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½ñ¤½ç¤Ï¡¢ª¢¢ª£¢ª¤¢ª¥¤Î½ç¤Ç¤¢¤ë¡£ *¥í¥Ü¥Ã¥È¤ÎÆ°ºî¡õ¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ä¤¤¤Æ [#v4b5dcc8] **¥×¥í¥°¥é¥à¤Î¹©É×ÅÀ [#sb346bde] -³ÆÆ°ºî¤Î¸å¤Ë°ì½Ö¤ÎÄä»ß¤òÆþ¤ì¤ë¤³¤È¤Ç´·À¤Î±Æ¶Á¤òÍÞ¤¨¤Æ¤¤¤ë¡£ -¾å²¼º¸±¦¤È¼Ð¤á°ÜÆ°¤ÎÌ¿Îá¤ò¥Ñ¡¼¥Ä²½¤¹¤ë¤³¤È¤Ç¥×¥í¥°¥é¥à¤ò½ñ¤¤ä¤¹¤¯¤·¤Æ¤¤¤ë¡£ **¥Þ¥¯¥íÉôʬ [#n10b7e13] //¡¡¡¡¡¡Âô #define go_L OnFwd(OUT_A,10);OnRev(OUT_B,10); // ¢« #define rev_R OnRev(OUT_A,10);OnFwd(OUT_B,10); // ¢ª #define row_up OnRev(OUT_AB,10); // ¢¬ #define row_down OnFwd(OUT_AB,10); // ¢ ¾å²¼º¸±¦¤Î°ÜÆ°¤Ë´Ø¤·¤Æ¤Î¥Þ¥¯¥í¤Ç¤¢¤ë¡£ #define GoA OnFwd(OUT_A,20);Off(OUT_BC); // / down #define GoB OnFwd(OUT_B,20);Off(OUT_AC); // / up #define RevA OnRev(OUT_A,20);Off(OUT_BC); // \ down #define RevB OnRev(OUT_B,20);Off(OUT_AC); // \ up ÊÒÊý¤Î¥â¡¼¥¿¡¼¤À¤±¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ÊÒÊý¤À¤±¤òÆ°¤«¤¹¤³¤È¤Ë¤è¤Ã¤Æ¼Ð¤á°ÜÆ°¤ò¼Â¸½¤·¤Æ¤¤¤ë¡£ #define GoAB_20_10 OnFwd(OUT_A,20);OnFwd(OUT_B,10); // \ down #define GoBA_20_10 OnFwd(OUT_B,20);OnFwd(OUT_A,10); // / down #define RevAB_20_10 OnRev(OUT_A,20);OnRev(OUT_B,10); // \up #define RevBA_20_10 OnRev(OUT_B,20);OnRev(OUT_A,10); // /up ¾å¤Ç¡ï¤Çɽ¤µ¤ì¤Æ¤¤¤ë¤â¤Î¤Ï\¤Ç¤¢¤ë¡£Ê¸»ú¤Îɽ¼¨¤Î´Ø·¸¤Ç\¤¬¡ï¤ËÊÑ´¹¤µ¤ì¤Æ¤¤¤ë¤è¤¦¤Ç¤¢¤ë ¥×¥í¥°¥é¥àÆâ¤Î¥³¥á¥ó¥È¤Ë¤¢¤ë¡Ö/ down¡×¤È¤Ï¼Ð¤áº¸²¼¤ËÆ°¤¯°ÕÌ£¤Ç¤¢¤ë¡£¡ÖGOAB_20_10¡×¤È¤ÏA¤ËÀܳ¤µ¤ì¤Æ¤¤¤ë¥â¡¼¥¿¡¼¤ò¥Ñ¥ï¡¼20¤Ç²ó¤·¡¢B¤ËÀܳ¤µ¤ì¤Æ¤¤¤ë¥â¡¼¥¿¡¼¤ò¥Ñ¥ï¡¼10¤Ç²ó¤¹¤³¤È¤òɽ¤·¤Æ¤¤¤ë¡£º¸±¦¤Ç¥Ñ¥ï¡¼¤òÊѤ¨¤ë¤È¤³¤È¤Ë¤è¤Ã¤Æ¥Ú¥ó¤Î¼Ð¤á°ÜÆ°¤ò¤¹¤ë¤³¤È¤¬²Äǽ¤Ç¡¢ÊÒÊý¤Î¥â¡¼¥¿¡¼¤Î¤ß¤òÆ°¤«¤¹¾ì¹ç¤è¤ê´Ë¤ä¤«¤Ë¼Ð¤á°ÜÆ°¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£ #define up OnFwd(OUT_C,70);wait(300); #define down OnRev(OUT_C,30);wait(280); ¡Öup¡×¤ÏËÜÂΤò»ý¤Á¾å¤²¤ë¤³¤È¤òɽ¤·¤Æ¤¤¤ë¡£ ¡Ödown¡×¤ÏËÜÂΤò²¼¤²¤ë¤³¤È¤òɽ¤·¤Æ¤¤¤ë¡£ #define wait(t) Wait(t);Off(OUT_ABC); #define wait300 Off(OUT_ABC);Wait(300); ¡Öwait¡×¤Ï²¿ÉÃÂԤĤ«¤òɽ¤·¤Æ¤ª¤ê¡¢¡Öwait300¡×¤Ï0.3É乤٤ƤΥ⡼¥¿¡¼¤ò»ß¤á¤ë¤³¤È¤òɽ¤·¤Æ¤¤¤ë¡£ **¡Ö氵¡×¤ò½ñ¤¯ [#n8d46b00] go_L; // ¥µ¥ó¥º¥¤¡¡»Ï¤Þ¤ê wait(600); wait300; down; wait300; GoB; wait(200); up; wait300; row_down; wait(150); down; wait300; RevB; wait(200); wait300; ¡¡ up; wait300; row_down; wait(600); down; wait300; RevA; wait(200); wait300; up; wait300; // ¥µ¥ó¥º¥¤¡¡½ª¤ï¤ê **¡Ö¼Ü¡×¤Î½ñ¤¤Ï¤¸¤á¤Î¾ì½ê¤Ø¥Ú¥ó¤ò°ÜÆ° [#g10d1985] RevA; // ½ñ¤»Ï¤á¤Î°ÌÃÖ¤Ø wait(500); wait300; **¡Ö¼Ü¡×¤ò½ñ¤¯ [#ucbb51b6] down; //¼Ü¡¡»Ï¤Þ¤ê wait300; GoAB_20_10 wait(500); wait(300); up; wait300; RevAB_20_10; wait(500); wait300; down; wait300; rev_R; wait(450); wait300; GoA; wait(250); wait300; go_L; wait(450) wait300; GoBA_20_10; wait(400); wait300; up; //½ª¤ï¤ê *¼ÂºÝ¤Ë½ñ¤¤¤¿¤â¤Î [#qe2c729b] #ref(2015b/Member/kei/Mission1/Rob_3.JPG,50%,¹½Â¤) *´¶ÁÛ¡õ¹Í»¡ [#g4f185d7] ËÜÅö¤Ï°¦¤«°ð¤ò½ñ¤¤¿¤«¤Ã¤¿¡£Íýͳ¤Ï¤½¤Ã¤Á¤Î¤Û¤¦¤¬¤«¤Ã¤³¤¤¤¤¤«¤é¤Ç¤¢¤ë¡£º£²ó¤³¤ì¤é¤Îʸ»ú¤¬½ñ¤±¤Ê¤«¤Ã¤¿¤Î¤Ï²ÄÆ°°è¤Î¶¹¤µ¤¬¸¶°ø¤Î°ì¤Ä¤Ç¤¢¤ë¤³¤È¤ÏÌÀ¤é¤«¤Ç¤¢¤ë¡£¥Ú¥ó¤ò¤Ä¤±¤Æ¤¢¤ëÏÓ¤ò¤â¤Ã¤ÈŤ¤¥Ñ¡¼¥Ä¤Ë¤¹¤ì¤Ð²ÄÆ°°è¤¬¹¤¬¤ê½ñ¤¤¿¤«¤Ã¤¿Ê¸»ú¤ò½ñ¤¯¤³¤È¤¬¤Ç¤¤¿¤È»×¤¦¡£º£²ó¤Î²ÝÂê¤Ë¤Ä¤¤¤Æ½é¤á¤Ï´Êñ¤½¤¦¤À¤È»×¤Ã¤Æ¤¤¤¿¤¬¼ÂºÝ¤Ë¤ä¤Ã¤Æ¤ß¤ë¤È¤È¤Æ¤âÆñ¤·¤¯»×¤Ã¤¿¤è¤¦¤Ë»ú¤ò½ñ¤¯¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¡£¤·¤«¤·´°À®¤·¤¿¥í¥Ü¥Ã¥È¤ÏÆȼ«À¤¬¤¢¤ê¡¢ºÇ½ªÅª¤Ë¤Ïʸ»ú¤ò½ñ¤¯¤³¤È¤â¤Ç¤¤È¤Æ¤â³Ú¤·¤«¤Ã¤¿¡£