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#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);
¤ï¤«¤ê¤ä¤¹¤¯½ñ¤¯¤È [#i27b4c39]
back¡¡ ¸åÂà
go Á°¿È
go Á°¿Ê
turn_left º¸ÀÞ
turn_right±¦ÀÞ
pen_up ¥Ú¥ó¤ò¾å¤²¤ë
pen_down¡¡¥Ú¥ó¤ò²¼¤²¤ë
°Ê¾å¤è¤ê
task main()
¡¡¡¡task main()
{
pen_down;
pen_up;¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡¡¡¡¡
¡¡¡¡go(20);
pen_down;
turn_left;
go(20);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÎسԤò½ñ¤¯
pen_down;
turn_left;
go(22);
turn_right;
pen_up;
turn_right;¡¡¡¡¡¡¡¡¡¡
go(10);
pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³Ü¡¡
turn_right;¡¡¡¡¡¡¡¡¡¡
go(10);
turn_left;
go(22);
turn_left;
pen_up;
go(10);
turn_right;
go;
}
turn_180;
turn_right; //ÌÜ
go(22);
repeat(2){
turn_right;
go(10);
pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦ÌÜ
turn_left;
go(22);
pen_up;
turn_left;
go(10);
pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸ÌÜ
turn_right;
go;
}
pen_up;
go(22);
pen_up;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
turn_right;
go(20);
turn_left;
pen_down;
pen_down;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸ý
go(22);
pen_up;
off(OUT_A+OUT_C);
¡¡}
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#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¤ÆÂÀפò¤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 );¡¡¡¡¡¡//º¸ÎسԤΤ¿¤á¤Ë¥Ú¥ó¤ò²¼¤²¤ë
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);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦ÎسԤÈƱ¤¸Ä¹¤µ¤Ë¤Ê¤ë¤è¤¦¤Ë»þ´Ö¤ò£²£°£°¤Ë
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);¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò²¼¤·¤¿¤Þ¤ÞƬ¤ò¿¶¤ë¤³¤È¤Ç»°Æü·î·¿¤òÉÁ¤¯
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
¤³¤³¤ÇÌäÂ꤬ȯÀ¸¤·¤¿¡£
É¡¤òÉÁ¤¯»þ¤Ë»þ´Ö¿ô¤ò´Ö°ã¤¨¤¿¤é¤È¤ó¤Ç¤â¤Ê¤¤¤³¤È¤Ë¡Ê´°À®¼Ì¿¿»²¾È¡ËÉ¡¤¬¤«¤Ê¤êŤ¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿
¡¡ OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡//º¸ÌÜ
Wait(180);
Off(OUT_C);
OnRev(OUT_B);
Wait( felt_pen );¡¡¡¡//±¦ÌܤÈƱ¤¸¤¯»°Æü·î¤òÉÁ¤¯¡¡¡¡
Off(OUT_B);
OnFwd(OUT_C);
Wait(zero_nine);
Off(OUT_C);
OnFwd(OUT_B);
Wait( felt_pen );¡¡¡¡//¸ý¤Î°ÌÃ֤ޤǥڥó¤ò¾å¤²¤Æ¤¤¤¯
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);¡¡¡¡¡¡¡¡¡¡//¤³¤ì¤Ç¥Ú¥ó¤ò»È¤Ã¤ÆÉÁ¤¯¤¹¤Ù¤Æ¤Î¹©Äø¤Ï½ªÎ»¡ª¤À¤±¤É¡¦¡¦
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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);}¡¡¡¡¡¡//¥Ú¥ó¤ò¾å¤²¤¿¤Þ¤Þ¤Ç¡¦¡¦¡¦¡¦
}//¤¹¤Ù¤Æ¤Î¥×¥í¥°¥é¥à¤¬½ªÎ»¡ª
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- ½ñ¤¯¤Ù¤¤³¤È¤Ï¤«¤±¤Æ¤¤¤Þ¤¹¡£°ì¿ÍÌܤ˴ؤ·¤Æ¤¤¤¦¤È¡¢¥×¥í¥°¥é¥à¤Ë¥³¥á¥ó¥È¤ò½ñ¤±¤ë¤è¤¦¤Ë¤Ê¤ë¤È¡¢Ê£»¨¤Ê¥×¥í¥°¥é¥à¤ò½ñ¤¯½õ¤±¤Ë¤Ê¤ê¤Þ¤¹¡£ -- [[FI]] &new{2010-06-18 (¶â) 17:16:33};
#comment
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