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 #define AC OUT_AC
 #define A OUT_A
 #define B OUT_B 
 #define C OUT_C
 sub arm_up() //¥Ú¥ó¤ò¾å¤²¤ë
 { 
   OnRev(B,25);Wait(100);Off(B);
 }
 sub arm_down()¡¡//¥Ú¥ó¤ò²¼¤²¤ë
 {
   OnFwd(B,25);Wait(100);Off(B);
 }
 void go_st(int t) //tÉôÖÁ°¤Ë¿Ê¤à
 { 
   OnFwd(AC,50);Wait(t);Off(AC);
 }
 void go_back(int t) //tÉôָå¤í¤Ë¿Ê¤à
 {
   OnRev(AC,50);Wait(t);Off(AC);
 }
 void spin_left(int t) //tÉôֺ¸²ó¤ê¤Ë²ó¤ë
 {
   OnFwd(A,100);OnRev(C,50);Wait(t);Off(AC);
 }
 void spin_right(int t) //tÉôֱ¦²ó¤ê¤Ë²ó¤ë
 {
   OnFwd(C,100);OnRev(A,50);Wait(t);Off(AC);
 }
­¡ ¼Ð¤á¤ËÀþ¤ò°ú¤¯
 task main()
 {
   arm_up();
   spin_right(300);
   arm_down();
   go_st(100);
   repeat(4){  //¡Ö¸ý¡×¤ò½ñ¤¯
   go_st(100); 
­¢­£­¤­¥ ¸ý¤ò½ñ¤¯
    repeat(4){  
    arm_up();
    spin_left(1200);
    go_back(1000);
    arm_down();
    go_st(500);
   }
   arm_up();¡¡  //¡ÖÆü¡×¤Ë¤Ê¤ë
   } 
­¦ Æü¤Ë¤Ê¤ë
   arm_up();¡¡  
   spin_left(1200);
   go_back(1000);
   arm_down();
   go_st(250);
   arm_up();
   spin_left(1200);
   go_back(1000);
   arm_down();
   go_st(500);
   arm_up();¡¡//4¤Ä¤ÎÅÀ¤ò½ñ¤¯
­§­¨­©­ª4¤Ä¤ÎÅÀ¤ò½ñ¤¯
   arm_up();¡¡
   spin_left(300);
   arm_down();
   go_st(100);
   arm_up();
   spin_right(1800);
   go_st(150);
   spin_right(1800);
   arm_down();
   go_st(100);
   arm_up();
   spin_left(300);
   go_st(750);
   spin_left(300);
   arm_down();
   go_st(100);
   arm_up();
   spin_right(1800);
   go_st(150);
   spin_right(1800);
   arm_down();
   go_st(100);
   arm_up();
   spin_right(100); //¡ÖÌڡפò½ñ¤¯
   arm_up(); 
­«­¬­­­®ÌÚ¤ò½ñ¤¯
   spin_right(100); 
   go_st(200);
   spin_left(1550);
   arm_down();
   go_st(500);
   arm_up();
   spin_left(1900);
   go_st(200);
   spin_left(1700);
   go_back(900);
   arm_down();
   go_st(600);
   arm_up();
   go_back(700);
   spin_right(200); 
   go_back(500);
   arm_down();
   go_st(200);
   arm_up();
   spin_left(1520);
   go_st(600);
   spin_left(1520);
   arm_down();
   go_st(400);
 }
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