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 #define CONN 0
 #define INBOX MAILBOX3
 #define ang_up 340				//»ý¤Á¾å¤²ÍѳÑÅÙ
 #define ang_put 80				//¥«¥óÃÖ¤¯³ÑÅÙ
 #define ANGLE 50				//ÄϤàÍѳÑÅÙ
 #define POWER 30				//ÀµÅ¾
 #define POWER_LEGS 40			        //­²ó¤êÍÑ
 #define POWER_RE -30			        //µÕž
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 sub go_f(int l){		//»ØÄêµ÷Î¥Á°¿Ê
	float Ang=l*2.0463;				//²óž³ÑÅÙ·×»»
	RotateMotor(OUT_A,POWER_LEGS,Ang);	        //Á°¿Ê
	Off(OUT_A);
 }
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 sub hold(){					//¥«¥ó¤òÄϤà
	go_f(100);					//Á°¿Ê¤·¤Æ¥«¥ó¤Î°ÌÃÖ¤ò¹ç¤ï¤»¤ë
	RotateMotor(OUT_C,POWER_RE,ANGLE);	¡¡¡¡¡¡¡¡//¥«¥óÄϤà
 }

 sub stack(){					//¥«¥ó¤òÀѤà
	go_f(170);					//Á°¿Ê¤·¤Æ¥«¥ó¤Î°ÌÃÖ¤ò¹ç¤ï¤»¤ë
	go_f(-10);					//¥«¥ó¤«¤éÎ¥¤ì¤Æ°ÌÃÖÄ´À°
	RotateMotor(OUT_B,POWER_RE,ang_put);		//¥«¥ó¤òÃÖ¤¯(ÀѤà)
 }
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 sub down_arm(){						//¥¢¡¼¥à¤ò²¼¤²¤ë
	OnFwd(OUT_B,POWER_RE);
	Wait(1100);						
	Off(OUT_B);
 }
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*¥á¥¤¥ó¥¿¥¹¥¯ [#x31005ed]
 task main(){
	int msg=0;
	until(BluetoothStatus(CONN)==NO_ERR);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //bluetooth¤¬³ÎΩ¤¹
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	go_f(-50);                                                      //¥¢¡¼¥à¤ò²¼¤²¤ë¤¿
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	down_arm(); 							//¥¢¡¼¥à¤ò²¼¤²¤Æ¥«
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	while(1){
		hold();							//¥«¥óÄϤà
		OnFwd(OUT_C,POWER_RE);				¡¡¡¡¡¡¡¡//ÊÝ»ý¤·Â³¤±¤ë
		RotateMotor(OUT_B,50,ang_up);		¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»ý¤Á¾å¤²¤ë
		go_f(-150);						//°ÌÃÖÄ´À°

		ReceiveRemoteNumber(MAILBOX3,true,msg);			//½¸¤á¤ë¦¤«¤é¤Î¿®
 ¹æ¤¬Íè¤ë¤Þ¤ÇÂÔµ¡
		while(msg!=2){
			ReceiveRemoteNumber(MAILBOX3,true,msg);
			Wait(10);
		}

		stack();						//£²¤Î¿®¹æ¤¬Í褿¤é
 ÀѤà
		Off(OUT_C);						//¥«¥ó¤òÊÝ»ý¤¹¤ëÎÏ
 ¤òÈ´¤¯
		RotateMotor(OUT_C,POWER,ANGLE);		//¥«¥óÎ¥¤¹
		go_f(-100);						//°ÌÃÖÄ´À°
		down_arm(); 						//¥¢¡¼¥à¤ò²¼¤²¤Æ¼¡
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	}
 }
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