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#contents
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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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