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**¥×¥í¥°¥é¥à [#h9b0be6e]
sub spin_ahead(int z)¡¡¡¡¡¡¡¡¡¡ ¡¡//±¦¤Ø²ó¤ë
{
OnFwd(OUT_A,40);
Wait(z);
}
sub back(int y)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¤í¤Ë²¼¤¬¤ë
{
OnRev(OUT_AC,35);
Wait(y);
Off(OUT_AC);
}
sub pen_down()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò²¼¤²¤ë
{
OnFwd(OUT_B,30);
Wait(510);
Off(OUT_B);
}
sub pen_up() //¥Ú¥ó¤ò¾å¤²¤ë
{
OnRev(OUT_B,30);
Wait(500);
Off(OUT_B);
}
void go_straight(int x)¡¡¡¡¡¡¡¡¡¡¡¡//Á°¤Ë¿Ê¤à
{
OnFwd(OUT_AC,20);
Wait(x);
Off(OUT_AC);
}
task main()
{
go_straight(600); //¡¡¡´é¤ÎÎسԤòÉÁ¤¯
spin_ahead(4200);
go_straight(600);
pen_up(); //¥Ú¥ó¤ò¾å¤²¤ë
back(600); //¢¡¡ÌܤòÉÁ¤¯°ÌÃ֤ذÜÆ°¤¹¤ë¤¿¤á¤Ë°ìÅÙ¸åÂष¤Æľ¿Ê¸å¡¢¤â¤¦°ìÅÙ¸åÂष¤Þ¤¹¡£
spin_ahead(1400);
Off(OUT_AC);
back(300);
pen_down(); //¥Ú¥ó¤ò²¼¤²¤ë
go_straight(600); ¡¡¡¡¡¡¡¡//º¸ÌܤòÉÁ¤¯
pen_up();¡¡¡¡¡¡¡¡ //¥Ú¥ó¤ò¾å¤²¤ë
go_straight(700); //ÌܤÈÌܤδֳ֤ò¤È¤ë
pen_down(); //¥Ú¥ó¤ò²¼¤²¤ë
go_straight(400);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦ÌܤòÉÁ¤¯
pen_up(); //¥Ú¥ó¤ò¾å¤²¤ë
back(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡ //É¡¤òÉÁ¤¯¤¿¤á¤Ë°ìÅÙ¸åÂष¤Æ¶Ê¤¬¤ê¡¢¤â¤¦°ìÅÙ¸åÂष¤Þ¤¹¡£
OnFwd(OUT_A,35);¡¡
Wait(2000);
Off(OUT_A);
back(400);
pen_down(); //¥Ú¥ó¤ò²¼¤²¤ë
go_straight(500); //£¡¡É¡¤òÉÁ¤¯
Off(OUT_AC);¡¡¡¡¡¡
OnFwd(OUT_C,35);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡ ¡¡ //¤³¤Î»þľÀþ¤À¤±¤Ç¤Ï¤Ê¤¯¡¢ºÇ¸å¾¯¤·¤À¤±¶Ê¤²¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
Wait(250);
Off(OUT_A);
pen_up(); //¥Ú¥ó¤ò¾å¤²¤ë
back(400);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡¡¡¡¡¡¡ //¸ý¤òÉÁ¤¯¤¿¤á¤Ë°ìÅÙ¸åÂष¤Æ¶Ê¤¬¤ê¡¢¤â¤¦°ìÅÙ¸åÂष¤Þ¤¹¡£
OnFwd(OUT_C,35);
Wait(1500);
Off(OUT_C);
back(300);
pen_down(); //¥Ú¥ó¤ò²¼¤²¤ë
OnRev(OUT_C,35); //¤¡¡¸ý¤òÉÁ¤¯
Wait(1200);
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡//½ªÎ»
}
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