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*¤ª¤¬¤µ¤ï¤é¤ÎºîÉÊ [#y1004e82]
 ¤Þ¤º¥×¥í¥°¥é¥à¤Ï¡¦¡¦¡¦              

    #define circle OnFwd(OUT_A); OnRev(OUT_C); Wait(400); Off(OUT_A+OUT_C);
    #define back(t) OnRev(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_c);
    #define go(t) OnFwd(OUT_A+OUT_C); Wait(t); Off(OUT_A+OUT_C); 
    #define turn_left OnFwd(OUT_A); OnRev(OUT_C); Wait(t); Off(OUT_A+OUT_C);
    #define turn_right OnFwd(OUT_C); OnRev(OUT_A); Wait(t); Off(OUT_A+OUT_C);
    #define pen_up SetPower(OUT_B); OnFwd(OUT_B); Wait(30); Off(OUT_B);
    #define pen_down SetPower(OUT_B); OnRev(OUT_B); Wait(30); Off(OUT_B);
    #define turn_180 OnRev(OUT_C);OnFwd(OUT_A);Wait(172);Float(OUT_A+OUT_C);Wait(15)

 ¤ï¤«¤ê¤ä¤¹¤¯½ñ¤¯¤È [#i27b4c39]

    circle    ±ß¤òÉÁ¤¯
    back¡¡    ¸åÂà
    go        Á°¿È
    turn_left º¸ÀÞ
    turn_right±¦ÀÞ
    pen_up    ¥Ú¥ó¤ò¾å¤²¤ë 
    pen_down¡¡¥Ú¥ó¤ò²¼¤²¤ë
    turn_180  U¥¿¡¼¥ó

 °Ê¾å¤è¤ê
task main()
{
    pen_down;                            //ÎسԤòÉÁ¤¯
    circle;                          
    pen_up;¡¡¡¡¡¡¡¡¡¡¡¡       ¡¡¡¡¡¡¡¡ 
¡¡¡¡go(20);
    pen_down;                            //¥á¥¬¥Í
    turn_left;
    go(22);
    repeat(2){
    turn_right;
    go(10);
    turn_left;
    go(22);
    turn_left;
    go(10);
    turn_right;
    go;
}
    turn_180;
    go(22);
    repeat(2){
    turn_right;
    go(10);
    turn_left;
    go(22);
    turn_left;
    go(10);
    turn_right;
    go;
}
    pen_up;
    turn_right;           //¸ý
    go(20);
    turn_left;
    pen_down;
    go(22);
    off(OUT_A+OUT_C);
¡¡}

**´°À®¤·¤¿»÷´é³¨ [#yc4bf898]
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*¤«¤Þ¤¯¤é¤ÎºîÉÊ [#k879db24]

¤Þ¤º½ñ¤¤¤¿¥×¥í¥°¥é¥à¤òµ­¤·¤Þ¤¹
¡¡
¡¡

 #define felt_pen 27¡¡¡¡¡¡//¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ë»þ´Ö
 #define pepushi OnFwd(OUT_C);OnRev(OUT_A);Wait(110);Off(OUT_A+OUT_C);¡¡¡¡¡¡//ľ³Ñ¤Ë¶Ê¤¬¤ë
 #define zero_nine 90

   task main()
 {
    OnFwd(OUT_A+OUT_C);         //1,5£óÁ°¿Ê
    Wait(150);
    OnFwd(OUT_B);
    Wait( felt_pen );¡¡¡¡¡¡¡¡¡¡//­¡¥Ú¥ó¤ò¾å¤²¤ë
    Off(OUT_B); 
    OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡//0,5sÌá¤ë
    Wait(50);
    OnRev(OUT_A);             //¸þ¤­¤òÊѤ¨¤ë
    Wait(100);
    Off(OUT_A+OUT_C);
    pepushi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥³¥ó¥Ñ¥¯¥È¤Ë¸þ¤­¤òÊѤ¨¤ë
   
B¤òFwd¤ËÁàºî¤¹¤ë¤³¤È¤Ë¤è¤ê¥Õ¥§¥ë¥È¥Ú¥ó¤ò¤µ¤²¤Æ­Àפò¤Î¤³¤»¤ë¤è¤¦¤Ë¤¹¤ë¡Ê¥¹¥¿¡¼¥È¤Ç¤ÏºÇ½é¤Ï¥Õ¥§¥ë¥È¤¬»æ¤ËÀÜÃϤ·¤¿¾õÂÖ¡Ë

Êý¸þž´¹¤ÎºÝ¤Ï´ðËÜŪ¤Ë¥Ú¥ó¤ò¾å¤²¤¿¾õÂ֤ˤ¹¤ë


   OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¢¥Ú¥ó¤ò¤µ¤²¤ë¡ÊÎسԳÜÉôʬ¡Ë
    Wait( felt_pen );
    Off(OUT_B);
    OnFwd(OUT_A+OUT_C);¡¡¡¡//2,0Á°¿Ê
    Wait(200);
    Off(OUT_A+OUT_C);
    OnRev(OUT_A+OUT_C);¡¡¡¡//0.5¥Ð¥Ã¥¯
    Wait(50);
    OnRev(OUT_A);¡¡¡¡¡¡¡¡¡¡//¥³¥ó¥Ñ¥¯¥È¤Ë¶Ê¤¬¤ë
    Wait(100);
    Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡
    OnFwd(OUT_B);
    Wait( felt_pen );
    Off(OUT_B);
     OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡//¤³¤³¤«¤é³ÜÉôʬ¡¡¡¡¡¡
¡¡  OnRev(OUT_A);
    Wait(110);
    Off(OUT_A+OUT_C);
    OnRev(OUT_B);
    Wait( felt_pen );
    Off(OUT_B);
   
¿¾¯Í¾Ã̤ǤϤ¢¤ë¤¬¥Ú¥ó¤ò²¼¤²¤Æ¥¹¥¿¡¼¥È¤·¤ÆÊý¸þ¤òÊѤ¨¤ëºÝ¥Ú¥ó¤ò¤¢¤²¤ë¤Þ¤Ç¤Ï¤è¤«¤Ã¤¿¤Î¤À¤¬¡¢ºÆ¤Ó¥Ú¥ó¤ò²¼¤í¤¹ºÝ¤Ë¥Ú¥ó¤Î¥Õ¥§¥ë¥È¤¬¶Ê¤¬¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤â¤·²¿¤«¤ò¤¿¤¿¤­¤Ä¤±¤ëÆ°ºî¤¬É¬ÍפʤȤ­¤ÏºÇŬ¤Ç¤¢¤í¤¦¡£¤·¤«¤·¥Ú¥ó¤Ç²¿¤«¤ò½ñ¤¯¤Î¤ÏÉÔÊؤǤ¢¤Ã¤¿¡£ 


   OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡//º¸ÎسÔ
    Wait(200);
    Off(OUT_A+OUT_C);
    OnFwd(OUT_B);
    Wait( felt_pen );
    Off(OUT_B);
ÎسԤò¤«¤¯¤È¤­¤ÎÊý¸þÊÑ´¹¤Î¤È¤­¥Ú¥ó¤ò²¼¤·¤¿¤Þ¤Þ¤Ç¤¢¤ë¤È;·×¤ÊÀþ¤ò¤«¤¤¤Æ¤·¤Þ¤¦¤Î¤Ç¾å¤²¤ÆÊý¸þž´¹¤ò¤¹¤ë
  


   OnRev(OUT_C);¡¡¡¡¡¡¡¡//±¦ÌÜ
    Wait(10);
    Off(OUT_C); 
    OnRev(OUT_B);
    Wait( felt_pen );
    Off(OUT_B);
    OnRev(OUT_C);
    Wait(zero_nine);
    OnFwd(OUT_C);
    Wait(zero_nine);
    Off(OUT_C);
    OnFwd(OUT_B);
    Wait( felt_pen );
    Off(OUT_B);
¿Í´Ö¤Ç¤¤¤¦Èý´Ö¤ò¤Ä¤¯¤ë¤¿¤á¤Ë°ìö¥Ú¥ó¤ò¤¢¤²°ÜÆ°¤·¥Ú¥ó¤ò²¼¤í¤¹   



¡¡  OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡//º¸ÌÜ
    Wait(180);
    Off(OUT_C);
    OnRev(OUT_B);
    Wait( felt_pen );
    Off(OUT_B);
    OnFwd(OUT_C);
    Wait(zero_nine);
    Off(OUT_C);
    OnFwd(OUT_B);
    Wait( felt_pen );
    Off(OUT_B);
    OnRev(OUT_A);      //¸ý¤ò½ñ¤¯¤¿¤á¤Ë²¼¤¬¤ë¤Î¤ÇÊý¸þÄ´À°
    Wait(90);
    Off(OUT_A);
ÌܤòȾ±ß¾õ¤Ë¤¹¤ë¤³¤È¤Ë¤è¤ê¾¯¤Ê¤¤°ÜÆ°¤Ç¤«¤±¤¿    


 ¡¡ OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡//¸ý¤Î°ÌÃ֤ޤǥХå¯
    Wait(zero_nine);
    Off(OUT_A+OUT_C);
    OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò²¼¤·¸ý¤ò½ñ¤¯
    Wait( felt_pen );¡¡¡¡
    Off(OUT_B);
    OnRev(OUT_C);
    Wait(zero_nine);
    Off(OUT_C);
    
ºÇ¸å¤Ë¥¢¥Ô¡¼¥ë

 repeat(3)  { OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò¾å¤²²¼¤²¤ò¤·¤Æ½ªÎ»¤Î¥¢¥Ô¡¼¥ë
                  Wait( felt_pen );
                 Off(OUT_B);
                 OnRev(OUT_B);
                  Wait( felt_pen );
                   Off(OUT_B);}
    
 





 }





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