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*¥×¥í¥°¥é¥à¾Ò²ð [#z6add3f2]
º£²ó¤Ï¤Õ¤¿¤Ä¤ÎRCX¤ÇÄÌ¿®¤·¤Ê¤¬¤é£±¤Ä¤Î¥Þ¥·¥ó¤Ç¥Á¥ã¥ì¥ó¥¸¤·¤¿¤Î¤Ç¡¢¥×¥í¥°¥é¥à¤¬£²¤Ä¸ºß¤·¤Þ¤¹¡£¤Þ¤º¤Ï¥»¥ó¥µ¡¼¤È´Ì¤ÈÈ¢¡Ê°Ê¸å¡¢Åã¤È¤è¤Ö¡Ë¤ò¤Ä¤«¤ó¤ÇÍî¤È¤¹¥×¥í¥°¥é¥à¤Ç¤¹¡£(•¢Ï•)/
sub close_arm()
{OnFwd(OUT_A)/;Wait(90);Off(OUT_A);} ¡¡¡¡ ¡¡¡¡¡¡¡¡¡¡//Åã¤ò¤Ä¤«¤à¥¢¡¼¥à¤òÊĤ¸¤ë°ìÏ¢¤ÎÆ°¤¤ò¤³¤³¤ÇÄêµÁ
sub open_arm()
{OnRev(OUT_A);Wait(90);Off(OUT_A);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Åã¤ò¤Ä¤«¤à¥¢¡¼¥à¤ò³«¤¯Æ°¤¤òÄêµÁ
sub high_attack()
{OnFwd(OUT_B);Wait(60);Off(OUT_B);OnRev(OUT_B);Wait(60);Off(OUT_B);}¡¡¡¡¡¡¡¡ //Åã¤Î°ìÈÖ¾å¤Î¥â¥Î¤òÍî¤È¤¹Æ°¤¤òÄêµÁ
sub middle_attack()
{OnRev(OUT_B);Wait(60);Off(OUT_B);OnFwd(OUT_B);Wait(60);Off(OUT_B);}¡¡¡¡¡¡¡¡¡¡ //Åã¤Î¿¿¤óÃæ¤Î¥â¥Î¤òÍî¤È¤¹Æ°¤¤òÄêµÁ
sub low_attack()
{OnFwd(OUT_C);Wait(150);Off(OUT_C);OnRev(OUT_C);Wait(150);Off(OUT_C);}¡¡¡¡¡¡ //Åã¤Î°ìÈÖ²¼¤Î¥â¥Î¤òÍî¤È¤¹¡ÊÀµ³Î¤Ë¤Ï²¡¤·½Ð¤¹¡ËÆ°¤¤òÄêµÁ
task main()
{
SetSensor(SENSOR_1,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_TOUCH);
ClearMessage();
until(SENSOR_1==1);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬Åã¤Î¤Ë¿¨¤ì¤¿¤é¡Ä
PlaySound(2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤ì¤òÃΤ餻¤ë²»¤¬ÌĤë
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡//£µÉô֥֡á¥Ã¥»¡¼¥¸£±¡×¤ò¤â¤¦°ì¤Ä¤ÎRCXËÜÂΤËÁ÷¿®
SendMessage(1);
}
until(Message()==10);¡¡¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£±£°¡×¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂԤäƤë
PlaySound(4);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Ô¤í¤Ô¤íÌĤë
close_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Åã¤ò¤¬¤Ã¤Á¤ê¥¥ã¥Ã¥Á
ClearTimer(0);
while(FastTimer(0)<50){ //¡Ö¥á¥Ã¥»¡¼¥¸£²¡×¤òÁ÷¿®
SendMessage(2);
PlaySound(5); //¤Ô¤í¤ê¤ó¤Ô¤í¤ê¤óÌĤë
}
ClearMessage();
until(Message()==11);
PlaySound(6);
until(SENSOR_3==1);¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬Ê¬Ê̤¹¤ë¤È¤³¤ËÅö¤¿¤Ã¤¿¤é¡Ä
PlaySound(5);
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£³¡×¤òÁ÷¿®
SendMessage(3);
}
ClearMessage();
until(Message()==12);
open_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯
high_attack();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¾åÃʹ¶·â¡£´Ì¤«µíÆý¥Ñ¥Ã¥¯¤ÏÍî¤Á¤ë¤Ï¤º
close_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥¢¡¼¥à¤òÊĤ¸¤ë
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£´¡×¤òÁ÷¿®
SendMessage(4);
}
ClearMessage();
until(Message()==13);
open_arm();
middle_attack(); //ÃæÃʹ¶·â¡ª
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£µ¡×¤òÁ÷¿®
SendMessage(5);
}
ClearMessage();
until(Message()==14);
open_arm();
low_attack();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²¼Ãʹ¶·â¡ª¡ª
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£¶¡×¤òÁ÷¿®
SendMessage(6);
}
¤½¤Î¸å¤â¤¦°ì¤Ä¤ÎÅã¤Ë¹Ô¤¡¢¾åµ¤ÈƱ¤¸¤è¤¦¤ËÆ°¤¯
ClearMessage();
until(SENSOR_1==1);
PlaySound(2);
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(21);
}
until(Message()==30);
PlaySound(4);
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(22);
PlaySound(5);
}
ClearMessage();
until(Message()==31);
PlaySound(6);
until(SENSOR_3==1);
PlaySound(5);
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(23);
}
ClearMessage();
until(Message()==32);
open_arm();
high_attack();
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(24);
}
ClearMessage();
until(Message()==33);
open_arm();
middle_attack();
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(25);
}
ClearMessage();
until(Message()==34);
open_arm();
low_attack();
}
º£Å٤ϰÜÆ°¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£
sub turn_back()
{OnRev(OUT_A+OUT_B);Wait(200);OnRev(OUT_A);OnFwd(OUT_B);Wait(240);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡//180¡ë¸å¤í¤Ë²óž¤¹¤ëÆ°¤¤òÄêµÁ
sub go_straight()
{OnFwd(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Þ¤Ã¤¹¤°¿Ê¤à¤À¤±¤Î¤³¤È¤òÄêµÁ
sub stop_move() {Off(OUT_A+OUT_B);}¡¡//»ß¤Þ¤ë¤³¤È¤ÎÄêµÁ
sub turn_right() {OnRev(OUT_A+OUT_B);Wait(50);Off(OUT_A+OUT_B);OnFwd(OUT_A);OnRev(OUT_B);Wait(120);Off(OUT_A+OUT_B); OnFwd(OUT_A+OUT_B);Wait(150);Off(OUT_A+OUT_B);
OnFwd(OUT_B);OnRev(OUT_A);Wait(120);Off(OUT_A+OUT_B);OnFwd(OUT_A+OUT_B); Wait(50);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦£¹£°¡ë¸þ¤¤¤Æ¿Ê¤ß¡¢¤Þ¤¿º¸£¹£°¡ë¤ò¸þ¤¯
sub turn_left() {OnRev(OUT_A+OUT_B);Wait(50);Off(OUT_A+OUT_B);OnFwd(OUT_B);OnRev(OUT_A);Wait(120);Off(OUT_A+OUT_B);
OnFwd(OUT_A+OUT_B);Wait(150);Off(OUT_A+OUT_B);
OnFwd(OUT_A);OnRev(OUT_B);Wait(120);Off(OUT_A+OUT_B);OnFwd(OUT_A+OUT_B); Wait(50);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡//turn_right¤ÈµÕ¤ÎÆ°¤¤òÄêµÁ
task main()
{
ClearMessage();
go_straight();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤Þ¤Ã¤¹¤°¤¹¤¹¤à
until(Message()==1);
stop_move();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤¹¤È¤Ã¤×
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£±£°¡×Á÷¿®
SendMessage(10);
}
PlaySound(1);
until(Message()==2);
turn_back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¤í¡ÊʬÊ̤ΤȤ³¤Î¤Û¤¦¡Ë¤ò¸þ¤¯
ClearTimer(0);
while(FastTimer(0)<100){ //¡Ö¥á¥Ã¥»¡¼¥¸£±£±¡×Á÷¿®
SendMessage(11);
}
ClearMessage();
go_straight();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤Þ¤Ã¤¹¤°¤¹¤¹¤à
until(Message()==3);
stop_move(); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //»ß¤Þ¤ì
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£²¡×Á÷¿®
SendMessage(12);
}
ClearMessage();
until(Message()==4);
turn_right();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë°ÜÆ°
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£³¡×Á÷¿®
SendMessage(13);
}
ClearMessage();
until(Message()==5);
turn_left();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //º¸¤Ë°ÜÆ°
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£´¡×Á÷¿®
SendMessage(14);
}
ClearMessage();
until(Message()==6);
turn_right();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë°ÜÆ°
turn_back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¤í¡Ê¤â¤¦°ì¤Ä¤ÎÅã¤ÎÊý¡Ë¤ò¸þ¤¯
go_straight(); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Þ¤Ã¤¹¤°¤¹¤¹¤à
ClearMessage();
until(Message()==21);
stop_move();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤³¤³¤ÇºÆ¤ÓÅã¤Î¤È¤³¤ËÍ褿¡£¤³¤Î¤¢¤È¾åµ¤Îº¸±¦ÂоΤÎÆ°¤¤ò¤¹¤ë¡£
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(30);
}
PlaySound(1);
until(Message()==22);
turn_back();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(31);
}
ClearMessage();
go_straight();
until(Message()==23);
stop_move();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(32);
}
ClearMessage();
until(Message()==24);
turn_left();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(33);
}
ClearMessage();
until(Message()==25);
turn_right();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(34);
}
}
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*¥×¥í¥°¥é¥à¾Ò²ð [#z6add3f2]
º£²ó¤Ï¤Õ¤¿¤Ä¤ÎRCX¤ÇÄÌ¿®¤·¤Ê¤¬¤é£±¤Ä¤Î¥Þ¥·¥ó¤Ç¥Á¥ã¥ì¥ó¥¸¤·¤¿¤Î¤Ç¡¢¥×¥í¥°¥é¥à¤¬£²¤Ä¸ºß¤·¤Þ¤¹¡£¤Þ¤º¤Ï¥»¥ó¥µ¡¼¤È´Ì¤ÈÈ¢¡Ê°Ê¸å¡¢Åã¤È¤è¤Ö¡Ë¤ò¤Ä¤«¤ó¤ÇÍî¤È¤¹¥×¥í¥°¥é¥à¤Ç¤¹¡£(•¢Ï•)/
sub close_arm()
{OnFwd(OUT_A)/;Wait(90);Off(OUT_A);} ¡¡¡¡ ¡¡¡¡¡¡¡¡¡¡//Åã¤ò¤Ä¤«¤à¥¢¡¼¥à¤òÊĤ¸¤ë°ìÏ¢¤ÎÆ°¤¤ò¤³¤³¤ÇÄêµÁ
sub open_arm()
{OnRev(OUT_A);Wait(90);Off(OUT_A);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Åã¤ò¤Ä¤«¤à¥¢¡¼¥à¤ò³«¤¯Æ°¤¤òÄêµÁ
sub high_attack()
{OnFwd(OUT_B);Wait(60);Off(OUT_B);OnRev(OUT_B);Wait(60);Off(OUT_B);}¡¡¡¡¡¡¡¡ //Åã¤Î°ìÈÖ¾å¤Î¥â¥Î¤òÍî¤È¤¹Æ°¤¤òÄêµÁ
sub middle_attack()
{OnRev(OUT_B);Wait(60);Off(OUT_B);OnFwd(OUT_B);Wait(60);Off(OUT_B);}¡¡¡¡¡¡¡¡¡¡ //Åã¤Î¿¿¤óÃæ¤Î¥â¥Î¤òÍî¤È¤¹Æ°¤¤òÄêµÁ
sub low_attack()
{OnFwd(OUT_C);Wait(150);Off(OUT_C);OnRev(OUT_C);Wait(150);Off(OUT_C);}¡¡¡¡¡¡ //Åã¤Î°ìÈÖ²¼¤Î¥â¥Î¤òÍî¤È¤¹¡ÊÀµ³Î¤Ë¤Ï²¡¤·½Ð¤¹¡ËÆ°¤¤òÄêµÁ
task main()
{
SetSensor(SENSOR_1,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_TOUCH);
ClearMessage();
until(SENSOR_1==1);¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£±¤¬Åã¤Î¤Ë¿¨¤ì¤¿¤é¡Ä
PlaySound(2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤ì¤òÃΤ餻¤ë²»¤¬ÌĤë
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡//£µÉô֥֡á¥Ã¥»¡¼¥¸£±¡×¤ò¤â¤¦°ì¤Ä¤ÎRCXËÜÂΤËÁ÷¿®
SendMessage(1);
}
until(Message()==10);¡¡¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£±£°¡×¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂԤäƤë
PlaySound(4);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Ô¤í¤Ô¤íÌĤë
close_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Åã¤ò¤¬¤Ã¤Á¤ê¥¥ã¥Ã¥Á
ClearTimer(0);
while(FastTimer(0)<50){ //¡Ö¥á¥Ã¥»¡¼¥¸£²¡×¤òÁ÷¿®
SendMessage(2);
PlaySound(5); //¤Ô¤í¤ê¤ó¤Ô¤í¤ê¤óÌĤë
}
ClearMessage();
until(Message()==11);
PlaySound(6);
until(SENSOR_3==1);¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬Ê¬Ê̤¹¤ë¤È¤³¤ËÅö¤¿¤Ã¤¿¤é¡Ä
PlaySound(5);
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£³¡×¤òÁ÷¿®
SendMessage(3);
}
ClearMessage();
until(Message()==12);
open_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯
high_attack();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¾åÃʹ¶·â¡£´Ì¤«µíÆý¥Ñ¥Ã¥¯¤ÏÍî¤Á¤ë¤Ï¤º
close_arm();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥¢¡¼¥à¤òÊĤ¸¤ë
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£´¡×¤òÁ÷¿®
SendMessage(4);
}
ClearMessage();
until(Message()==13);
open_arm();
middle_attack(); //ÃæÃʹ¶·â¡ª
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£µ¡×¤òÁ÷¿®
SendMessage(5);
}
ClearMessage();
until(Message()==14);
open_arm();
low_attack();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²¼Ãʹ¶·â¡ª¡ª
ClearTimer(0);
while(FastTimer(0)<50){¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£¶¡×¤òÁ÷¿®
SendMessage(6);
}
¤½¤Î¸å¤â¤¦°ì¤Ä¤ÎÅã¤Ë¹Ô¤¡¢¾åµ¤ÈƱ¤¸¤è¤¦¤ËÆ°¤¯
ClearMessage();
until(SENSOR_1==1);
PlaySound(2);
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(21);
}
until(Message()==30);
PlaySound(4);
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(22);
PlaySound(5);
}
ClearMessage();
until(Message()==31);
PlaySound(6);
until(SENSOR_3==1);
PlaySound(5);
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(23);
}
ClearMessage();
until(Message()==32);
open_arm();
high_attack();
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(24);
}
ClearMessage();
until(Message()==33);
open_arm();
middle_attack();
close_arm();
ClearTimer(0);
while(FastTimer(0)<50){
SendMessage(25);
}
ClearMessage();
until(Message()==34);
open_arm();
low_attack();
}
º£Å٤ϰÜÆ°¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£
sub turn_back()
{OnRev(OUT_A+OUT_B);Wait(200);OnRev(OUT_A);OnFwd(OUT_B);Wait(240);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡//180¡ë¸å¤í¤Ë²óž¤¹¤ëÆ°¤¤òÄêµÁ
sub go_straight()
{OnFwd(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Þ¤Ã¤¹¤°¿Ê¤à¤À¤±¤Î¤³¤È¤òÄêµÁ
sub stop_move() {Off(OUT_A+OUT_B);}¡¡//»ß¤Þ¤ë¤³¤È¤ÎÄêµÁ
sub turn_right() {OnRev(OUT_A+OUT_B);Wait(50);Off(OUT_A+OUT_B);OnFwd(OUT_A);OnRev(OUT_B);Wait(120);Off(OUT_A+OUT_B); OnFwd(OUT_A+OUT_B);Wait(150);Off(OUT_A+OUT_B);
OnFwd(OUT_B);OnRev(OUT_A);Wait(120);Off(OUT_A+OUT_B);OnFwd(OUT_A+OUT_B); Wait(50);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦£¹£°¡ë¸þ¤¤¤Æ¿Ê¤ß¡¢¤Þ¤¿º¸£¹£°¡ë¤ò¸þ¤¯
sub turn_left() {OnRev(OUT_A+OUT_B);Wait(50);Off(OUT_A+OUT_B);OnFwd(OUT_B);OnRev(OUT_A);Wait(120);Off(OUT_A+OUT_B);
OnFwd(OUT_A+OUT_B);Wait(150);Off(OUT_A+OUT_B);
OnFwd(OUT_A);OnRev(OUT_B);Wait(120);Off(OUT_A+OUT_B);OnFwd(OUT_A+OUT_B); Wait(50);Off(OUT_A+OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡//turn_right¤ÈµÕ¤ÎÆ°¤¤òÄêµÁ
task main()
{
ClearMessage();
go_straight();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤Þ¤Ã¤¹¤°¤¹¤¹¤à
until(Message()==1);
stop_move();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤¹¤È¤Ã¤×
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡Ö¥á¥Ã¥»¡¼¥¸£±£°¡×Á÷¿®
SendMessage(10);
}
PlaySound(1);
until(Message()==2);
turn_back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¤í¡ÊʬÊ̤ΤȤ³¤Î¤Û¤¦¡Ë¤ò¸þ¤¯
ClearTimer(0);
while(FastTimer(0)<100){ //¡Ö¥á¥Ã¥»¡¼¥¸£±£±¡×Á÷¿®
SendMessage(11);
}
ClearMessage();
go_straight();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤Þ¤Ã¤¹¤°¤¹¤¹¤à
until(Message()==3);
stop_move(); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //»ß¤Þ¤ì
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£²¡×Á÷¿®
SendMessage(12);
}
ClearMessage();
until(Message()==4);
turn_right();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë°ÜÆ°
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£³¡×Á÷¿®
SendMessage(13);
}
ClearMessage();
until(Message()==5);
turn_left();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //º¸¤Ë°ÜÆ°
ClearTimer(0);
while(FastTimer(0)<100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥á¥Ã¥»¡¼¥¸£±£´¡×Á÷¿®
SendMessage(14);
}
ClearMessage();
until(Message()==6);
turn_right();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë°ÜÆ°
turn_back();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¤í¡Ê¤â¤¦°ì¤Ä¤ÎÅã¤ÎÊý¡Ë¤ò¸þ¤¯
go_straight(); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤Þ¤Ã¤¹¤°¤¹¤¹¤à
ClearMessage();
until(Message()==21);
stop_move();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¤³¤³¤ÇºÆ¤ÓÅã¤Î¤È¤³¤ËÍ褿¡£¤³¤Î¤¢¤È¾åµ¤Îº¸±¦ÂоΤÎÆ°¤¤ò¤¹¤ë¡£
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(30);
}
PlaySound(1);
until(Message()==22);
turn_back();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(31);
}
ClearMessage();
go_straight();
until(Message()==23);
stop_move();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(32);
}
ClearMessage();
until(Message()==24);
turn_left();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(33);
}
ClearMessage();
until(Message()==25);
turn_right();
ClearTimer(0);
while(FastTimer(0)<100){
SendMessage(34);
}
}
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