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 ¡¡	#define straight OnRev(OUT_A); //XÊý¸þ¤ÎÁ°°ÜÆ°
	#define back OnFwd(OUT_A); //XÊý¸þ¤Î¸å¤í°ÜÆ°
	#define stopA Off(OUT_A); //¥â¡¼¥¿¡¼A¤ÎÄä»ß
	#define stopB Off(OUT_B); //¥â¡¼¥¿¡¼B¤ÎÄä»ß
	#define right OnFwd(OUT_B); //YÊý¸þ¤Î±¦°ÜÆ°
	#define left OnRev(OUT_B); //YÊý¸þ¤Îº¸°ÜÆ°
	#define up OnFwd(OUT_C);Wait(50);Off(OUT_C); //¥Ú¥ó¤ò¾å¤²¤ë
	#define down OnRev(OUT_C);Wait(50);Off(OUT_C); //¥Ú¥ó¤ò²¼¤²¤ë
	#define freez Wait(15); //°ì»þÄä»ß

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 task main()
 {
	down; //£±³ÑÌÜ
	straight;
	Wait(40); //a
	stopA;
	freez;
	up;

	straight;  //1¤«¤é£²¤Ø¤Î°ÜÆ°
	Wait(10); //b
	stopA;
	freez;


	down; //2³ÑÌÜ
	straight;
	Wait(40); //c
	stopA;
	freez;
	up;

	back;  //£²¤«¤é£³¤Ø¤Î°ÜÆ°
	Wait(70); //d
	stopA;
	freez;
	left;
	Wait(30); //e
	stopB;
	freez;


	down; //3³ÑÌÜ
	right;
	Wait(100); //f
	stopB;
	freez;
	up;

	left;  //£³¤«¤é£´¤Ø¤Î°ÜÆ°
	Wait(40); //g
	stopB;
	back;
	Wait(15); //h
	stopA;
	freez;


	down; //4³ÑÌÜ
	left;
	straight;
	Wait(20); //h
	stopA;
	stopB;
	freez;
	right;
	straight;
	Wait(10); //i
	stopA;
	stopB;
	freez;
	up;
	
	left;  //£´¤«¤é£µ¤Ø¤Î°ÜÆ°
	Wait(55); //j
	stopB;
	straight;
	Wait(50); //k
	stopA;
	freez;


	down; //5³ÑÌÜ
	right;
	Wait(100); //l
	stopB;
	freez;
	left;
	back;
	Wait(10); //m
	stopA;
	stopB;
	freez;
	up;

	left;  //£µ¤«¤é£¶¤Ø¤Î°ÜÆ°
	Wait(30); //n
	stopB;
	back;
	Wait(20); //o
	stopA;
	freez;


	down; //6³ÑÌÜ
	right;
	straight;
	Wait(10); //p
	stopA;
	stopB;
	freez;
	up;

	left;  //£¶¤«¤é£·¤Ø¤Î°ÜÆ°
	Wait(50); //r
	stopB;
	straight;
	Wait(90); //q
	stopA;
	freez;


	down; //7³ÑÌÜ
	right;
	Wait(80); //s
	stopB;
	freez;
	up;

	left;  //£·¤«¤é£¸¤Ø¤Î°ÜÆ°
	Wait(40); //t
	stopB;
	back;
	Wait(30); //u
	stopA;
	freez;


	down; //8³ÑÌÜ
	right;
	Wait(30); //u
	stopB;
	freez;
	straight;
	Wait(80); //v
	stopA;
	freez;
	left;
	Wait(30); //w
	stopB;
	freez;
	up;
 }

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