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#contents
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:http://yakushi.shinshu-u.ac.jp/robotics/?2011b%2FA4%2F%B2%DD%C2%EA%A3%B1%B1%A6
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*¥×¥í¥°¥é¥à [#r384d89c]
¡¡
#define age OnRev(OUT_C,30); Wait(0300); Off(OUT_B); Wait(1000);//¥Ú¥ó¤ò¾å¤²¤ë
#define sage OnFwd(OUT_C,50); Wait(0200); Off(OUT_B); Wait(1000);//¥Ú¥ó¤ò²¼¤²¤ë
#define go OnFwd(OUT_A,40);OnFwd(OUT_B,40);
#define turn_left OnFwd(OUT_A,75);OnRev(OUT_B,75);Wait(0250);
task main ()
{
//º¸Ìܤò½ñ¤¯
age;//¥Ú¥ó¤ò¾å¤²¤ë
go;//Á°¿È
Wait(0210);
Float(OUT_AB);
Wait(2000);
sage;//¥Ú¥ó¤ò²¼¤²¤ë
go;//Á°¿È
Wait(0340);
Float(OUT_AB);
Wait(2000);
//±¦Ìܤò½ñ¤¯
age;
go;
Wait(0200);
Off(OUT_AB);
Wait(2000);
sage;
go;
Wait(0340);
Float(OUT_AB);
Wait(2000);
age;
go;
Wait(1450);
Float(OUT_AB);
Wait(2000);
//¸ý¤ò½ñ¤¯¤¿¤á°ÜÆ°
OnFwd(OUT_B,50);
OnRev(OUT_A,30);
Wait(1100);
Off(OUT_AB);
Wait(1000);
go;
Wait(0230);
Float(OUT_AB);
Wait(2000);
OnFwd(OUT_B,50);
OnRev(OUT_A,30);
Wait(1100);
Off(OUT_AB);
Wait(1000);
//¸ý¤ò½ñ¤¯
age;
go;
Wait(1400);
Float(OUT_AB);
Wait(2000);
sage;
go;
Wait(0600);
Float(OUT_AB);
Wait(2000);
age;
go;
Wait(1500);
Float(OUT_AB);
Wait(2000);
//ÎسԤòº¸¤«¤é½ñ¤¯
OnFwd(OUT_A,30);
OnRev(OUT_B,50);
Wait(1185);
Off(OUT_AB);
Wait(1000);
go;
Wait(0500);
Float(OUT_AB);
Wait(2000);
OnFwd(OUT_A,50);
OnRev(OUT_B,30);
Wait(1185);
Off(OUT_AB);
Wait(1000);
go;
Wait(0300);
Float(OUT_AB);
Wait(2000);
OnFwd(OUT_A,50);
OnRev(OUT_B,30);
Wait(1200);
Off(OUT_AB);
Wait(1000);
go;
Wait(0600);
Float(OUT_AB);
Wait(2000);
//º¸´é
sage;
go;
Wait(1300);
Float(OUT_AB);
Wait(2000);
OnFwd(OUT_B,50);
OnRev(OUT_A,30);
Wait(1190);
Off(OUT_AB);
Wait(1000);
//ƬÉô
go;
Wait(1400);
Float(OUT_AB);
Wait(2000);
OnFwd(OUT_B,50);
OnRev(OUT_A,30);
Wait(1190);
Off(OUT_AB);
Wait(1000);
//±¦´é
go;
Wait(1000);
Float(OUT_AB);
Wait(2000);
OnFwd(OUT_B,50);
OnRev(OUT_A,30);
Wait(0600);
Off(OUT_AB);
Wait(1000);
//±¦¤¢¤´
go;
Wait(0800);
Float(OUT_AB);
Wait(2000);
OnFwd(OUT_B,50);
OnRev(OUT_A,30);
Wait(1050);
Off(OUT_AB);
Wait(1000);
//º¸¤¢¤´
go;
Wait(0800);
Float(OUT_AB);
Wait(2000);
}
*(Ç븶¤ÎºîÉÊ¡Ë [#z606480a]
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- ¥³¥á¥ó¥ÈÍó¥Æ¥¹¥È -- [[Ç븶]] &new{2012-05-20 (Æü) 17:16:50};
- ¡¦¡¦¡¦ -- [[¡Ê¡¡¦¦Ø¡¦¡®¡Ë]] &new{2012-05-20 (Æü) 21:25:03};
#comment