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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]
¶ÊÀþ¤òÉÁ¤¯¤¿¤á¤Ë¡¢»þ´Ö¤´¤È¤Ë®ÅÙ¤òÊѤ¨¤ë¥×¥í¥°¥é¥ß¥ó¥°¤ò½ñ¤¤¤¿¡£~
Î㤨¤Ð¡ÖÂç¡×¤ÎÆó²èÌܤÏYD(C¤Î¥â¡¼¥¿¡¼)¤Î®Å٤οôÃͤò»þ´Ö¤´¤È¤Ë²¼¤²¡¢~
XL(A¤Î¥â¡¼¥¿¡¼)¤Î®Å٤οôÃͤò¤ò»þ´Ö¤´¤È¤Ë¾å¤²¤¿¡£~
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]
¡Öºå¡×¤âƱÍͤˡ¢¤³¤¶¤È¤Ø¤ó¡¢±¦Â¦¤Î¡ÖÈ¿¡×¤Î¶ÊÀþ¤¬½ñ¤±¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥ß¥ó¥°¤·¤¿¡£~
¡Öºå¡×¤ò½ñ¤½ª¤ï¤ë¤È¸µ¤Î°ÌÃÖ¤ËÌá¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥ß¥ó¥°¤ò½ñ¤¤¤¿¡£
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;¡¡//»Í²èÌܡʤ¡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»²èÌܡʦ¡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;¡¡//¼·²èÌܡʧ¡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);
*½ñ¤±¤¿Ê¸»ú [#oed7f7d3]
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