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#define M_T    250
#define M_T1   500
#define M_T2    707
#define M_T3    1000
#define M_T4   1500
#define M_T5   1875
#define M_T6   275
#define M_T7   457
#define SP 30
#define STP Wait(M_T)
#define STP1 Wait(M_T1)
#define STP2 Wait(M_T2)
#define STP3 Wait(M_T3)
#define STP4 Wait(M_T4)
#define STP5 Wait(M_T5)
#define STP6 Wait(M_T6)
#define STP7 Wait(M_T7)
#define TIS 
    Off(OUT_BC);Wait(M_T1)
#define SSM 
    OnFwd(OUT_BC,SP);STP;TIS        
#define MDR 
    OnRev(OUT_BC,SP);STP;TIS
#define SSM1 
    OnFwd(OUT_BC,SP);STP1;TIS        
#define MDR1 
    OnRev(OUT_BC,SP);STP1;TIS
#define SSM2 
    OnFwd(OUT_BC,SP);STP2;TIS      
#define MDR2 
    OnRev(OUT_BC,SP);STP2;TIS
#define SSM3 
    OnFwd(OUT_BC,SP);STP3;TIS    
#define MDR3 
    OnRev(OUT_BC,SP);STP3;TIS
#define SSM4 
    OnFwd(OUT_BC,SP);STP4;TIS         
#define MDR4 
    OnRev(OUT_BC,SP);STP4;TIS       
#define SSM5 
    OnFwd(OUT_BC,SP);STP7;TIS         
#define MDR5 
    OnRev(OUT_BC,SP);STP7;TIS      
#define MMGR90 
    ResetTachoCount(OUT_BC);RotateMotor(OUT_B,50,180);RotateMotor(OUT_C,50,-180);
#define MMGR45 
    ResetTachoCount(OUT_BC);RotateMotor(OUT_B,50,180);
#define HMGR90 
    ResetTachoCount(OUT_BC);RotateMotor(OUT_B,50,-180);RotateMotor(OUT_C,50,180);
#define HMGR45 
    ResetTachoCount(OUT_BC);RotateMotor(OUT_B,50,-180);
#define PD 
    RotateMotor(OUT_A,50,-90);Wait(M_T3);  //¥Ú¥ó¤ò²¼¤í¤¹
#define PU 
    RotateMotor(OUT_A,50,90);Wait(M_T3);  //¥Ú¥ó¤ò¾å¤²¤ë
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    #define M_T    250    //0.250Éäòɽ¤·¤Æ¤¤¤ë¡£
    #define M_T1   500    //0.500Éäòɽ¤·¤Æ¤¤¤ë¡£
    #define M_T2    707   //0.707Éäòɽ¤·¤Æ¤¤¤ë¡£
    #define M_T3    1000  //1.000Éäòɽ¤·¤Æ¤¤¤ë¡£
    #define M_T4   1500   //1.500Éäòɽ¤·¤Æ¤¤¤ë¡£
    #define M_T5   1875   //1.875Éäòɽ¤·¤Æ¤¤¤ë¡£
    #define M_T6   275    //0.275Éäòɽ¤·¤Æ¤¤¤ë¡£
    #define M_T7   457    //0.457Éäòɽ¤·¤Æ¤¤¤ë¡£

¥í¥Ü¥Ã¥È¤ÎÁö¹Ô¥¹¥Ô¡¼¥É¤ÎÄêµÁ
    #define SP 30  //¥í¥Ü¥Ã¥È¤ÎÁö¹Ô¥¹¥Ô¡¼¥É¤¬30¤Ç¤¢¤ë¤³¤È¤òɽ¤·¤Æ¤¤¤ë¡£

¥í¥Ü¥Ã¥È¤ÎÄä»ß¤ÎÄêµÁ
    #define STP Wait(M_T)   //0.250Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
    #define STP1 Wait(M_T1) //0.500Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
    #define STP2 Wait(M_T2) //0.707Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
    #define STP3 Wait(M_T3) //1.000Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
    #define STP4 Wait(M_T4) //1.500Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
    #define STP5 Wait(M_T5) //1.875Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
    #define STP6 Wait(M_T6) //0.275Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
    #define STP7 Wait(M_T7) //0.457Éô֥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£

¥â¡¼¥¿¤ÎÄä»ß»þ´Ö¤ÎÄêµÁ
    #define TIS Off(OUT_BC);Wait(M_T1)  //0.500Éô֥⡼¥¿¤¬Ää»ß¤¹¤ë¡£

¥í¥Ü¥Ã¥È¤ÎÁ°¿Ê¤ÎÄêµÁ
    #define SSM  OnFwd(OUT_BC,SP);STP;TIS  //0.250Éô֥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£
    #define SSM1 OnFwd(OUT_BC,SP);STP1;TIS //0.500Éô֥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£
    #define SSM2 OnFwd(OUT_BC,SP);STP2;TIS //0.707Éô֥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£
    #define SSM3 OnFwd(OUT_BC,SP);STP3;TIS //1.000Éô֥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£
    #define SSM4 OnFwd(OUT_BC,SP);STP4;TIS //1.500Éô֥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£
    #define SSM5 OnFwd(OUT_BC,SP);STP7;TIS //0.457Éô֥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£

¥í¥Ü¥Ã¥È¤Î¸åÂà¤ÎÄêµÁ
    #define MDR  OnRev(OUT_BC,SP);STP;TIS  //0.250Éô֥í¥Ü¥Ã¥È¤¬¸åÂह¤ë¡£
    #define MDR1 OnRev(OUT_BC,SP);STP1;TIS //0.500Éô֥í¥Ü¥Ã¥È¤¬¸åÂह¤ë¡£
    #define MDR2 OnRev(OUT_BC,SP);STP2;TIS //0.707Éô֥í¥Ü¥Ã¥È¤¬¸åÂह¤ë¡£
    #define MDR3 OnRev(OUT_BC,SP);STP3;TIS //1.000Éô֥í¥Ü¥Ã¥È¤¬¸åÂह¤ë¡£
    #define MDR4 OnRev(OUT_BC,SP);STP4;TIS //1.500Éô֥í¥Ü¥Ã¥È¤¬¸åÂह¤ë¡£
    #define MDR5 OnRev(OUT_BC,SP);STP7;TIS //0.457Éô֥í¥Ü¥Ã¥È¤¬¸åÂह¤ë¡£

Àû²ó¤ÎÄêµÁ     
    #define MMGR OnFwd(OUT_B,SP);OnRev(OUT_C,SP);STP6;TIS;  //±¦¤Ë45Åٲ󞤹¤ë¡£
    #define HMGR OnFwd(OUT_C,SP);OnRev(OUT_B,SP);STP6;TIS;¡¡//º¸¤Ë45Åٲ󞤹¤ë¡£
¥Ú¥ó¤Î¾å¤²²¼¤²¤ÎÄêµÁ
    #define PD RotateMotor(OUT_A,50,-90);Wait(M_T3);  //¥Ú¥ó¤ò²¼¤í¤¹¡£
    #define PU RotateMotor(OUT_A,50,90);Wait(M_T3);  //¥Ú¥ó¤ò¾å¤²¤ë¡£
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