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#contents
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#ref(IMG_0907(1).JPG)
*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#a7200bcd]
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 #define speed 50//¥â¡¼¥¿¡¼¤Î½ÐÎϤ¬50¡ó
 #define turn_time30 200//30Åٲ󞤹¤ë¤¿¤á¤Î»þ´Ö
 #define turn_time45 250//45Åٲ󞤹¤ë¤¿¤á¤Î»þ´Ö
 #define turn_time45A 270//AÃÏÅÀ¤Ç¤Î45Åٲ󞤹¤ë»þ´Ö
 #define turn_time90 520//90Åٲ󞤹¤ë¤¿¤á¤Î»þ´Ö
 #define turn_time90F 540//FÃÏÅÀ¤Ç90Åٲ󞤹¤ë¤¿¤á¤Î»þ´Ö
 #define turn_time90M 580//MÃÏÅÀ¤Ç90Åٲ󞤹¤ë¤¿¤á¤Î»þ´Ö
 #define turn_time100 600//100Åٲ󞤹¤ë¤¿¤á¤Î»þ´Ö
 #define turn_right30 OnRev(OUT_B,speed);OnFwd(OUT_C,speed);Wait(turn_time30);Off(OUT_BC);//±¦¤Ë30Åٲ󞤹¤ë
 #define turn_right45 OnRev(OUT_B,speed);OnFwd(OUT_C,speed);Wait(turn_time45);Off(OUT_BC);//±¦¤Ë45Åٲ󞤹¤ë
 #define turn_right90 OnRev(OUT_B,speed);OnFwd(OUT_C,speed);Wait(turn_time90);Off(OUT_BC);//±¦¤Ë90Åٲ󞤹¤ë
 #define turn_right90F OnRev(OUT_B,speed);OnFwd(OUT_C,speed);Wait(turn_time90F);Off(OUT_BC);//FÃÏÅÀ¤Ç±¦¤Ë90Åٲ󞤹¤ë
 #define turn_right100 OnRev(OUT_B,speed);OnFwd(OUT_C,speed);Wait(turn_time100);Off(OUT_BC);//±¦¤Ë100Åٲ󞤹¤ë
 #define turn_left30 OnRev(OUT_C,speed);OnFwd(OUT_B,speed);Wait(turn_time30);Off(OUT_BC);// º¸¤Ë30Åٲ󞤹¤ë
 #define turn_left45 OnRev(OUT_C,speed);OnFwd(OUT_B,speed);Wait(turn_time45);Off(OUT_BC);//º¸¤Ë45Åٲ󞤹¤ë
 #define turn_left45A¡¡OnRev(OUT_C,speed);OnFwd(OUT_B,speed);Wait(turn_time45A);Off(OUT_BC);//AÃÏÅÀº¸¤Ë45Åٲ󞤹¤ë
 #define turn_left90 OnRev(OUT_C,speed);OnFwd(OUT_B,speed);Wait(turn_time90);Off(OUT_BC);//º¸¤Ë90Åٲ󞤹¤ë
 #define turn_left90M OnRev(OUT_C,speed);OnFwd(OUT_B,speed);Wait(turn_time90M);Off(OUT_BC);//MÃÏÅÀ¤Çº¸¤Ë90Åٲ󞤹¤ë
 #define turn_left100 OnRev(OUT_C,speed);OnFwd(OUT_B,speed);Wait(turn_time100);Off(OUT_BC);//º¸¤Ë100Åٲ󞤹¤ë
 #define hurry_up Off(OUT_speed);OnRev(OUT_A,speed);Wait(200);Off(OUT_A);//¥Ú¥óÀè¤ò¤¢¤²¤ë
 #define hurry_down Off(OUT_BC);OnFwd(OUT_A,speed);Wait(200);Off(OUT_A);//¥Ú¥óÀè¤ò²¼¤²¤ë
 #define Let RotateMotor(OUT_BC,SP,angle);//angle¤ÎÃͤˤè¤êÁ°¿Ê¤·¤¿¤ê¡¢¸åÂष¤¿¤ê¤¹¤ë
 #define Advantage(t) angle+=GetAngle(t);Let;//angle¤ÎÃͤˣô¤È¤¤¤¦Ãͤò²Ã¤¨¤ë
 #define Return(t) angle-=GetAngle(t);Let;//angle¤ÎÃͤˣô¤È¤¤¤¦Ãͤò°ú¤¯
#br
~¡ûÀµ³Î¤Êµ÷Î¥¤òÁ°¿Ê¤·¤¿¤ê¡¢¸åÂह¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à
 float GetAngle(float d)
 {
  const float diameter=5.45;//¥¿¥¤¥ä¤Îľ·Â
  const float pi=3.1415;//±ß¼þΨ
  float ang=d/(diameter*pi)*360;//³ÑÅ٤η׻»
  return ang;//³ÑÅÙ¤òÊÖ¤¹
 }
#br
~¡û¡Ö¶á¡×¤òÉÁ¤¯¥×¥í¥°¥é¥à
~Ãí°Õ¡¡Advantage(¦Á¡Ë¤«Return(¦Â¡Ë;//point¡© ¡Üor¡Ý¿ô»ú
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#ref(¶Ô.png)
  task main()
 {
  Wait(1000);
  int angle=GetAngle(4.5);//ºÇ½é¤Ë·è¤á¤ëÁ°¿Ê¤¹¤ëµ÷Î¥
 
  hurry_up;
  turn_right45;
  hurry_down;
  Let;
  hurry_up;
  Advantage(1.0);//pointA+4.5
  turn_left45A;
  Return(10.0);//pointB-5.5
  hurry_down;
  Advantage(13.0);//pointC+7.5
  hurry_up;
  Return(10.5);//pointA-3.0
  turn_left90;
  Return(2.5);//pointD-5.5
  hurry_down;
  Advantage(10.5);//pointE+5.0
  hurry_up;
  Return(0.5);//pointF+4.5
  turn_right90F;
  Return(12.0);//pointG-7.5
  hurry_down;
  Advantage(16.5);//pointH+9.0
  hurry_up;
  Return(4.5);//pointI+5.5¡¡¡Ö¶á¡×¤Î¡Ö¶Ô¡×Éôʬ´°À®
#ref(sinnyou.png)
  turn_left45;
  Return(25.0);//pointJ-19.5
  hurry_down;
  Advantage(21.5);//pointK+2.0
  hurry_up;
  Advantage(3.5);//pointL+5.5
  turn_right45;
  Return(4.0);//pointM+1.5
  turn_left90M;
  Return(7.0);//pointN-5.5
  hurry_down;
  Advantage(7.0);//pointO+1.5
  hurry_up;
  Advantage(5.0);//pointP+6.5
  turn_right100;
  Return(12.0);//pointQ-5.5
  hurry_down
  Advantage(15.5);//pointR+10.0
  hurry_up;
  Return(4.5);//pointS+5.5
  turn_left100;
  Return(11.0);//point-5.5
  hurry_down;
  Advantage(17.5);//point+12.0
  hurry_up;
  Off(OUT_ABC);//¡Ö¶á¡×´°À®
 }
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