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**¢¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ëµ¡¹½ [#x37606b1] ¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ëµ¡¹½¤Ë¤Ä¤¤¤Æ¤Ï¡¢²¼¤Î¿Þ¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¸«¤Æ¤ï¤«¤ëÄ̤ê¥â¡¼¥¿¡¼¤ò²óž¤µ¤»¤ë¤³¤È¤Ç¥Ú¥ó¤¬¾å²¼¤¹¤ë¹½Â¤¤Ç¤¢¤ë¡£ &ref(2018a/Member/Mooo/Mission1/¥Ú¥ó.jpg,100%,¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ëµ¡¹½); *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#f5a17872] **¥×¥í¥°¥é¥à¤Î²¼½àÈ÷ [#jbbb994a] ¥×¥í¥°¥é¥à¤Î²¼½àÈ÷¤È¤·¤Æ¡¢¥¿¥¤¥ä¤¬1²óž¤Ç¤É¤ÎÄøÅٿʤà¤Î¤«¡¢¥¿¥¤¥äƱ»Î¤Îµ÷Î¥¤â·×¬¤·¤Æ¤ª¤¤¤¿¡£ ¥¿¥¤¥ä1²óž¤Ç¿Ê¤àµ÷Î¥¤Î·×¬ÊýË¡¤Ï¥¿¥¤¥ä¤ò10²óž¤µ¤»¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤·¡¢1²óž¤ÎÊ¿¶Ñµ÷Î¥¤ò³ä¤ê½Ð¤·¤¿¡£ -¥¿¥¤¥ä1²óž¤Ç¿Ê¤àµ÷Î¥¢ª17.5Ñ -¥¿¥¤¥äƱ»Î¤Îµ÷Î¥¢ª17Ñ ¤È¤Ê¤Ã¤¿¡£ **´ðËÜ»ö¹à¤ÎÄêµÁ [#la12c996] ³Æ¥â¡¼¥¿¡¼¤Î½ÐÎϤʤɤò¤Ï¤¸¤á¤ËÄêµÁ¤·¤Æ¤ª¤¤¤¿¡£ #define PA 75 //¡¡A¤Îµ¬Äê¤Î½ÐÎÏ #define PB 75 //¡¡B¤Îµ¬Äê¤Î½ÐÎÏ #define PC 75 //¡¡C¤Îµ¬Äê¤Î½ÐÎÏ #define CM (750/35) //¡¡1cm¿Ê¤à»þ¤Ë¡¢¥¿¥¤¥ä¤¬²ó¤ë³ÑÅÙ #define WT 100 // 1cm¿Ê¤à»þ¤ÎÂÔµ¡»þ´Ö **Á°¿Ê¡¢¸å¿Ê¤Î¥×¥í¥°¥é¥à [#m1e83218] ¤É¤Á¤é¤Î¥×¥í¥°¥é¥à¤âŤµ¤òÊÑ¿ô¤Ç»ØÄꤷ¤Æ¤ª¤¯¤³¤È¤Ë¤è¤Ã¤Æ¥×¥í¥°¥é¥à¤ÎÎ̤ò¸º¤é¤·¤¿¡£ -Á°¿Ê¤Î¥×¥í¥°¥é¥à void FWD(int x) { #if 1 RotateMotorEx(OUT_AC, 30, -x * CM, 0, true, true); Wait(100); #else OnRevSync(OUT_AC, 30, 0); Wait(x * 10 * WT); Off(OUT_AC); Wait(100); #endif } -¸å¿Ê¤Î¥×¥í¥°¥é¥à void REV(int x) { #if 1 RotateMotorEx(OUT_AC, 30, x * CM, 0, true, true); Wait(100); #else OnFwdSync(OUT_AC, 40, 0); Wait(x * 10 * WT); Off(OUT_AC); Wait(100); #endif } **¶Ê¤¬¤ëºÝ¤Î¥×¥í¥°¥é¥à [#b7e78961] ¤³¤Á¤é¤â³ÑÅÙ¤òÊÑ¿ô»ØÄꤷ¤Æ¤ª¤¯¤³¤È¤Ç¡¢´Êά²½¤·¤¿¡£ -º¸¤Ëľ³Ñ¤Ë¶Ê¤¬¤ë¤È¤ void turnL90() { RotateMotorEx(OUT_AC, 30, 235, 100, true, true); Wait(200); } -±¦¤Ëľ³Ñ¤Ë¶Ê¤¬¤ë¤È¤ void turnR90() { RotateMotorEx(OUT_AC, 30, -235, -100, true, true); Wait(200); } -±¦¤ËXÅٶʤ¬¤ë¤È¤ void turnR(int x) { RotateMotorEx(OUT_AC, 30, x * 235 / 90, -100, true, true); Wait(200); } -º¸¤ËXÅٶʤ¬¤ë¤È¤ void turnL(int x) { RotateMotorEx(OUT_AC, 30, x * 235 / 90, 100, true, true); Wait(200); } **¥Ú¥ó¤Î¾å¤²²¼¤²¤Î¥×¥í¥°¥é¥à [#tb825f29] °ìÈÖ´Êñ¤À¤Ã¤¿¥×¥í¥°¥é¥à -¥Ú¥ó¤ò²¼¤²¤ë void pen_down() { RotateMotor(OUT_B, 40, -20); Wait(100); } -¥Ú¥ó¤ò¾å¤²¤ë void pen_up() { RotateMotor(OUT_B, 40, 20); Wait(100); } ** ½ÄÀþ¡¢²£Àþ¤ò°ú¤¯¥×¥í¥°¥é¥à[#qda95588] ÄêµÁ¤·¤¿¤â¤Î¤ò»È¤¤¡¢Ä¹¤µX¤Î½Ä²£¤ÎÀþ¤ò°ú¤¯¥×¥í¥°¥é¥à ¡ÖÉٻΡפϼФá¤ÎÀþ¤ÏɬÍפʤ¤¤Î¤Ç¼Ð¤á¤ÎÀþ¤Î¥×¥í¥°¥é¥à¤ÏÁȤޤʤ¯¤Æ¤è¤¤¡£ -²£Àþ void yokobou(int x) { RotateMotor(OUT_A, 25, -x * 10); Wait(100); pen_down(); RotateMotor(OUT_A, 25, x * 10); Wait(100); RotateMotor(OUT_C, 25, -x * 10); Wait(100); pen_up(); RotateMotor(OUT_C, 25, x * 10); Wait(100); } -½ÄÀþ void tatebou(int x) { pen_down(); RotateMotorEx(OUT_AC, 20, x * CM, 0, true, true); Wait(100); pen_up(); } **Éý´ó¤»¥×¥í¥°¥é¥à [#e579e0ea] ¼¡¤ÎÀþ¤Þ¤Ç¤Î°ÜÆ°¤Î¥×¥í¥°¥é¥à ¤³¤Á¤é¤âÊÑ¿ô¤òÊѤ¨¤ë¤À¤±¤Ç¡¢¤¢¤é¤æ¤ëÆ°¤¤ËÂбþ¤Ç¤¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£ #define HABA1 70 #define HABA2 100 #define HABA3 130 #define HABA4 161 #define HABA5 178 #define HABA6 195 void habayoseR(int x) { int para; if (x == 1) para = HABA1; else if (x == 2) para = HABA2; else if (x == 3) para = HABA3; else if (x == 4) para = HABA4; else if (x == 5) para = HABA5; else if (x == 6) para = HABA6; else return; RotateMotor(OUT_C, 30, para); RotateMotor(OUT_A, 30, para); RotateMotor(OUT_C, 30, -para); RotateMotor(OUT_A, 30, -(para * 103 / 100)); Wait(200); } void habayoseL(int x) { int para; if (x == 1) para = HABA1; else if (x == 2) para = HABA2; else if (x == 3) para = HABA3; else if (x == 4) para = HABA4; else if (x == 5) para = HABA5; else if (x == 6) para = HABA6; else return; RotateMotor(OUT_A, 30, para); RotateMotor(OUT_C, 30, para); RotateMotor(OUT_A, 30, -para); RotateMotor(OUT_C, 30, -para); Wait(200); } **¥×¥í¥°¥é¥àËÜÊÔ [#adfff7b1] //¡¡¥¿¥¤¥ä¡¡1²óž¤Ç¡¡17.5cm //¡¡¥¿¥¤¥äƱ»Î¤Îµ÷Î¥¡¡17cm #define PA 75 //¡¡A¤Îµ¬Äê¤Î½ÐÎÏ #define PB 75 //¡¡B¤Îµ¬Äê¤Î½ÐÎÏ #define PC 75 //¡¡C¤Îµ¬Äê¤Î½ÐÎÏ #define CM (750/35) //¡¡1cm¿Ê¤à»þ¤Ë¡¢¥¿¥¤¥ä¤¬²ó¤ë³ÑÅÙ #define WT 100 // 1cm¿Ê¤à»þ¤ÎÂÔµ¡»þ´Ö void FWD(int x) { #if 1 RotateMotorEx(OUT_AC, 30, -x * CM, 0, true, true); Wait(100); #else OnRevSync(OUT_AC, 30, 0); Wait(x * 10 * WT); Off(OUT_AC); Wait(100); #endif } void REV(int x) { #if 1 RotateMotorEx(OUT_AC, 30, x * CM, 0, true, true); Wait(100); #else OnFwdSync(OUT_AC, 40, 0); Wait(x * 10 * WT); Off(OUT_AC); Wait(100); #endif } void turnL90() { RotateMotorEx(OUT_AC, 30, 235, 100, true, true); Wait(200); } void turnR90() { RotateMotorEx(OUT_AC, 30, -235, -100, true, true); Wait(200); } void turnR(int x) { RotateMotorEx(OUT_AC, 30, x * 235 / 90, -100, true, true); Wait(200); } void turnL(int x) { RotateMotorEx(OUT_AC, 30, x * 235 / 90, 100, true, true); Wait(200); } #define HABA1 70 #define HABA2 100 #define HABA3 130 #define HABA4 161 #define HABA5 178 #define HABA6 195 void habayoseR(int x) { int para; if (x == 1) para = HABA1; else if (x == 2) para = HABA2; else if (x == 3) para = HABA3; else if (x == 4) para = HABA4; else if (x == 5) para = HABA5; else if (x == 6) para = HABA6; else return; RotateMotor(OUT_C, 30, para); RotateMotor(OUT_A, 30, para); RotateMotor(OUT_C, 30, -para); RotateMotor(OUT_A, 30, -(para * 103 / 100)); Wait(200); } void habayoseL(int x) { int para; if (x == 1) para = HABA1; else if (x == 2) para = HABA2; else if (x == 3) para = HABA3; else if (x == 4) para = HABA4; else if (x == 5) para = HABA5; else if (x == 6) para = HABA6; else return; RotateMotor(OUT_A, 30, para); RotateMotor(OUT_C, 30, para); RotateMotor(OUT_A, 30, -para); RotateMotor(OUT_C, 30, -para); Wait(200); } void pen_down() { RotateMotor(OUT_B, 40, -20); Wait(100); } void pen_up() { RotateMotor(OUT_B, 40, 20); Wait(100); } void yokobou(int x) { RotateMotor(OUT_A, 25, -x * 10); Wait(100); pen_down(); RotateMotor(OUT_A, 25, x * 10); Wait(100); RotateMotor(OUT_C, 25, -x * 10); Wait(100); pen_up(); RotateMotor(OUT_C, 25, x * 10); Wait(100); } void tatebou(int x) { pen_down(); RotateMotorEx(OUT_AC, 20, x * CM, 0, true, true); Wait(100); pen_up(); } void draw_fu() { tatebou(1); //¥¦´§ habayoseL(3); tatebou(1); FWD(1); habayoseR(6); tatebou(1); habayoseL(5); //É٤θý REV(1); tatebou(2); FWD(2); habayoseR(4); tatebou(2); REV(2); //ÉÙ¤ÎÅÄ tatebou(4); FWD(4); habayoseL(2); tatebou(4); FWD(4); habayoseL(2); tatebou(4); turnL90(); //¥¦´§¤Ø°ÜÆ° FWD(9); turnR90(); turnR(10); FWD(23); turnR90(); turnR(10); // turnR(14); // REV(2); tatebou(6); FWD(4); habayoseR(2); tatebou(4); FWD(4); habayoseR(2); tatebou(4); FWD(4); habayoseR(2); tatebou(4); FWD(4); habayoseR(3); tatebou(4); FWD(4); habayoseR(2); tatebou(4); FWD(4); habayoseR(2); tatebou(4); } void draw_ji() { tatebou(6); FWD(5); habayoseR(5); tatebou(4); FWD(15); turnL90(); turnL(10); REV(11); tatebou(4); } task main() { pen_up(); draw_fu(); FWD(5); habayoseR(3); draw_ji(); } *ºÇ¸å¤Ë [#p8306ac6] ¼Ö·¿¤Î¤¿¤á¡¢³Ð¸ç¤Ï¤·¤Æ¤¤¤¿¤¬¤«¤Ê¤ê¤ÎÎÌ¤Î¥×¥í¥°¥é¥à¤Ë¤Ê¤Ã¤¿¡£ÅÓÃ沿ÅÙ¤âºÃÀÞ¤·¤½¤¦¤Ë¤Ê¤Ã¤¿¡£ÌµÍý¤·¤Æ¤Ç¤â¡¢XY¼´·¿¤Î¤â¤Î¤ò¤Ä¤¯¤ë¤Ù¤¤À¤Ã¤¿¤«¤â¤·¤ì¤Ê¤¤¤È»×¤Ã¤¿¡£¤ª¤Ê¤«¤¹¤¤¤¿¡£ ¼Ö·¿¤Î¤¿¤á¡¢³Ð¸ç¤Ï¤·¤Æ¤¤¤¿¤¬¤«¤Ê¤ê¤ÎÎÌ¤Î¥×¥í¥°¥é¥à¤Ë¤Ê¤Ã¤¿¡£ÅÓÃ沿ÅÙ¤âºÃÀÞ¤·¤½¤¦¤Ë¤Ê¤Ã¤¿¡£ÌµÍý¤·¤Æ¤Ç¤â¡¢XY¼´·¿¤Î¤â¤Î¤ò¤Ä¤¯¤ë¤Ù¤¤À¤Ã¤¿¤«¤â¤·¤ì¤Ê¤¤¤È»×¤Ã¤¿¡£