUT_C);Wait(030);Off(OUT_A+OUT_C);
 p_up();
 OnFwd(OUT_A+OUT_C);Wait(050);Off(OUT_A+OUT_C);¡¡¡¡¡¡//¼¡¤ÎÀþ¤Î¤¿¤á¤Î½àÈ÷¤ò¤¹¤ë
 turn_left();
 go_wark();
 turn_left();
 p_down();
 OnFwd(OUT_A+OUT_C);Wait(150);Off(OUT_A+OUT_C);       //12¡Á13¤ò½ñ¤¯
 }

*´¶ÁÛ [#w8b19829]

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