[[2008b/A2/²ÝÂ꣱/¥á¥ó¥Ð¡¼¥Ú¡¼¥¸¤Ø:http://yakushi.shinshu-u.ac.jp/robotics/?2008b%2FA2]]

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#contents

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***¤½¤Î£± [#n119425f]
 int turn_time;

 #define FF OUT_A+OUT_C
 #define FL OUT_A
 #define FR OUT_C
 #define FA OUT_B

 void up() //¥Ú¥ó¤ò¾å¤²¤Þ¤¹
 { SetPower(FA,5); OnRev(FA);  Wait(10); Off(FA); }
 void down() //¥Ú¥ó¤ò²¼¤²¤Þ¤¹
 { SetPower(FA,5); OnFwd(FA); Wait(30); Off(FA);}
 sub go() // Á°¿Ê¤·¤Þ¤¹
 { SetPower(FF,5); OnRev(FF); }
 sub go_back() //¸å¿Ê¤·¤Þ¤¹
 { SetPower(FF,5); OnFwd(FF); }
 sub right()  //±¦¤ËÀû²ó¤·¤Þ¤¹
 {SetPower(FR,5);
 OnRev(FR);}
 sub left()   //º¸¤ËÀû²ó¤·¤Þ¤¹
 {SetPower(FL,5);
  OnRev(FL);}
 sub turn_left_025()           // º¸¤Ë¶å½½Åٶʤ¬¤ê¤Þ¤¹
 { 
    turn_time /= 4 ;
    OnFwd(FL); Rev(FF); Wait(turn_time); 
    Off(FF);           }
 sub turn_left_0125()           // º¸¤Ë»Í½½¸ÞÅٶʤ¬¤ê¤Þ¤¹
 { 
    turn_time /= 8 ;
    OnFwd(FL); Rev(FF); Wait(turn_time); 
    Off(FF);              }
  sub turn_right_025()           // ±¦¤Ë¶å½½Åٶʤ¬¤ê¤Þ¤¹
 { 
    turn_time /= 4 ;
    OnFwd(FR); Rev(FF); Wait(turn_time); 
    Off(FF);           }
 sub turn_right_0125()           // ±¦¤Ë»Í½½¸ÞÅٶʤ¬¤ê¤Þ¤¹
 {
    turn_time /= 8 ;
    OnFwd(FR); Rev(FF); Wait(turn_time); 
    Off(FF);              }

 task main()
 {          down();          //¤Þ¤º¤Ï¥Ú¥ó¤ò²¼¤í¤·¤Þ¤¹
      repeat(2){     
           go();
           Wait(100);
           Off(FF);          //ÉÁ¤­»Ï¤á
           left();
           Wait(300);
           Off(FF);}
                             //ÎسԤ¬ÉÁ¤±¤Þ¤·¤¿
           up();
           turn_left_025();
      repeat(2){
           go();
           Wait(30);
           Off(FF);
           down();
           go();
           Wait(20); 
           Off(FF);
           up();}
                             //ξÌܤòÉÁ¤­¤Þ¤·¤¿
           go_back();
           Wait(20);
           Off(FF);
           turn_right_025();
           go();
           Wait(20);
           Off(FF);
           down();
           go();
           Wait(100);
           Off(FF);
           up();
                             //É¡¤òÉÁ¤­¤Þ¤·¤¿
           turn_left_025();
           go();
           Wait(100);
           Off(FF);
           turn_right_025();
           turn_right_025();
           down();
           go();
           Wait(50);
           Off(FF);
           up();
           go();
           Wait(50);
           Off(FF);
                             //¸ý¤òÉÁ¤­¤Þ¤·¤¿
           turn_right_025();
           go();
           Wait(50);
           Off(FF);
       repeat(3){   
           turn_right_0125();
           go();
           Wait(30);
           Off(FF);
           turn_left_0125();
           go();
           Wait(30);
           Off(FF);}          //ȱ¤òÉÁ¤­¤Þ¤·¤¿
                                                }       //¤ª»ÅÉñ¤¤¤Ç¤¹
           
           
                     
                      
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 int turn_time;

 #define FF OUT_A+OUT_C
 #define FL OUT_A
 #define FR OUT_C
 #define FA OUT_B
 
sub up() ¡¡¥Ú¥ó¤ò¾å¤²¤ë                                
 {SetPower(FA,5);
  OnFwd(FA);
  Wait(5);
  Off(FA);}
 
sub down()  ¥Ú¥ó¤ò²¼¤²¤ë                            
 {SetPower(FA,5);
  OnRev(FA);}
 
sub fore()  ľ¿Ê                                
 {SetPower(FF,5);
  Off(FA); 
  OnRev(FF);}  
 
sub back()    ¸åÂà                              
 {SetPower(FF,5);
  OnFwd(FF);}

Wait(t);
 Off(FA);}

sub right()  ±¦¤Ë¶Ê¤¬¤ë                           
 {SetPower(FR,5);
  OnRev(FF);}
 
sub left()    º¸¤Ë¶Ê¤¬¤ë                             
 {SetPower(FL,5);
  OnRev(FF);}



task main()

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 {
     down();¡¡¡¡¡¡¡¡¡¡//Îسԡʺ¸Ëˤ«¤é¥¹¥¿¡¼¥È¡Ë¡Ä­¡
     fore();
     Wait(200);
     up();
 
   repeat(2){¡¡¡¡¡¡   //¥¢¥´¤ÎÊդꡡ¡Ä­¢
     left();
     Wait(70);
     down();
     fore();
     Wait(60);
     up();
     
     left();
     Wait(50);
     down();
     fore();
     Wait(50);
     up();
     
     left();
     Wait(30);
     down();
     fore();
     Wait(80);
     up();
     }
     
     down();¡¡¡¡¡¡¡¡¡¡¡¡//±¦ËˤÎÊդꡡ¡Ä­£
     fore();
     Wait(120);
     up();
     back();            //¡¡¡Ä­¤
     Wait(50);
     left();
     Wait(120);

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   repeat(2);{          //¥á¥¬¥Í¡¡¡Ä­¡
     down();
     fore();
     Wait(20);
     up();
     right();
     Wait(120);
     down();
     fore();
     Wait(15);
     up();
     left();
     Wait(120);
     down();
     fore();
     Wait(60);
     up();               
     left();              // ¡Ä­¢
     Wait(120);
     down();
     fore();
     Wait(30);
     up();
     
     left();               //¡¡¡Ä­£
     Wait(120);
     down();
     fore();
     Wait(60);
     up();
     left();                //¡¡¡Ä­¤
     Wait(120);
     down();
     fore();
     Wait(15);
     
     up();
     left();
     Wait();
     fore();                 //¡¡¡Ä­¥
     Wait();
     }
     
   down();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡¡Ä­¦
   fore();
   Wait(20);

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   up();          //É¡¤Þ¤Ç¤Î°ÜÆ°¡¡¡Ä­¡
   back();
   Wait(90);
   left();
   Wait(120);
   fore();
   Wait(25);¡¡¡¡¡¡// ¡Ä­¢
   
   down();¡¡¡¡¡¡  //É¡
   fore();
   Wait(40);
   up();

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   up();¡¡¡¡¡¡¡¡¡¡//É¡¤«¤é¸ý¡¡¡¡¡¡
   right();       //¡¡¡Ä­¡
   Wait(120);
   fore();
   Wait(60);
   left();
   Wait(120);
   fore();
   Wait(20);
   
   down();¡¡¡¡¡¡¡¡¡¡¡¡¡¡   //ºÇ¸å¤Ë¸ý¤ò½ñ¤­¤Þ¤¹ ¡Ä­¢
   repeat(2){
      left();
      Wait(70);
      down();
      fore();
      Wait(50);
      up();
   
      left();
      Wait(50);
      down();
      fore();
      Wait(40);
      up();
 
      left();
      Wait(30);
      down();
      fore();
      Wait(20);
      up();
      }  
      }             ¡¡¡¡  //¸ý¤ò½ñ¤­½ª¤ï¤Ã¤Æ½ªÎ»¤Ç¤¹¡£



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- ¥×¥í¥°¥é¥à¤ÎÊý¤ÎÀâÌÀ¤ÏÎɤ¯½ñ¤±¤Æ¤¤¤Þ¤¹¡£¥í¥Ü¥Ã¥È¤ÎÊý¤ÎÀâÌÀ¤â¾Ü¤·¤¯¤·¤Æ¤ß¤Æ¤¯¤À¤µ¤¤¡£ -- [[FI]] &new{2008-12-03 (¿å) 10:35:33};

#comment


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