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#contents
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#define TURN_TIME 60;//²ó¤ë»þ´Ö
#define turn_left Off(OUT_A); OnFwd(OUT_C);
¡¡Wait(TURN_TIME);Off(OUT_C); //º¸¤Ë¶Ê¤¬¤ë
#define go_forward(t) OnFwd(OUT_AC);
¡¡Wait(t);Off(OUT_AC); //Á°¿Ê
#define turn_right Off(OUT_C); OnFwd(OUT_A);
¡¡Wait(TURN_TIME);Off(OUT_A); //±¦¤Ë¶Ê¤¬¤ë
#define turn_head Off(OUT_A);OnFwd(OUT_C);Wait(60);Off(OUT_AC);OnFwd(OUT_AC);
¡¡Wait(10);Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤Þ¤«¤¯¶Ê¤¬¤ë
#define turn_all OnFwd(OUT_C);OnRev(OUT_A);Wait(60);Off(OUT_AC);//¤½¤Î¾ì¤Ç²óž
°Ê²¼¤¬¥í¥Ü¥Ã¥È¤Ë¤µ¤»¤è¤¦¤È¤·¤¿¥×¥í¥°¥é¥à¤Ç¤¢¤ë
task main ()
{
OnFwd(OUT_B);
go_forward(40);
turn_all;
turn_all; //¡
go_forward(20);
turn_all;
turn_all; //¢
go_forward(20);
turn_left;
go_forward(40); ¡¡¡¡¡¡¡¡¡¡//¤¢¤´¤ÎÉôʬ¤ò½ñ¤¯
turn_left;
go_forward(40); ¡¡¡¡¡¡¡¡¡¡//¤¢¤´¤ÎÉôʬ¤ò½ñ¤¯¡¡£
turn_head;
turn_head;
turn_head;
turn_head;
turn_head;
turn_head;
turn_head;
turn_head;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ƭ¤ÎÉôʬ¤ò½ñ¤¯
turn_head;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ƭ¤ÎÉôʬ¤ò½ñ¤¯ ¤
OnRev(OUT_B);
Wait(10);
Off(OUT_B); //É®¤ò¾å¤²¤ë
turn_left;
go_forward(30);
OnFwd(OUT_B);
Wait(10);
Off(OUT_B);
OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡
Wait(10);
Off(OUT_B); ¡¡¡¡//º¸ÌܤÎÉôʬ
Off(OUT_B); ¡¡¡¡//º¸ÌܤÎÉôʬ¡¡¡¡¦
go_forward(30);
OnFwd(OUT_B);
Wait(10);
Off(OUT_B);
OnRev(OUT_B);
Wait(10);
Off(OUT_B); //±¦ÌܤÎÉôʬ
Off(OUT_B); //±¦ÌܤÎÉôʬ¡¡¡¡§
turn_left;
OnFwd(OUT_B);
Wait(10);
Off(OUT_B);
go_forward(20);
OnRev(OUT_B);
Wait(10);
Off(OUT_B);
turn_right;
OnFwd(OUT_B);
Wait(10);
Off(OUT_B);
OnRev(OUT_AC);
Wait(30);
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸ý¤ÎÉôʬ
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸ý¤ÎÉôʬ¡¡¡¡¡¡¨
}
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