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 #define PEN 15    //¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ë»þ´Ö¤òÄêµÁ
 #define pen_down OnRev(OUT_B);Wait(PEN);Off(OUT_B);    //¥Ú¥ó¤ò²¼¤²¤ë
 #define pen_up OnFwd(OUT_B);Wait(PEN);Off(OUT_B);    //¥Ú¥ó¤ò¾å¤²¤ë
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¥Ú¥ó¤ÎÆ°ºî¤Ï¥Þ¥¯¥í¤ò»ÈÍѤ·¤¿¡£
 
 #define go_forward(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);     //Á°¿Ê_»þ´ÖÊѹ¹²Äǽ
 #define go_back(s) OnRev(OUT_AC);Wait(s);Off(OUT_AC);     //¸åÂà_»þ´ÖÊѹ¹²Äǽ

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 #define turn_right OnFwd(OUT_C);OnRev(OUT_A);Wait(95);Off(OUT_AC);          //¤½¤Î¾ì¤Ç±¦ÀÞ
 #define turn_left OnFwd(OUT_A);OnRev(OUT_C);Wait(92);Off(OUT_AC);          //¤½¤Î¾ì¤Çº¸ÀÞ

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 #define turn_left1(l) OnFwd(OUT_A);OnRev(OUT_C);Wait(l);Off(OUT_AC);        //º¸ÀÞ_»þ´ÖÊѹ¹²Äǽ
 #define turn_right1(u)OnFwd(OUT_C);OnRev(OUT_A);Wait(u);Off(OUT_AC);        //±¦ÀÞ_»þ´ÖÊѹ¹²Äǽ

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¤³¤ì¤Ï±¦ÀޤȺ¸ÀޤγÑÅÙ¤¬ÊѤ¨¤é¤ì¤ë¤è¤¦¤Ë¤·¤¿¥Þ¥¯¥í¤Ç¤¢¤ë¡£µ¡ÂΤ¬Æ°¤­²ó¤Ã¤Æ»ú¤ò½ñ¤¯¤Î¤Çº¸±¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤Î¶¯¤µ¤Î°ã¤¤¤Ë¤è¤ê¤É¤¦¤·¤Æ¤â¶Ê¤¬¤Ã¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢¤½¤ì¤ò½¤Àµ¤¹¤ë¤¿¤á¤ËÍѤ¤¤¿¡£¤³¤ì¤Ë¤è¤ê³ÑÅÙ¤ÎÈùÄ´À°¤¬¤È¤Æ¤â´Êñ¤Ë¤Ç¤­¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¡£
 

 
 task main()
 {
     int count;//¼·²èÌܤÇÍѤ¤¤ëÊÑ¿ô¤òÀë¸À
     pen_up;//½ñ¤­»Ï¤á½àÈ÷
     Wait(10);
     pen_down;
 
     go_forward(20);//°ì²èÌÜ
     pen_up;
   
     go_forward(190);//Æó²èÌܤ˰ÜÆ°
     turn_right1(5)
     turn_right1(5);//Á°¿Ê¤Ë¤è¤Ã¤Æ¶Ê¤¬¤Ã¤¿³ÑÅÙ¤ò½¤Àµ
     turn_right;
     go_back(41);
     turn_right;
   
     pen_down;  //Æó²èÌÜ
     go_forward(25);
     pen_up;
 
     go_forward(37);//»°³ÑÌܤ˰ÜÆ°
     turn_right;
     go_back(130);
 
 
     pen_down;//»°³ÑÌÜ
     go_forward(80);
     pen_up;
 
     go_forward(40);//»Í²èÌܤ˰ÜÆ°
     turn_right;
     go_back(123);
 
     pen_down;//»Í²èÌÜ
     go_forward(25);
     pen_up;
 
 
     go_forward(45);//¸Þ³ÑÌܤ˰ÜÆ°
     turn_right;
     go_back(120);
 
     pen_down;//¸Þ³ÑÌÜ
     go_forward(20);
     pen_up;
 
     go_forward(44);//Ï»³ÑÌܤ˰ÜÆ°
     turn_right;
     go_back(125);
 
     pen_down; //Ï»³ÑÌÜ
     go_forward(20);
     pen_up;
 
     go_forward(172); //¼·³ÑÌܤ˰ÜÆ°
     turn_left; 
     go_forward(115);
     turn_left;
 

     pen_down;  //¼·³ÑÌÜ
 
     OnFwd(OUT_C);
     for(count=0;count<12;count++){
         OnFwd(OUT_A);
         Wait(1);
         Off(OUT_A);
         Wait(1);
     }
     Off(OUT_AC);
     pen_up;

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     go_forward(130);//Ȭ²èÌܤ˰ÜÆ°
     turn_left1(89);//³ÑÅÙ¤òľ³Ñ¤Ë¹ç¤ï¤»¤ë
     go_back(40);
 
     pen_down; //Ȭ²èÌÜ
     go_forward(65);
     pen_up;    
 
     go_forward(10);//¶å³ÑÌܤ˰ÜÆ°
     turn_left1(90);
     Wait(20);
     turn_left1(90);//¸íº¹¤ò½¤Àµ
     Wait(20);//¾¯¤·´Ö¤ò³«¤±¤ë
     go_forward(124);
     turn_left1(90);
     turn_left1(90);//¸íº¹¤ò½¤Àµ
     Wait(20);
     turn_left1(95);//¸íº¹¤ò½¤Àµ¤¹¤ë¤¿¤á¤Ë¾¯¤·³ÑÅÙ¤òÂ礭¤¯¤·¤¿º¸ÀÞ
     Wait(10);
 
     pen_down; //¶å³ÑÌÜ
     go_forward(25);
     pen_up;
 
     go_forward(122); //½½³ÑÌܤ˰ÜÆ°
     turn_right;
     go_forward(75);
     turn_right1(100);
     turn_right1(100);//¸íº¹¤ò½¤Àµ
     Wait(20);
     turn_right1(95);
     turn_right1(95);//¸íº¹¤ò½¤Àµ

 
     pen_down; //½½³ÑÌÜ
     go_forward(65);
     pen_up;//´°À®¡ª¡ª¡ª¡ª¡ª¡ª¡ª
     
 }


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