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 #define sen_left(t) OnFwd(OUT_B,40);Wait(t);Off(OUT_B);  //±¦¤ËÀû²ó¤¹¤ë

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 #define up OnRev(OUT_A,40);Wait(500);Off(OUT_A);¡¡//¥¢¡¼¥à(¥Ú¥ó)¾å¾º
 #define down OnFwd(OUT_A,40);Wait(500);Off(OUT_A);¡¡//¥¢¡¼¥à(¥Ú¥ó)²¼¹ß

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 #define go(t) OnFwd(OUT_BC,40);Wait(t);Off(OUT_BC);¡¡//Á°¿Ê
 #define back(t) OnRev(OUT_BC,40);Wait(t);Off(OUT_BC);¡¡//¸åÂà

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 go(450); ¡¡¡¡¡¡¡¡//°ì²èÌÜ­¡
 up;
 sen_left(800);¡¡//°ÜÆ°
 back(700);
 down;  ¡¡¡¡¡¡¡¡ //¥Ë²èÌÜ­¢
 go(800);¡¡
 up;¡¡¡¡
 back(500);¡¡¡¡ //°ÜÆ°
 down;¡¡        //»°²èÌÜ­£
 sen_left(700) 
 go(100)
 sen_left(700)
 go(100)
 up;

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 OnFwd(OUT_B,60);  //°ì²èÌÜ­¤¡Ê±ß¡Ë
 Wait(4900);
 Off(OUT_B);
 up;
 OnRev(OUT_C,40); //°ÜÆ°
 Wait(300);
 OnFwd(OUT_B,40);
 Wait(300);
 Off(OUT_BC);
 down;¡¡¡¡¡¡¡¡¡¡¡¡//¥Ë²èÌÜ­¥
 OnFwd(OUT_BC,40);
 Wait(500);
 Off(OUT_BC);
 up;
 OnRev(OUT_BC,40); //°ÜÆ°
 Wait(800);
 Off(OUT_BC);
 OnFwd(OUT_C,50);
 Wait(1500);
 Off(OUT_C);
 OnFwd(OUT_BC,40);
 Wait(100);
 Off(OUT_BC);
 OnRev(OUT_BC,40);
 Wait(1400);
 Off(OUT_BC);
 down;¡¡¡¡¡¡¡¡¡¡¡¡//»°²èÌÜ­¦
 OnRev(OUT_BC,40);
 Wait(100);
 Off(OUT_BC);
 up;

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 down;            //°ì²èÌÜ­§
 sen_left(5500);
 up;
 sen_left(500);   //°ÜÆ°
 go(300);
 down;¡¡¡¡¡¡¡¡¡¡¡¡//¥Ë²èÌÜ­¨
 back(200);
 up;
 sen_left(2400);  //°ÜÆ°
 back(500);
 down;¡¡¡¡¡¡¡¡¡¡ //»°²èÌÜ­©
 go(100)

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