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 float GetAngle(float d) /* d¤Ë¤Ï¿Ê¤ß¤¿¤¤µ÷Î¥¤¬Æþ¤ë */
 {
  const float diameter=5.45;  //¥¿¥¤¥ä¤Îľ·Â(­Ñ)
  const float pi=3.1415;      //±ß¼þΨ(¦Ð)
  float ang =d/(diameter*pi)*360.0;  //³ÑÅÙ¤ò·×»»¤¹¤ë
  return ang;                 //³ÑÅÙ¤òÊÖ¤¹¡¡
 }

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 #define Ninety GetAngle(8.25)


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 #define Rotary(l) GetAngle(l) // lcmʬ²óž

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 #define Turn_r RotateMotorEx(OUT_BC,35,Ninety,100,true,false); //±¦Àû²ó(¥â¡¼¥¿B¤ÈC¤ò35%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤º90ÅÙÁ°Å¾)
 #define Turn_l RotateMotorEx(OUT_BC,-35,Ninety,100,true,false); //º¸Àû²ó(¥â¡¼¥¿B¤ÈC¤ò35%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤º90ÅÙ¸åž)
 #define Go_F(l) RotateMotorEx(OUT_BC,25,Rotary(l),0,true,true); //lcmÁ°¿Ê(¥â¡¼¥¿B¤ÈC¤ò25%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤ÆlcmʬÁ°Å¾)
 #define Go_B(l) RotateMotorEx(OUT_BC,-25,Rotary(l),0,true,true); //lcm¸å¿Ê(¥â¡¼¥¿B¤ÈC¤ò25%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤Ælcmʬ¸åž)

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 #define Tozire RotateMotor(OUT_A,50,800); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿A¤ò50%¤Î¥¹¥Ô¡¼¥É¤Ç800ÅÙÁ°Å¾)
 #define Hirake RotateMotor(OUT_A,-25,800); //¥¢¡¼¥à¤ò³«¤¯(¥â¡¼¥¿A¤ò25%¤Î¥¹¥Ô¡¼¥É¤Ç800ÅÙ¸åž)

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 sub Papercop() //»æ¥³¥Ã¥×¤òǧ¼±¢ª»ý¤Á¾å¤²¤ë¢ª±¿¤Ö¢ª²¼¤í¤¹Æ°ºî¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
 {
  SetSensorLowspeed(S1);
  int n=0; //»æ¥³¥Ã¥×¤òǧ¼±¤·¤¿²ó¿ô
  while(n<1){
   if (SensorUS(S1)<=10){ //»æ¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬10cm°ÊÆâ¤Ê¤é
    Go_F(5); //»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤¯
    Tozire;
    Turn_r;
 
    OnRev(OUT_B,50);
    Wait(100); //¥µ¡¼¥¯¥ë¤Þ¤Çľ¿Ê¤Ç¤­¤ë¤è¤¦Ä´Àá
 
    Go_F(10); //¥µ¡¼¥¯¥ë¤Ë¸þ¤«¤¦
    Hirake;
    Go_B(10);¡ùÃÏÅÀ¤ËÌá¤ë
 
    OnRev(OUT_C,50);
    Wait(200); //PÃÏÅÀ¤Þ¤Çľ¿Ê¤Ç¤­¤ë¤è¤¦Ä´Àá
 
    Turn_l;
    OnFwd(OUT_B,50);
    Wait(100);
    Off(OUT_B); //PÃÏÅÀ¤Þ¤Çľ¿Ê¤Ç¤­¤ë¤è¤¦Ä´Àá
      
    Go_B(5); //¥¹¥ì¡¼¥Ö¤¬ÃÖ¤¤¤¿»æ¥³¥Ã¥×¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ë²¼¤¬¤ë
 
    n++; //ǧ¼±²ó¿ô¤òÁý¤ä¤¹
    Off(OUT_BC); //ÂÔµ¡
   }else{
    OnFwd(OUT_BC,50);  //»æ¥³¥Ã¥×¤òõ¤¹
   }
  }
  n=0; //²ó¿ô¥ê¥»¥Ã¥È
 }

**¥á¥¤¥ó¥×¥í¥°¥é¥à [#p4999229]

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 #define CONN 1 //¥¹¥ì¡¼¥Ö¤ÎÀܳÈÖ¹æ
 #define Boot 11 //¡Ö»æ¥³¥Ã¥×¤ò¼è¤ê¤ËÍè¤Æ¤¯¤À¤µ¤¤¡¢¥Þ¥¹¥¿¡¼¡×¥á¥Ã¥»¡¼¥¸

(¡ÖBoot¡×¤Ï¡Öµ¯Æ°¡×¤È¤¤¤¦°ÕÌ£¡£¥Þ¥¹¥¿¡¼¤òµ¯Æ°¤µ¤»¤ë¤È¤¤¤¦°Õ¤«¤é¡ÖBoot¡×¤È̾ÉÕ¤±¤Þ¤·¤¿)

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 task main()
 {
  Go_F(25); //RÃÏÅÀ¤Þ¤Ç¿Ê¤à
 
  Turn_r; //RÃÏÅÀ±¦Àû²ó
 
  OnFwd(OUT_C,50);
  Wait(100);
  Off(OUT_C); //Àþ(ÀÖ)¤Ë±è¤Ã¤Æ¿Ê¤á¤ë¤è¤¦Ä´Àá
 
  Go_F(15); 
 
  OnRev(OUT_C,50);
  Wait(100);
  Off(OUT_C); //P¤È¡ù¤ò·ë¤ÖÀþ(ÀÄ)¤òľ¿Ê¤Ç¤­¤ë¤è¤¦Ä´Àá
 
  Turn_l;
  Off(OUT_BC);
 
  OnFwd(OUT_B,50);
  Wait(100);
  Off(OUT_B); //P¤È¡ù¤ò·ë¤ÖÀþ(ÀÄ)¤òľ¿Ê¤Ç¤­¤ë¤è¤¦Ä´Àá
 
  Go_B(8); //¡ùÃÏÅÀ¤Þ¤Ç¸å¿Ê
  Off(OUT_BC); //ÂÔµ¡
  
  int x=0; //¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤­¤¿²ó¿ô
  while(x<6){ //»æ¥³¥Ã¥×¤Ï6¸Ä¤¢¤ë¤¿¤á6²ó·«¤êÊÖ¤¹
   int msg; //¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô
   ReceiveRemoteNumber(MAILBOX1,true,msg); //MAILBOX1¤ÎÃͤò¼õ¤±¼è¤êmsg¤Ë³ÊǼ
                                           //true¤ò»ØÄꤹ¤ë¤È¥á¡¼¥ë¥Ü¥Ã¥¯¥¹¤¬¶õ¤Ë
   
   if(msg == Boot){ //¤â¤·¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤­¤¿¤é
    Wait(1000); //¥¹¥ì¡¼¥Ö¤È¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤ËÂÔµ¡¤·¤Æ
    Papercop(); 
    x++; //¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤­¤¿²ó¿ô¤òÁý¤ä¤¹
   }else{
    Off(OUT_BC); //Á÷¤é¤ì¤Æ¤³¤Ê¤¤¸Â¤ê¤ÏÂÔµ¡
   }
  }
 }

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