*ロボットの概要 [#i9e7309f] *プログラム [#wf0be67c] #define up_pen OnRev(OUT_A,10);Wait(700);Off(OUT_A); //ペンを上げる #define down_pen OnFwd(OUT_A,10);Wait(800);Off(OUT_A); //ペンを下げる #define turn_left_b(t) OnRev(OUT_B,20);Wait(t);Off(OUT_B); //手首を左 #define turn_right_b(t) OnFwd(OUT_B,20);Wait(t);Off(OUT_B); //手首を右 #define turn_left_c(t) OnFwd(OUT_C,25);Wait(t);Off(OUT_C); //肘を左 #define turn_right_c(t) OnRev(OUT_C,25);Wait(t);Off(OUT_C); //肘を右 #define all_off Off(OUT_ABC);Wait(1800); //モーターを止め静止 task main () { turn_left_b(900); turn_right_c(200); down_pen; all_off; //最初の位置へ OnRev(OUT_B,20); OnRev(OUT_C,25); Wait(250); all_off; //1 up_pen; turn_left_c(100); down_pen; all_off; OnRev(OUT_B,20); OnRev(OUT_C,25); Wait(200); all_off; //2 up_pen; turn_left_b(600); turn_left_c(100); down_pen; all_off; OnFwd(OUT_B,25); OnRev(OUT_C,20); Wait(300); all_off; //3 up_pen; turn_right_b(300); turn_left_c(100) down_pen; all_off; OnFwd(OUT_B,20); OnRev(OUT_C,20); Wait(400); all_off; //4 OnRev(OUT_B,18); OnRev(OUT_C,25); Wait(650); all_off; //5 OnRev(OUT_B,21); OnFwd(OUT_C,25); Wait(200); Off(OUT_B); Wait(50); all_off; //6 OnFwd(OUT_B,25); OnFwd(OUT_C,20); Wait(250); all_off; //7 up_pen; OnRev(OUT_B,18); OnRev(OUT_C,18); Wait(150); all_off; down_pen; all_off; OnFwd(OUT_B,14); OnRev(OUT_C,20); Wait(550); all_off; //8 up_pen; OnRev(OUT_B,18); OnRev(OUT_C,20); Wait(500); all_off; down_pen; all_off; OnRev(OUT_B,17); OnRev(OUT_C,18); //9 Wait(400); all_off; up_pen; turn_right_b(100) turn_left_c(100) down_pen; all_off; OnRev(OUT_B,20); OnRev(OUT_C,20); Wait(180); all_off; //10 up_pen; turn_right_b(200); turn_right_c(200); down_pen; all_off; OnRev(OUT_B,15); OnRev(OUT_C,20); Wait(330); all_off; //11 up_pen; turn_left_b(100) turn_left_c(200) down_pen; all_off; OnFwd(OUT_B,18); OnRev(OUT_C,30); Wait(270); all_off; //12 up_pen; turn_left_b(200) turn_left_c(100) down_pen; all_off; OnRev(OUT_B,20); Wait(600); all_off; //13 up_pen; OnFwd(OUT_B,13); OnRev(OUT_C,17); Wait(400); all_off; down_pen; all_off; OnRev(OUT_B,17); OnRev(OUT_C,25); Wait(600); all_off; //14 OnFwd(OUT_B,15); OnRev(OUT_C,20); Wait(400); all_off; //15 OnFwd(OUT_B,20); OnFwd(OUT_C,20); Wait(100); all_off; //16 }