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[[2016a/Member]]
#contents
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*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#gd87beb3]
**¥í¥Ü¥Ã¥È¤Î¹½Â¤ [#u3bcc79c]
#define PEN_DOWN RotateMotor(OUT_A,25,30);
#define PEN_UP RotateMotor(OUT_A,-25,30);
#define GO_FORWARD(s) OnFwd(OUT_BC,25);Wait(s);Off(OUT_BC);
#define GO_BACK(u) OnRev(OUT_BC,25);Wait(u);Off(OUT_BC);
#define TURN_LEFT45 OnFwd(OUT_B,50);Wait(570);Off(OUT_B);
#define TURN_LEFT OnFwd(OUT_B,50);Wait(1140);Off(OUT_B);
#define TURN_LEFT2 OnRev(OUT_C,50);Wait(1140);Off(OUT_C);
#define TURN_RIGHT OnFwd(OUT_C,50);Wait(1140);Off(OUT_C);
#define TURN_RIGHT2 OnRev(OUT_B,50);Wait(1140);Off(OUT_B);
2¤Ä¤Î¥Ñ¡¼¥Ä¤ò»È¤¤¥Ú¥ó¤ò¶´¤ß¡¢ÎØ¥´¥à¤Ç¸ÇÄꤷ¤Æ¡¢¥¢¡¼¥à¤Ë¼è¤êÉÕ¤±¤Þ¤·¤¿¡£(¼Ì¿¿(A))
(A)
#ref(robo1.jpg)
(B)
#ref(robo2.jpg)
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#ref(nigaoe1.png)
**ÄêµÁ [#ee44dcf3]
#define PEN_DOWN RotateMotor(OUT_A,25,30); // ¥Ú¥ó¤ò²¼¤²¤ë
#define PEN_UP RotateMotor(OUT_A,-25,30); // ¥Ú¥ó¤ò¾å¤²¤ë
#define GO_FORWARD(s) OnFwd(OUT_BC,25);Wait(s);Off(OUT_BC); // (s/1000)ÉÃÁ°¿Ê
#define GO_BACK(u) OnRev(OUT_BC,25);Wait(u);Off(OUT_BC); // (u/1000)Éøå¿Ê
#define TURN_LEFT45 OnFwd(OUT_B,50);Wait(570);Off(OUT_B); // 45¡ëº¸²óž
#define TURN_LEFT OnFwd(OUT_B,50);Wait(1140);Off(OUT_B); // ±¦¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ëº¸²óž
#define TURN_LEFT2 OnRev(OUT_C,50);Wait(1140);Off(OUT_C); // º¸¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ëº¸²óž
#define TURN_RIGHT OnFwd(OUT_C,50);Wait(1140);Off(OUT_C); // º¸¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ë±¦²óž
#define TURN_RIGHT2 OnRev(OUT_B,50);Wait(1140);Off(OUT_B); // ±¦¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ë±¦²óž
**´é¤ÎÎØ³Ô¥×¥í¥°¥é¥à [#f7dd8c53]
#ref(nigaoe2.png)
task main ()
{
PEN_DOWN
GO¡¡_FORWARD(800)
GO¡¡_FORWARD(800) // Îسԡ
PEN_UP
GO_FORWARD(1920)
TURN_LEFT45
GO_BACK(2650)
PEN_DOWN
GO_FORWARD(480)
GO_FORWARD(480) // ÎسԢ
PEN_UP
GO_FORWARD(1750)
TURN_LEFT45
GO_BACK(2560)
PEN_DOWN
GO_FORWARD(320)
GO_FORWARD(320) // Îسԣ
PEN_UP
GO_FORWARD(1520)
TURN_LEFT45
GO_BACK(2320)
PEN_DOWN
GO_FORWARD(480)
GO_FORWARD(480) // ÎسԤ
PEN_UP
GO_FORWARD(1840)
TURN_LEFT45
GO_BACK(2320)
PEN_DOWN
GO_FORWARD(800)
GO_FORWARD(800) // Îسԥ
**´ã¶À¡¦É¡¡¦¸ý¥×¥í¥°¥é¥à [#wdc43964]
#ref(nigaoe3.png)
***´ã¶À¥×¥í¥°¥é¥à [#eb5f874a]
PEN_UP
GO_FORWARD(2560)
TURN_LEFT2
GO_BACK(1280)
PEN_DOWN
GO_FORWARD(960)
GO_FORWARD(960) // ´ã¶À¦
PEN_UP
GO_FORWARD(320)
TURN_RIGHT
GO_BACK(160)
TURN_LEFT2
GO_BACK(640)
PEN_DOWN
GO_BACK(240)
GO_BACK(240) // ´ã¶À§-üñ(ÎÐ)
PEN_UP
GO_BACK(160)
PEN_DOWN
GO_BACK(240)
GO_BACK(240) // ´ã¶À§-üò(ÎÐ)
PEN_UP
GO_FORWARD(3200)
TURN_LEFT2
GO_BACK(1360)
PEN_DOWN
GO_BACK(160)
GO_BACK(160) // ´ã¶À¨-üñ(ÀÄ)
PEN_UP
GO_FORWARD(1520)
TURN_RIGHT
GO_FORWARD(240)
TURN_LEFT2
GO_BACK(1360)
PEN_DOWN
GO_BACK(160)
GO_BACK(160) // ´ã¶À¨-üò(ÀÄ)
PEN_UP
GO_FORWARD(1520)
TURN_RIGHT
GO_FORWARD(160)
TURN_LEFT2
GO_BACK(1360)
PEN_DOWN
GO_BACK(160)
GO_BACK(160) // ´ã¶À¨-üó(ÀÄ)
PEN_UP
GO_FORWARD(1520)
TURN_RIGHT
GO_FORWARD(240)
TURN_LEFT2
GO_BACK(1360)
PEN_DOWN
GO_BACK(160)
GO_BACK(160) // ´ã¶À¨-üô(ÀÄ)
***É¡¥×¥í¥°¥é¥à [#z3063d84]
PEN_UP
TURN_LEFT
GO_FORWARD(320)
TURN_RIGHT2
GO_BACK(80)
PEN_DOWN
GO_FORWARD(320)
GO_FORWARD(320) // É¡©
PEN_UP
GO_FORWARD(1600)
TURN_LEFT
GO_BACK(3360)
PEN_DOWN
GO_BACK(80)
GO_BACK(80) // É¡ª
***¸ý¥×¥í¥°¥é¥à [#kb5fb584]
PEN_UP
GO_FORWARD(3440)
TURN_RIGHT2
GO_FORWARD(320)
TURN_LEFT
GO_BACK(3200)
PEN_DOWN
GO_BACK(320)
GO_BACK(320) // ¸ý«
}
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#ref(nigaoe4.jpg)
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