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#define SPEED 30
sub side90()//£³¡ß£³¥Þ¥¹¤Î£±¥Þ¥¹Ê¬Á°¿Ê¤¹¤ë¡£
sub side90()//£³✕£³¥Þ¥¹¤Î£±¥Þ¥¹Ê¬Á°¿Ê¤¹¤ë¡£
{RotateMotorEx(OUT_BC,SPEED,90,0,false,true);}
sub side270()//£³¡ß;£³¥Þ¥¹¤Î£³¥Þ¥¹Ê¬Á°¿Ê¤¹¤ë¡£
sub side270()//£³✕£³¥Þ¥¹¤Î£³¥Þ¥¹Ê¬Á°¿Ê¤¹¤ë¡£
{RotateMotorEx(OUT_BC,SPEED,270,0,false,true);}
sub unside90()//£³¡ß£³¥Þ¥¹¤Î£±¥Þ¥¹Ê¬¸åÂह¤ë¡£
sub unside90()//£³✕£³¥Þ¥¹¤Î£±¥Þ¥¹Ê¬¸åÂह¤ë¡£
{RotateMotorEx(OUT_BC,SPEED,-90,0,false,true);}
sub unside270()//£³¡ß£³¥Þ¥¹¤Î£³¥Þ¥¹Ê¬¸åÂह¤ë¡£
sub unside270()//£³✕£³¥Þ¥¹¤Î£³¥Þ¥¹Ê¬¸åÂह¤ë¡£
{RotateMotorEx(OUT_BC,SPEED,-270,0,false,true);}
sub side600()
{RotateMotorEx(OUT_BC,SPEED,700,0,false,true);}
sub up()//¥Ú¥ó¤ò»ý¤Á¾å¤²¤ë¡£
{RotateMotor(OUT_A,SPEED,-25);}
sub down()//¥Ú¥ó¤ò²¼¤í¤¹¡£
{RotateMotor(OUT_A,SPEED,25);}
sub adjust()//£±¥Þ¥¹±¦¤Ë¤º¤ì¤ë¡£
sub adjust()//º¸¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸å±¦¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹±¦¤Ë¤º¤ì¤ë¡£
{RotateMotor(OUT_C,SPEED,-200);
RotateMotor(OUT_B,SPEED,-200);}
sub adjust2()//£±¥Þ¥¹º¸¤Ë¤º¤ì¤ë¡£
sub adjust2()//±¦¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸åº¸¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹¤ÎȾʬº¸¤Ë¤º¤ì¤ë¡£
{RotateMotor(OUT_B,SPEED,-150);
RotateMotor(OUT_C,SPEED,-170);}
sub adjust3()//£±¥Þ¥¹º¸¤Ë¤º¤ì¤ë¡£°ÌÃÖ¤ÎÄ´À°¤â´Þ¤à¡£
sub adjust3()//±¦¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸åº¸¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹º¸¤Ë¤º¤ì¤ë¡£
{RotateMotor(OUT_B,SPEED,-200);
RotateMotor(OUT_C,SPEED,-200);}
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**½ÄÀþ [#j16c471f]
***½ÄÀþ¥Ñ¡¼¥È¡¡Á¢ [#v92d70ce]
task main()
{
ResetTachoCount(OUT_ABC);
RotateMotor(OUT_A,SPEED,-45);
RotateMotor(OUT_A,SPEED,50);
side270();
up();
RotateMotorEx(OUT_BC,SPEED,190,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust();
RotateMotorEx(OUT_BC,SPEED,190,0,false,true);//¾¯¤·Á°¤Ë½Ð¤ë¡£¤³¤ì¤Ë¤è¤ê¼¡¤ÎÆ°ºî¤ò¤·¤¿»þ¡¢¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¤Á¤ç¤¦¤É¼¡¤Ë½ñ¤¯½ÄÀþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
adjust();//º¸¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸å¤Ë±¦¥¿¥¤¥ä¤òƱ¤¸³ÑÅÙȿž¤µ¤»¡¢Î٤νÄÀþ¤Ë¸þ¤¤òÊѤ¨¤º¤Ë°ÜÆ°¡£
***½ÄÀþ¥Ñ¡¼¥È¢¡Á£ [#p2334456]
down();
unside90();
up();
unside90();
unside90();//½ÄÀþ¥Ñ¡¼¥ÈA¶è´Ö
down();
unside90();
up();
adjust();
RotateMotorEx(OUT_BC,SPEED,190,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust();//º¸¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸å¤Ë±¦¥¿¥¤¥ä¤òƱ¤¸³ÑÅÙȿž¤µ¤»¡¢Î٤νÄÀþ¤Ë¸þ¤¤òÊѤ¨¤º¤Ë°ÜÆ°¡£
RotateMotorEx(OUT_BC,SPEED,190,0,false,true);//¾¯¤·Á°¤Ë½Ð¤Æ¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¼¡¤Ë½ñ¤¯½ÄÀþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
***½ÄÀþ¥Ñ¡¼¥È£¡Á¤ [#ya9affef]
down();
side90();
up();
side90();
side90();//½ÄÀþ¥Ñ¡¼¥ÈB¶è´Ö
down();
side90();
up();
RotateMotorEx(OUT_BC,SPEED,190,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust();
RotateMotorEx(OUT_BC,SPEED,190,0,false,true);//¾¯¤·Á°¤Ë½Ð¤ë¡£¤³¤ì¤Ë¤è¤ê¼¡¤ÎÆ°ºî¤ò¤·¤¿»þ¡¢¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¤Á¤ç¤¦¤É¼¡¤Ë½ñ¤¯½ÄÀþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
adjust();//º¸¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸å¤Ë±¦¥¿¥¤¥ä¤òƱ¤¸³ÑÅÙȿž¤µ¤»¡¢Î٤νÄÀþ¤Ë¸þ¤¤òÊѤ¨¤º¤Ë°ÜÆ°¡£
***½ÄÀþ¥Ñ¡¼¥È¤¡Á½ÄÀþ¥Ñ¡¼¥È½ñ¤½ª¤¨¤ë¤Þ¤Ç [#d8b51f6a]
down();
unside270();
up();
¤³¤³¤Þ¤Ç¤Ï¾å¼ê¤¯¤«¤±¤ë
**²£Àþ [#o62805ce]
side600();//°ÌÃÖ¤ÎÄ´À°¡£
side600();//²£Àþ¤ÎSTART°ÌÃÖ¤ò¾¯¤·±Û¤¨¤ë¤¢¤¿¤ê¤Þ¤ÇÁ°¿Ê¡£
ResetTachoCount(OUT_ABC);
RotateMotor(OUT_C,SPEED,-360);//£¹£°ÅÙ¸þ¤¤òÊѤ¨¤ë¡£
RotateMotorEx(OUT_BC,SPEED,-120,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
RotateMotor(OUT_C,SPEED,-360);//º¸¥¿¥¤¥ä¤òȿž¤µ¤»¤Æ£¹£°ÅÙ¸þ¤¤òÊѤ¨¤ë¡£
RotateMotorEx(OUT_BC,SPEED,-120,0,false,true);//²£Àþ¤ÎSTART¤Î°ÌÃ֤˥ڥ󤬿¶¤ê²¼¤í¤µ¤ì¤ë°ÌÃ֤˹ç¤ï¤»¤ë¡£
***²£Àþ¥Ñ¡¼¥È¡¡Á¢ [#hf494467]
down();
side90();
up();
side90();
down();
side90();
up();
RotateMotorEx(OUT_BC,SPEED,240,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust2();
RotateMotorEx(OUT_BC,SPEED,240,0,false,true);//¾¯¤·Á°¤Ë½Ð¤ë¡£¤³¤ì¤Ë¤è¤ê¼¡¤ÎÆ°ºî¤ò¤·¤¿»þ¡¢¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¤Á¤ç¤¦¤É¼¡¤Ë½ñ¤¯²£Àþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
adjust2();//±¦¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸åº¸¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹¤ÎȾʬº¸¤Ë¤º¤ì¤ë¡£
***²£Àþ¥Ñ¡¼¥È¢¡Á£ [#h70c1ed2]
down();
unside90();
up();
unside90();
down();
unside90();
up();
adjust2();
RotateMotorEx(OUT_BC,SPEED,120,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust2();//±¦¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸åº¸¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹¤ÎȾʬº¸¤Ë¤º¤ì¤ë¡£
RotateMotorEx(OUT_BC,SPEED,120,0,false,true);//¾¯¤·Á°¤Ë½Ð¤ë¡£¤³¤ì¤Ë¤è¤ê¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¤Á¤ç¤¦¤É¼¡¤Ë½ñ¤¯²£Àþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
***²£Àþ¥Ñ¡¼¥È£¡Á¤ [#b18e1c39]
down();
side90();
up();
side90();
down();
side90();
up();
RotateMotorEx(OUT_BC,SPEED,260,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust3();
RotateMotorEx(OUT_BC,SPEED,260,0,false,true);//¾¯¤·Á°¤Ë½Ð¤ë¡£¤³¤ì¤Ë¤è¤ê¼¡¤ÎÆ°ºî¤ò¤·¤¿»þ¡¢¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¤Á¤ç¤¦¤É¼¡¤Ë½ñ¤¯²£Àþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
adjust3();//±¦¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸åº¸¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹º¸¤Ë¤º¤ì¤ë¡£
***²£Àþ¥Ñ¡¼¥È¤¡Á¥ [#he384e4e]
unside90();
down();
unside90();
up();
unside90();
adjust2();
RotateMotorEx(OUT_BC,SPEED,180,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust2();//±¦¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸åº¸¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹¤ÎȾʬº¸¤Ë¤º¤ì¤ë¡£
RotateMotorEx(OUT_BC,SPEED,180,0,false,true);//¾¯¤·Á°¤Ë½Ð¤ë¡£¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¤Á¤ç¤¦¤É¼¡¤Ë½ñ¤¯²£Àþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
***²£Àþ¥Ñ¡¼¥È¥¡Á¦ [#eab831fb]
side90();
down();
side90();
up();
side90();
RotateMotorEx(OUT_BC,SPEED,180,0,false,true);//°ÌÃÖ¤ÎÄ´À°¡£
adjust2();
RotateMotorEx(OUT_BC,SPEED,180,0,false,true);//¾¯¤·Á°¤Ë½Ð¤ë¡£¤³¤ì¤Ë¤è¤ê¼¡¤ÎÆ°ºî¤ò¤·¤¿»þ¡¢¥Ú¥ó¤ò¿¶¤ê²¼¤í¤¹°ÌÃÖ¤¬¤Á¤ç¤¦¤É¼¡¤Ë½ñ¤¯²£Àþ¤Î»Ï¤á¤Î°ÌÃ֤˹礦¡£
adjust2();//±¦¥¿¥¤¥ä¤òȿž¤µ¤»¤¿¸åº¸¥¿¥¤¥ä¤òȿž¤µ¤»£±¥Þ¥¹¤ÎȾʬº¸¤Ë¤º¤ì¤ë¡£
***²£Àþ¥Ñ¡¼¥È¦¡Á²£Àþ¥Ñ¡¼¥È½ñ¤½ª¤¨¤ë¤Þ¤Ç [#wd6e723b]
unside90();
down();
unside90();
}
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