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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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