2017
#contents
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#ref(2017b/Member/cyanomelana/Mission1/direction.JPG,30%,½ñÆ»¥í¥Ü¥Ã¥È)~
 #define XR(t) OnFwd(OUT_A,40); Wait(t); Off(OUT_A); Wait(200);//X¼´±¦Êý¸þ¤Ø°ÜÆ°
 #define XL(t) OnRev(OUT_A,40); Wait(t); Off(OUT_A); Wait(200);//X¼´º¸Êý¸þ¤Ø°ÜÆ°
 #define YD(t) OnFwd(OUT_C,40); Wait(t); Off(OUT_C); Wait(200);//Y¼´²¼Êý¸þ¤Ø°ÜÆ°
 #define YU(t) OnRev(OUT_C,40); Wait(t); Off(OUT_C); Wait(200);//Y¼´¾åÊý¸þ¤Ø°ÜÆ°

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 #define PU RotateMotor(OUT_B,20,30); Off(OUT_B);¡¡//¥Ú¥ó¤ò¾å¤²¤ë
 #define PD RotateMotor(OUT_B,-20,30); Off(OUT_B);¡¡//¥Ú¥ó¤ò²¼¤í¤¹



**¡ÖÂç¡×¤Î¥×¥í¥°¥é¥ß¥ó¥° [#p6ec576f]
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Î㤨¤Ð¡ÖÂç¡×¤ÎÆó²èÌܤÏYD(C¤Î¥â¡¼¥¿¡¼)¤Î®Å٤οôÃͤò»þ´Ö¤´¤È¤Ë²¼¤²¡¢~
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 PD;¡¡//°ì²èÌÜ¡Ê­¡¡Ë
 XR(1200);
 PU;
 XL(620);¡¡//Æó²èÌܤνñ¤­»Ï¤á¤Î°ÌÃ֤˰ÜÆ°
 YU(150);

 PD;¡¡//Æó²èÌÜ¡Ê­¢¡Ë
 OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯
 OnRev(OUT_A,10);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯
 Wait(200);
 OnFwd(OUT_C,40);
 OnRev(OUT_A,20);
 Wait(200);
 OnFwd(OUT_C,30);
 OnRev(OUT_A,30);
 Wait(200);
 OnFwd(OUT_C,20);
 OnRev(OUT_A,40);
 Wait(200);
 OnFwd(OUT_C,10);
 OnRev(OUT_A,50);
 Wait(200);
 Off(OUT_AC);
 PU;
 XR(710);¡¡//»°²èÌܤνñ¤­¤Ï¤¸¤á¤Î°ÌÃ֤˰ÜÆ°
 YU(510);

 PD;¡¡//»°²èÌÜ¡Ê­£¡Ë
 OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯
 OnRev(OUT_A,20);¡¡//£Ø¼´±¦Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯
 Wait(150);
 OnFwd(OUT_C,30);
 OnFwd(OUT_A,26);
 Wait(200);
 OnFwd(OUT_C,20);
 OnFwd(OUT_A,30);
 Wait(200);
 OnFwd(OUT_C,20);
 OnFwd(OUT_A,40);
 Wait(200);
 OnFwd(OUT_C,10);
 OnFwd(OUT_A,50);
 Wait(230);
 Off(OUT_AC);
 PU;

**¡Öºå¡×¤Î¥×¥í¥°¥é¥ß¥ó¥° [#t5dab093]
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 XL(1300);¡¡//¡Öºå¡×¤Î°ì²èÌܤνñ¤­»Ï¤á¤Î°ÌÃ֤ؤΰÜÆ°
 YD(220);

 PD;¡¡//°ì²èÌÜ¡Ê­¡¡Ë
 YD(735);
 PU;¡¡//Æó²èÌܤνñ¤­¤Ï¤¸¤á¤Î°ÌÃ֤˰ÜÆ°
 YU(710);

 PD;¡¡//Æó²èÌÜ¡Ê­¢¡Ë
 XR(520);
 OnRev(OUT_A,30);
 OnFwd(OUT_C,10);
 Wait(550);
 Off(OUT_AC);

 //»°²èÌÜ¡Ê­£¡ËÊüʪÀþ¤òÉÁ¤¯¤¿¤á¤Ë£Ù¼´²¼Êý¸þ¤Î®ÅÙ¤ò°ìÄê¤Ë¤·¡¢£Ø¼´Êý¸þ¤Î®ÅÙ¤òÊѲ½¤µ¤»¤¿¡£
 OnFwd(OUT_C,22);¡¡//£Ù¼´²¼Êý¸þ¤Î®Å٤ϰìÄê
 OnFwd(OUT_A,40);¡¡//£Ø¼´±¦Êý¸þ¤Î®ÅÙ¤òÅÓÃæ¤Þ¤Ç½ù¡¹¤Ë²¼¤²¤ë
 Wait(150);
 OnFwd(OUT_C,22);
 OnFwd(OUT_A,25);
 Wait(100);
 OnFwd(OUT_C,22);
 OnFwd(OUT_A,15);
 Wait(100);
 OnFwd(OUT_C,22);
 OnRev(OUT_A,15);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë¾å¤²¤ë
 Wait(100);
 OnFwd(OUT_C,22);
 OnRev(OUT_A,25);
 Wait(100);
 OnFwd(OUT_C,22);
 OnRev(OUT_A,40);
 Wait(150);
 Off(OUT_AC);
 PU;
 YU(450);¡¡//»Í²èÌܤνñ¤­»Ï¤á¤Î°ÌÃ֤˰ÜÆ°
 XR(660);

 PD;¡¡//»Í²èÌÜ¡Ê­¤¡Ë
 XR(550);
 PU;
 XL(660);¡¡//¸Þ²èÌܤνñ¤­»Ï¤á¤Î°ÌÃ֤˰ÜÆ°

 PD;¡¡//¸Þ²èÌÜ¡Ê­¥¡Ëº¸¤Ø¾¯¤·¤º¤Ä¶Ê¤¬¤ë¶ÊÀþ¤òÉÁ¤¯¤¿¤á¤Ë£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò°ìÄê¤Ë¤·¤Æ¡¢£Ø¼´º¸Êý¸þ¤Î®¤µ¤òÊѲ½¤µ¤»¤¿¡£
 OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤Ï°ìÄê
 OnRev(OUT_A,10);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯
 Wait(300);
 OnFwd(OUT_C,40);
 OnRev(OUT_A,17);
 Wait(200);
 OnFwd(OUT_C,40);
 OnRev(OUT_A,25);
 Wait(240);
 Off(OUT_AC);
 PU;
 XR(265);¡¡//Ï»²èÌܤνñ¤­»Ï¤á¤Î°ÌÃ֤˰ÜÆ°
 YU(520);

 PD;¡¡//Ï»²èÌÜ¡Ê­¦¡Ë
 XR(525);¡¡//ÅÓÃæ¤Þ¤ÇľÀþ
 OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯
 OnRev(OUT_A,20);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯
 Wait(240);
 OnFwd(OUT_C,40);
 OnRev(OUT_A,20);
 Wait(120);
 OnFwd(OUT_C,35);
 OnRev(OUT_A,30);
 Wait(120);
 OnFwd(OUT_C,30);
 OnRev(OUT_A,40);
 Wait(120);
 Off(OUT_AC);
 PU;
 YU(540);¡¡//¼·²èÌܤνñ¤­»Ï¤á¤Î°ÌÃ֤˰ÜÆ°
 XL(150);

 PD;¡¡//¼·²èÌÜ¡Ê­§¡Ë
 OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯
 OnFwd(OUT_A,30);¡¡//£Ø¼´±¦Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯
 Wait(180);
 OnFwd(OUT_C,40);
 OnFwd(OUT_A,40);
 Wait(110);
 OnFwd(OUT_C,35);
 OnFwd(OUT_A,40);
 Wait(130);
 OnFwd(OUT_C,30);
 OnFwd(OUT_A,50);
 Wait(240);
 Off(OUT_AC);
 PU;

 XL(1500);¡¡//¥í¥Ü¥Ã¥È¤¬Æ°¤­»Ï¤á¤¿»Ï¤á¤Î°ÌÃÖ¤ËÌá¤ë
 YU(2000);

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