[[2014b/Member]]

#contents

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([[2014ǯ¸å´ü/²ÝÂê3:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMission3]]»²¾È)

*¥Þ¥¹¥¿¡¼·¿ [#hacfc6a7]
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-[[edaeda:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMember%2Fedaeda%2FMission3]]
-[[knee:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMember%2Fknee%2FMission3]]
- kuryu

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*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#h9193c48]
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**¥¢¡¼¥à [#y4bd3434]
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**¥ì¡¼¥ë [#k920454a]
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*¥×¥í¥°¥é¥à [#ec7cd753]
**¥¢¡¼¥à¤ÎÆ°¤­ [#vd5284f2]
 #define SPEED1 45
 #define SPEED2 60
 #define SPEED3 10
 #define SPEED4 30
 #define SPEED5 50
 #define SPEED6 25
 float GetAngle(float d)
 {
 const float diameter=5.45;
 const float pi=3.1415;
 float ang = d/(diameter*pi)*360.0;
 return ang;
 }

#ref(2014b/Member/arisyka/Mission3/arm¥ë¡¼¥×2.gif,40%)

 #define DOWN RotateMotor(OUT_A,SPEED3,105);
 #define UP RotateMotor(OUT_A,-SPEED5,105);   //¥¢¡¼¥àÁ´ÂΤÎÆ°¤­
 #define LDown RotateMotor(OUT_A,SPEED3,25);
 #define LUp RotateMotor(OUT_A,-SPEED2,25);


#ref(2014b/Member/arisyka/Mission3/catch&separate.gif,40%)

 #define Catch RotateMotor(OUT_B,-SPEED4,105);
 #define Separate RotateMotor(OUT_B,SPEED4,105);  //¥¢¡¼¥à¤ÎÆ°¤­

 task main ()
 {
 OnFwd(OUT_A,10);
 Wait(1500);
 Catch;	¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à

 OnRev(OUT_A,50);
 Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¡¢¥ì¡¼¥ë¤Î¾å¤Ë¥Ü¡¼¥ë¤ò¤Î¤»¤ë
 Wait(2000);

 OnFwd(OUT_A,10);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯
 Separate;

 OnRev(OUT_A,35);
 Wait(2000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë(¸µ¤Î°ÌÃÖ¤ËÌ᤹)
 Wait(500);
 }

**¥ì¡¼¥ë¤ÎÆ°¤­ [#n39571be]
 #define SPEED1 45
 #define SPEED2 60
 #define SPEED3 10
 #define SPEED4 30
 #define SPEED5 50
 float GetAngle(float d)
 {
 const float diameter=5.45;
 const float pi=3.1415;
 float ang = d/(diameter*pi)*360.0;
 return ang;
 }

 #define Into1 RotateMotor(OUT_C,SPEED3,20);  //¥Ü¡¼¥ë¤òÆþ¤ì¤ë
 #define Return1 RotateMotor(OUT_C,-SPEED3,25);
 #define Into2 RotateMotor(OUT_C,SPEED4,30);
 #define Return2 RotateMotor(OUT_C,-SPEED4,15);

 task main(){
 OnFwd(OUT_C,15);
 Wait(1000);
 Wait(3000);     ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢4¤Ä¤ÎÆâ2¤Ä¤À¤±¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
 OnRev(OUT_C,30);
 Wait(500);

 Wait(5000);

 OnFwd(OUT_C,25);
 Wait(1000);
 Wait(3000);       ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢¥ì¡¼¥ë¤Ë»Ä¤Ã¤Æ¤¤¤ë¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
 OnRev(OUT_C,30);
 Wait(2500);
 }



**¥Þ¥¹¥¿¡¼Â¦ [#n256cd4e]


**¥¹¥ì¡¼¥Ö¦ [#ea1f8404]





*¥Þ¥¹¥¿¡¼Â¦(¥³¥Ô¡¼ÍÑ) [#hacfc6a7]
 #define CONN 1 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö(ÄÌ¿®Áê¼ê)¤ÎÀܳÈÖ¹æ
 #define SPEED 50
 #define SPEED_SLOW 40
 #define turn_right_here OnFwd(OUT_B,SPEED_SLOW);OnFwd(OUT_C,-SPEED_SLOW);  //±¦Àû²ó

 float GetAngle(float d) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Ê¤àµ÷Î¥¤ò·×»»¤¹¤ë
 const float diameter=5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Îľ·Â
 const float pi=3.1415;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±ß¼þΨ
 float ang = d/(diameter*pi)*360.0; return ang; //³ÑÅÙ¤ò·×»»¤¹¤ë
 }

 const float diameter = 5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 const float track = 15;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý
 const float pi = 3.1415;
 void fwdDist(float d) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ÷Î¥ d ­ÑÁ°¿Ê
 long angle;
 angle = d/(diameter*pi)*360.0;
 RotateMotorEx(OUT_BC,SPEED_SLOW,angle,0,true,true);
 }

 void turnAng(long ang) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÑÅÙ ang Å٤λþ·×²ó¤ê¤ÎÀû²ó
 long angle;
 angle = track/diameter * ang;
 RotateMotorEx(OUT_BC,SPEED_SLOW,angle,100,true,true);
 }

 int searchDirection(long ang) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë ang ÅÙ¤ÎÈϰϤÇõ¤·¡¢¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
 long angle,tacho_min=0,tacho_corr;
 int d_min;
 d_min=300;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®ÃÍ
 angle = (track/diameter)*ang;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
 turnAng(ang/2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
 ResetTachoCount(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
 OnFwdSync(OUT_BC,SPEED_SLOW,-100);¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤ËÀû²ó
 while(MotorTachoCount(OUT_B)<=angle){
 if(SensorUS(S1)<d_min){
  d_min=SensorUS(S1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤò¹¹¿·
  PlaySound(SOUND_UP);
  tacho_min=MotorTachoCount(OUT_B);
 }
 }
 OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE);
 until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S1)<=d_min);
 Wait(14);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
 Off(OUT_BC);Wait(500);
 return d_min;
 }

 #define anglemove2 int angle = GetAngle(20);RotateMotor(OUT_BC,-SPEED,angle);OnFwd(OUT_B,-SPEED);OnFwd(OUT_C,SPEED);Wait(1500);angle += GetAngle(60);RotateMotor(OUT_BC,SPEED,angle);int d = searchDirection(120);if(d > 15){ fwdDist(d-15.0);}else {fwdDist(d-15);}PlaySound(SOUND_UP);turn_right_here;Wait(200);
 #define anglemove3 int angle = GetAngle(20);RotateMotor(OUT_BC,-SPEED,angle);OnFwd(OUT_B,-SPEED);OnFwd(OUT_C,SPEED);Wait(1500);angle += GetAngle(60);RotateMotor(OUT_BC,SPEED,angle);int d = searchDirection(120);turn_right_here;Wait(600);if(d > 15){ fwdDist(d);}else {fwdDist(d);}PlaySound(SOUND_UP);
 #define anglemove4 int angle = GetAngle(20);RotateMotor(OUT_BC,-SPEED,angle);OnFwd(OUT_B,-SPEED);OnFwd(OUT_C,SPEED);Wait(1500);angle += GetAngle(60);RotateMotor(OUT_BC,SPEED,angle);int d = searchDirection(120);turn_right_here;Wait(600);if(d > 15){ fwdDist(d);}else {fwdDist(d);}PlaySound(SOUND_UP);
 #define count 7
 #define sound PlaySound(SOUND_CLICK);

**angle move1 [#d59f8a17]
 task main() {
 SetSensorLowspeed(S1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 until (BluetoothStatus(CONN) == NO_ERR);¡¡¡¡//Àܳ¤Ç¤­¤ë¤Þ¤ÇÂÔµ¡
 RotateMotor(OUT_BC,50,GetAngle(50));¡¡¡¡¡¡¡¡//50­ÑÁ°¿Ê
 OnFwd(OUT_B,30);
 OnRev(OUT_C,50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë90ÅÙÀû²ó
 Wait(1500);
 RotateMotor(OUT_BC,50,GetAngle(30));¡¡¡¡¡¡¡¡//30­ÑÁ°¿Ê

 int d = searchDirection(120);
 if(d > 15){
 fwdDist(d-15.0);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 else {fwdDist(d-15);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å²»¤òÌĤ餷¡¢Á°¸å¤ÎÆ°¤­¤Ç15­Ñ¼êÁ°¤ÇÄä»ß
 PlaySound(SOUND_UP);

 turn_right_here;
 Wait(200);

 RemoteStartProgram(CONN, "arm time1.rxe");¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¡Öarm time1¡×¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¡¡
 }

**angle move2 [#j2aa6be8]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);

 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¤í¤Ë20­Ñ¸å¿Ê¤·¤¿¸å¡¢180ÅÙÀû²ó¤·¤Æ60­ÑÁ°¿Ê
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);

 int d = searchDirection(120);
 if(d > 15){
 fwdDist(d-15.0);}
 else {fwdDist(d-15);}
 PlaySound(SOUND_UP);

 turn_right_here;
 Wait(200);

 RemoteStartProgram(CONN, "arm time2.rxe");
 }

**angle move3 [#h9f89ef8]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);

 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);

 int d = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d > 15){
 fwdDist(d);}
 else {fwdDist(d);}
 PlaySound(SOUND_UP);

 RemoteStartProgram(CONN, "rail1.rxe");
 }

**angle move4 [#r0e5655e]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);

 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);

 int d = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d > 15){
 fwdDist(d);}
 else {fwdDist(d);}
 PlaySound(SOUND_UP);

 RemoteStartProgram(CONN, "rail2.rxe");
 }

**move [#g2dac7b9]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);

 int nOnline=0;
 RotateMotor(OUT_BC,50,GetAngle(50));
 OnFwd(OUT_B,30);
 OnRev(OUT_C,50);
 Wait(3000);
 RotateMotor(OUT_BC,50,GetAngle(50));

 int d = searchDirection(120);
 if(d > 15){
 fwdDist(d-15.0);}
 else {fwdDist(d-15);}
 PlaySound(SOUND_UP);
 turn_right_here;
 Wait(200);
 RemoteStartProgram(CONN, "arm time1.rxe");
 if(nOnline=0){
 if(SensorUS(S3)<count){
    sound;
 Wait(10000);
 nOnline++;
 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);
 int d = searchDirection(120);
 if(d > 15){
 fwdDist(d-15.0);}
 else {fwdDist(d-15);}
 PlaySound(SOUND_UP);
 turn_right_here;
 Wait(200);
 RemoteStartProgram(CONN, "arm time2.rxe");
 }
 }
 else if(nOnline=1){
 if(SensorUS(S3)<count){
    sound;
    nOnline++;
  }
  }
 else if(nOnline=2){
 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);
 int d = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d > 15){
 fwdDist(d);}
 else {fwdDist(d);}
 PlaySound(SOUND_UP);
       RemoteStartProgram(CONN, "rail1.rxe");
  if(SensorUS(S3)<count){
     sound;
     Wait(10000);
     nOnline++;
  }
  }
 else if(nOnline=3){
 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);
 int d = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d > 15){
 fwdDist(d);}
 else {fwdDist(d);}
 PlaySound(SOUND_UP);
 RemoteStartProgram(CONN, "rail2.rxe");
 }
 }

**ex [#f70778d9]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);
 OnFwd(OUT_BC,50);
 Wait(5500);
 turn_right_here;
 Wait(2500);
 RemoteStartProgram(CONN, "arm time.rxe");
 Off(OUT_BC);
 Wait(10000);
 Wait(10000);
 Wait(10000);
 int angle1 = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle1);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle1 += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle1);
 int d2 = searchDirection(120);
 if(d2 > 15){
 fwdDist(d2-15.0);}
 else {fwdDist(d2-15);}
 PlaySound(SOUND_UP);
 turn_right_here;
 Wait(200);
 RemoteStartProgram(CONN, "arm time.rxe");
 Off(OUT_BC);
 Wait(10000);
 Wait(10000);
 Wait(10000);
 int angle2 = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle2);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle2 += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle2);
 int d3 = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d3 > 15){
 fwdDist(d3);}
 else {fwdDist(d3);}
 PlaySound(SOUND_UP);
 RemoteStartProgram(CONN, "rail1.rxe");
 Off(OUT_BC);
 Wait(10000);
 Wait(10000);
 Wait(10000);
 int angle3 = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle3);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(1500);
 angle3 += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle3);
 int d4 = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d4 > 15){
 fwdDist(d4);}
 else {fwdDist(d4);}
 PlaySound(SOUND_UP);
 RemoteStartProgram(CONN, "rail2.rxe");
 }

**ex2 [#gb9319b5]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);
 OnFwd(OUT_BC,50);
 Wait(5500);
 turn_right_here;
 Wait(2000);
 RemoteStartProgram(CONN, "arm time.rxe");
 Off(OUT_BC);
 Wait(10000);
 Wait(10000);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(700);
 OnFwd(OUT_BC,50);
 Wait(4000);
 RemoteStartProgram(CONN, "rail.rxe");
 Off(OUT_BC);
 }

*¥¹¥ì¡¼¥Ö¦ [#g12768a7]
*¥¹¥ì¡¼¥Ö¦(¥³¥Ô¡¼ÍÑ) [#g12768a7]
**arm time [#dd328ea5]
 #define SPEED1 45
 #define SPEED2 60
 #define SPEED3 10
 #define SPEED4 30
 #define SPEED5 50
 #define SPEED6 25
 float GetAngle(float d)
 {
 const float diameter=5.45;
 const float pi=3.1415;
 float ang = d/(diameter*pi)*360.0;
 return ang;
 }
 #define DOWN RotateMotor(OUT_A,SPEED3,105);
 #define UP RotateMotor(OUT_A,-SPEED5,105);   //¥¢¡¼¥àÁ´ÂΤÎÆ°¤­
 #define LDown RotateMotor(OUT_A,SPEED3,25);
 #define LUp RotateMotor(OUT_A,-SPEED2,25);

 #define Catch RotateMotor(OUT_B,-SPEED4,105);
 #define Separate RotateMotor(OUT_B,SPEED4,105);  //¥¢¡¼¥à¤ÎÆ°¤­

 task main ()
 {
 OnFwd(OUT_A,10);
 Wait(1500);
 Catch;	¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à

 OnRev(OUT_A,50);
 Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¡¢¥ì¡¼¥ë¤Î¾å¤Ë¥Ü¡¼¥ë¤ò¤Î¤»¤ë
 Wait(2000);

 OnFwd(OUT_A,10);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯
 Separate;

 OnRev(OUT_A,35);
 Wait(2000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë(¸µ¤Î°ÌÃÖ¤ËÌ᤹)
 Wait(500);
 }

**rail [#u382c2a1]
 #define SPEED1 45
 #define SPEED2 60
 #define SPEED3 10
 #define SPEED4 30
 #define SPEED5 50
 float GetAngle(float d)
 {
 const float diameter=5.45;
 const float pi=3.1415;
 float ang = d/(diameter*pi)*360.0;
 return ang;
 }

 #define Into1 RotateMotor(OUT_C,SPEED3,20);  //¥Ü¡¼¥ë¤òÆþ¤ì¤ë
 #define Return1 RotateMotor(OUT_C,-SPEED3,25);
 #define Into2 RotateMotor(OUT_C,SPEED4,30);
 #define Return2 RotateMotor(OUT_C,-SPEED4,15);

 task main(){
 OnFwd(OUT_C,15);
 Wait(1000);
 Wait(3000);     ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢4¤Ä¤ÎÆâ2¤Ä¤À¤±¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
 OnRev(OUT_C,30);
 Wait(500);

 Wait(5000);

 OnFwd(OUT_C,25);
 Wait(1000);
 Wait(3000);       ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢¥ì¡¼¥ë¤Ë»Ä¤Ã¤Æ¤¤¤ë¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
 OnRev(OUT_C,30);
 Wait(2500);
 }


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