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 #define GO OnFwd(OUT_A);OnRev(OUT_C);    //¡¡º¸¤ËÊý¸þž´¹¤¹¤ë
 #define STOP Off(OUT_A+OUT_C);           //¡¡Ää»ß¤¹¤ë
 #define REV OnFwd(OUT_A+OUT_C);          //¡¡Á°¿Ê¤¹¤ë
 #define CIR OnRev(OUT_A+OUT_C);          //¡¡¸å¿Ê¤¹¤ë
 #define BACK OnFwd(OUT_C);OnRev(OUT_A);  //¡¡±¦¤ËÊý¸þž´¹¤¹¤ë       
 #define SOFT Float(OUT_A+OUT_C);         //¡¡³ê¤é¤«¤ËÄä»ß¤¹¤ë¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡

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   Wait(145);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¡­¢:¤½¤Î¾ì¤Ç±¦¤ËÌó90ÅÙÊý¸þž´¹(1.45ÉôÖ)
   STOP;
   Wait(50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡Ää»ß(0.5ÉôÖ)
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   Wait(150);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¡­¤:¤½¤Î¾ì¤Ç±¦¤ËÌó90ÅÙÊý¸þž´¹(1.5ÉôÖ)
   STOP;
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   CIR;
   Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡­«:10Éôָå¿Ê
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   GO;
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   STOP;                         //¡¡Ää»ß¤¹¤ë
   CIR;
   Wait(350);                    //¡¡­­:3.5Éôָå¿Ê
   STOP;                         //¡¡Ää»ß¤¹¤ë
   BACK;
   Wait(150);                    //¡¡­®:¸å¿Ê¤·¤¿¤Þ¤Þ¿Ê¹ÔÊý¸þ±¦¤Ë90ÅÙÊý¸þž´¹(1.5ÉôÖ)
   STOP;                         //¡¡Ää»ß¤¹¤ë
   CIR;
   Wait(350);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //¡¡­¯:3.5Éôָå¿Ê
   STOP;                         //¡¡Ää»ß¤¹¤ë
   BACK;
   Wait(150);                    //¡¡­°:¸å¿Ê¤·¤¿¤Þ¤Þ¿Ê¹ÔÊý¸þ±¦¤Ë90ÅÙÊý¸þž´¹(1.5ÉôÖ)
   STOP;                         //¡¡Ää»ß¤¹¤ë 
   CIR;
   Wait(300);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡  //¡¡­±:3Éôָå¿Ê
   STOP;                         //¡¡Ää»ß¤¹¤ë  
           }
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 #define GO OnFwd(OUT_A+OUT_B);    //¡¡Ä¾¿Ê¤¹¤ë
 #define BACK OnRev(OUT_A+OUT_B);  //¡¡¸å¿Ê¤¹¤ë
 #define CATCH OnRev(OUT_C);       //¡¡¥Ô¥ó¥Ý¥óµå¤òµÅ¤¦
 #define STOP Off(OUT_A+OUT_B);    //¡¡Ää»ß¤¹¤ë
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  STOP;                            
  Wait(3500);                      //¡¡­¡¡Á­§¤ÎÆ°ºî¤Î´ÖÄä»ß(35ÉôÖ)
  GO;
  Wait(600);                       //¡¡­¨:¥Ô¥ó¥Ý¥ó¶Ì¤¬Î¯¤Þ¤Ã¤Æ¤¤¤ë¾ì½ê¤Þ¤Çľ¿Ê¡¢¤½¤ÎºÝ¡¢Á°¿Ê¤¹¤ë¤³¤È¤Ç¥¹¥í¡¼¥×¤ò²¡¤·½Ð¤¹(6ÉôÖ)
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  STOP;
  Wait(50);                        //¡¡0.5ÉôÖÄä»ß¤·¤¿¸å
  CATCH;
  Wait(500);                       //¡¡­©:¥Ô¥ó¥Ý¥ó¶Ì¤òµÅ¤¤¼è¤ëºî¶È???µÅ¤¦¥Ô¥ó¥Ý¥ó¶Ì¤Î¸Ä¿ô¤ÎÌÜɸ¤Ï2¤Ä¤Ç¤¹(5ÉôÖ)
  Off(OUT_C);
  Wait(50);                        //¡¡¥Ô¥ó¥Ý¥ó¶Ì¤òµÅ¤¤¼è¤ëºî¶È¤ò¤ä¤á¤ë(0.5ÉôÖ)
 
  SetPower(OUT_A+OUT_B,5);         //¡¡A,B½ÐÎϤΥ⡼¥¿¤Î½ÐÎϤò5¤Ë¤¹¤ë (0¡Á7¤Þ¤Ç»ØÄê¤Ç¤­¤ë)
  
  BACK;
  Wait(1000);                      //¡¡­ª:¸å¿Ê¤·¤ÆÅÚÂæ¤Î¥í¥Ü¥Ã¥È¤Ëµ¢´Ô¤¹¤ë
  STOP;                            //¡¡Ää»ß¤¹¤ë
           }
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