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#contents
*²ÝÂ꣱ [#i7298d6a]
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*Áª¤ó¤Àʸ»ú* [#vd1baa0f]
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*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ* [#i0c4c560]
**¥¢¡¼¥à** [#c87f6dc2]
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**¼ÖÎØÉôʬ** [#j1bb9317]
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*¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤¢¤¿¤Ã¤Æ¤Î½àÈ÷* [#s1616dcd]
**¥¢¡¼¥à¤ò¾å²¼¤µ¤»¤ë¥×¥í¥°¥é¥à** [#b424451f]
|#define arm_down OnFwd(OUT_A,50);Wait(150);Off(OUT_A);|
|#define arm_up OnRev(OUT_A,50);Wait(150);Off(OUT_A);|
**ľ¿Ê¤µ¤»¤ë¥×¥í¥°¥é¥à** [#xc911cb7]
|#define go_straight OnFwd(OUT_B,40);OnFwd(OUT_C,43);|
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**º¸±¦¤½¤ì¤¾¤ì¤Ë90ÅÙÀû²ó¤¹¤ë¥×¥í¥°¥é¥à** [#o31edb19]
|#define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,25);Wait(1650);Off(OUT_BC);|
|#define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,25);Wait(1650);Off(OUT_BC);|
**º¸±¦¤½¤ì¤¾¤ì¤Ë¶Ê¤¬¤ë¥×¥í¥°¥é¥à** [#ca401bd1]
|#define turn_R OnFwd(OUT_C,25);OnRev(OUT_B,25);|
|#define turn_L OnRev(OUT_C,25);OnFwd(OUT_B,25);|
**¼ÖÎؤòÀ©»ß¤µ¤»¤ë¥×¥í¥°¥é¥à** [#wdfb00e5]
|#define off Off(OUT_BC);|
*¥×¥í¥°¥é¥àËÜÊÔ* [#v6748922]
*Áª¤ó¤Àʸ»ú [#vd1baa0f]
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*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#i0c4c560]
**¥¢¡¼¥à[#c87f6dc2]
±¦¤äº¸¤Ë¶Ê¤¬¤Ã¤¿¤ê¡¢Àû²ó¤·¤Æ¤âÉ®¥Ú¥ó¤ÎÍÑ»æ¾å¤Ç¤Î°ÌÃÖ¤¬¥Ö¥ì¤Ê¤¤¤è¤¦¤ËÉ®À褬Á°Îؤò·ë¤ó¤ÀľÀþ¤ÎÃæÅÀ¤Î¿¿¾å¤ËÀßÃÖ¤·¤¿¡£¤Þ¤¿¡¢¥¢¡¼¥à¤Î¥³¥ó¥Ñ¥¯¥È²½¡¢É®Àè¤Î¥Ö¥ìËɻߤΤ¿¤á¤Ë»õ¼Ö¤ÈÍæÀû¾õ¤ÎÉôÉʤòÍѤ¤¤Æ¡¢É®¥Ú¥ó¤òÃÏÌ̤ȿ⾤˸ÇÄꤷ¤¿¤Þ¤Þ¾å²¼¤ËÆ°¤«¤»¤ë¤è¤¦¤Ë¤·¤¿¡£¡Ê¿Þ£Á¡ËÉ®¤ÏÉôÉÊƱ»Î¤Ç¶´¤ó¤Ç¥¢¡¼¥à¤Ë¸ÇÄꤷ¤Æ¤¤¤ë¡£»ÅÁȤߤϿޤΤ褦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£(¿Þ£Â¡Ë
&ref(buhinnB.png);
&ref(penjouge.png);
&ref(IMG_1261.jpg);
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&ref(IMG_1250.jpg);
*¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤¢¤¿¤Ã¤Æ¤Î½àÈ÷[#s1616dcd]
#define arm_down OnFwd(OUT_A,50);Wait(150);Off(OUT_A);//É®¥Ú¥ó¤ò¾å¤²¤ë
#define arm_up OnRev(OUT_A,50);Wait(150);Off(OUT_A);//É®¥Ú¥ó¤ò²¼¤í¤¹
#define go_straight OnFwd(OUT_B,40);OnFwd(OUT_C,43);//Á°¿Ê¤¹¤ë
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#define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,25);Wait(1425);Off(OUT_BC);//ľ³Ñ±¦¤Ë¶Ê¤¬¤ë
#define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,25);Wait(1425);Off(OUT_BC);//ľ³Ñº¸¤Ë¶Ê¤¬¤ë
#define turn_R OnFwd(OUT_C,25);OnRev(OUT_B,25);//±¦¤Ë¶Ê¤¬¤ë
#define turn_L OnRev(OUT_C,25);OnFwd(OUT_B,25);//º¸¤Ë¶Ê¤¬¤ë
#define off Off(OUT_BC);//Ää»ß¤¹¤ë
*¥×¥í¥°¥é¥àËÜÊÔ[#v6748922]
&ref(¹âÅijä¤ê¿¶¤ê.png);
**¡Ö¹â¡×¤ò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à[#z1f9ebf0]
arm_down¡¡¡¡¡¡¡¡//É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¡»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(150);¡¡¡¡¡¡//0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¡½ª¤ï¤ê
turn_right //±¦¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(350); //0.35Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
u_turn //180ÅÙ²ó¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê
arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¢»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(700); //0.70Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¢½ª¤ï¤ê
turn_R //±¦¤Ë¶Ê¤¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê
Wait(2700); //2.70Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(650); //0.65Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_L¡¡¡¡¡¡¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë
Wait(1275); //1.275Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê
arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦£»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(150); //0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(500); //0.50Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(150); //0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦£½ª¤ï¤ê
turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(500); //0.50Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_L //º¸¤Ë¶Ê¤¬¤ë
Wait(950); //0.95Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(230); //0.23Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_L //º¸¤Ë¶Ê¤¬¤ë
Wait(425); //0.425Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(500); //0.50Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
u_turn //180ÅÙ²ó¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê
arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¤»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(500); //0.50Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_right //±¦¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(765); //0.765Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_right //±¦¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(500); //0.50Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_right //±¦¤Ë90Åٶʤ¬¤ë
turn_R //±¦¤Ë¶Ê¤¬¤ë
Wait(425); //0.425Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(150); //0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¤½ª¤ï¤ê
go_straight //Á°¤Ë¿Ê¤à¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê
Wait(378); //0.378Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_L //º¸¤Ë¶Ê¤¬¤ë
Wait(1850); //1,85Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê
arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¥»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(150); //0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(150); //0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(150); //0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(150); //0.15Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¥½ª¤ï¤ê
**¡ÖÅġפò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à[#v9ddb1ce]
arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¦»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(460); //0.46Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(460); //0.46Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(460); //0.46Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(460); //0.46Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¦½ª¤ï¤ê
turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(230); //0.23Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê
arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦§»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(460); //0.46Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦§½ª¤ï¤ê
turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(230); //0.23Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë
go_straight //Á°¤Ë¿Ê¤à
Wait(230); //0.23Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê
arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¨»Ï¤Þ¤ê
go_straight //Á°¤Ë¿Ê¤à
Wait(430); //0.43Éô־õÂÖ¤òÊݤÄ
off //¼ÖÎؤò»ß¤á¤ë
arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¨½ª¤ï¤ê
&ref(takada.pdf);
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* ²ÝÂê1¤ò¿¶¤êÊ֤äÆ[#d7a6f340]
**¶ìÏ«¤·¤¿ÅÀ[#b617525e]
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**È¿¾ÊÅÀ[#mce76d23]
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#define arm_down OnFwd(OUT_A,50);Wait(150);Off(OUT_A);
#define arm_up OnRev(OUT_A,50);Wait(150);Off(OUT_A);
#define go_straight OnFwd(OUT_B,40);OnFwd(OUT_C,43);
#define u_turn OnFwd(OUT_B,25);OnRev(OUT_C,25);Wait(3300);Off(OUT_BC);
#define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,25);Wait(1650);Off(OUT_BC);
#define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,25);Wait(1650);Off(OUT_BC);
#define turn_R OnFwd(OUT_C,25);OnRev(OUT_B,25);
#define turn_L OnRev(OUT_C,25);OnFwd(OUT_B,25);
#define off Off(OUT_BC);
task main()
{
arm_down
go_straight
Wait(150);
off
arm_up
turn_right
go_straight
Wait(350);
off
u_turn
arm_down
go_straight
Wait(700);
off
arm_up
turn_R
Wait(3200);
off
go_straight
Wait(650);
off
turn_L
Wait(1550);
off
arm_down
go_straight
Wait(150);
off
turn_left
go_straight
Wait(500);
off
turn_left
go_straight
Wait(150);
off
turn_left
go_straight
Wait(500);
off
turn_L
Wait(1100);
off
go_straight
Wait(230);
off
turn_L
Wait(550);
off
go_straight
Wait(500);
off
u_turn
arm_down
go_straight
Wait(500);
off
turn_right
go_straight
Wait(765);
off
turn_right
go_straight
Wait(500);
off
turn_right
turn_R
Wait(550);
off
go_straight
Wait(150);
off
arm_up
go_straight
Wait(378);
off
turn_L
Wait(2200);
off
arm_down
go_straight
Wait(150);
off
turn_left
go_straight
Wait(150);
off
turn_left
go_straight
Wait(150);
off
turn_left
go_straight
Wait(150);
off
arm_up
turn_L
Wait(1100);
off
go_straight
Wait(310);
off
turn_L
Wait(550);
off
arm_down
go_straight
Wait(460);
off
turn_left
go_straight
Wait(460);
off
turn_left
go_straight
Wait(460);
off
turn_left
go_straight
Wait(460);
off
arm_up
turn_left
go_straight
Wait(230);
off
turn_left
arm_down
go_straight
Wait(430);
off
arm_up
turn_left
go_straight
Wait(230);
turn_left
go_straight
Wait(230);
off
turn_left
arm_down
go_straight
Wait(430);
off
arm_up
}