2013b/Member/nazan/Mission2
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[[2013b/MemberOnly/¿Ê¹Ô¾õ¶·]]
*²ÝÂꣲ [#o47b0ac4]
¡¡º£²ó¤Î²ÝÂê¤Ï¥í¥Ü¥Ã¥È¤¬¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Ê¤¬¤éÀþ¾å¤ËÃÖ¤¤¤Æ¤¢¤ë¥¢¥ë¥ß´Ì¤ò¥´¡¼¥ëÉôʬ¤Þ¤Ç±¿¤Ó¡¢´Ì¤òÀѤ߾夲¤ë²ÝÂê¤Ç¤¢¤ë¡£
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http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2013b%2FMember%2FsatoT%2FMission2&src=kadai2.png
*¥á¥ó¥Ð¡¼¾Ò²ð [#o77ce12a]
**nazan Íý³ØÉô¿ôÍý¼«Á³¾ðÊó²Ê³Ø²Ê¡¡¿ô³Ø¤òÃΤê¿Ô¤¯¤·¤Æ¤Ï¤¤¤Ê¤¤ÃË [#y21d7d3a]
**shinshi ¹©³ØÉô¾ðÊ󹩳زʡ¡¤ª¤·¤ã¤ì¤Ç¥À¥ó¥Ç¥£¤ÊÃË [#z95fce3e]
**tomato ¹©³ØÉôÅŵ¤ÅŻҹ©³Ø²Ê¡¡Ì¡²è¤ËÀºÄ̤·¤Æ¤ëÃË [#y7624957]
**satoT ÇÀ³ØÉô±þÍÑÀ¸Ì¿²Ê³Ø²Ê¡¡¿ÈĹ185ѤΥ¹¥Ê¥¤¥Ñ¡¼¡¡ [#kfac7c03]
*¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#lfe206b7]
¡¡»äã¤Î¥í¥Ü¥Ã¥È¤Ï¡¢´Ì¤òÀѤ߾夲¤ë¤¿¤á¤Ë¥¸¥ã¥Ã¥¤ò»È¤Ã¤ÆÀѤ߾夲¤ëÊýË¡¤ò¹Í¤¨¤¿¡£¤Þ¤º¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬¤·¤Ã¤«¤ê¤Ç¤¤ë¤è¤¦¤Ë¼ÖÎؤò¹Í¤¨¡¢¸åÎؤϰì¤Ä¤Ë¤·¤Æ¤Ê¤ë¤Ù¤¯¾®¤µ¤¤¥¿¥¤¥ä¤ò»È¤Ã¤Æ¾®²ó¤ê¤¬¤Ç¤¤ë¤è¤¦¤Ë¤·¤¿¡£
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¡¡¤½¤·¤Æ´Ì¤ò»ý¤Á¾å¤²¡¢ÀѤ߾夲¤ë¤¿¤á¤Ë¥á¥ó¥Ð¡¼¤È¤ÎÏ䷹礤¤Î·ë²Ì¥¸¥ã¥Ã¥¤ò»È¤¦¤³¤È¤Ë·èÄꤷ¤¿¡£ºÇ½é¤Ï¥¨¥ì¥Ù¡¼¥¿¡¼Êý¼°¤ÎÍͤ˻ý¤Á¾å¤²¤è¤¦¤È»î¤ß¤¿¤¬¡¢¤Ê¤«¤Ê¤«¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£
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*¥×¥í¥°¥é¥ß¥ó¥° [#c67c8bb0]
**¥¢¡¼¥à¤Î¥×¥í¥°¥é¥ß¥ó¥° [#lbd50944]
#define kurot 37
#define kurok 42
#define kurog 45
#define shiro 47
#define hi 1
#define low 1
#define lift_up OnFwd(OUT_AB);
#define lift_down OnRev(OUT_AB);
#define tukamu OnRev(OUT_C);
#define release OnFwd(OUT_C);
#define MOVE_TIMEA 280
#define MOVE_TIMEB 140
#define MOVE_TIMEC 30
#define MOVE_TIMED 250
#define kousin 5
#define pdown 6
#define zensin 7
#define kyatti 8
#define anoraitore 10
#define kankan 11
#define bnoraitore 12
#define cnoraitore 13
#define bniraitore 14
#define kanhanasu 15
#define tyoikousin 16
int p=0;
int n=0;
int x=0;
int y=0;
int k=0;
task main()
{
ClearMessage();
while(k < 1){
until(Message() == kyatti);
tukamu;
Wait(50);
lift_up;
Wait(300);
k++;
}
ClearMessage();
SendMessage(anoraitore);
Wait(10);
while(k < 2){
ClearMessage();
until(Message() == kankan);
lift_down;
Wait(MOVE_TIMEC);
Off(OUT_AB);
release;
Wait(50);
Off(OUT_C);
release;
Wait(50);
Off(OUT_C);
k++;
}
ClearMessage();
SendMessage(kousin);
Wait(10);
ClearMessage();
while(k < 3){
until(Message() == pdown);
lift_down;
Wait(MOVE_TIMED);
Off(OUT_AB);
k++;
}
ClearMessage();
SendMessage(zensin);
Wait(10);
ClearMessage();
while(k < 4){
until(Message() == kyatti);
tukamu;
Wait(50);
k++;
}
ClearMessage();
SendMessage(bnoraitore);
Wait(10);
ClearMessage();
while(k < 5){
until(Message() == kyatti);
tukamu;
Wait(50);
lift_up;
Wait(MOVE_TIMEA);
k++;
}
ClearMessage();
SendMessage(cnoraitore);
Wait(10);
ClearMessage();
while(k < 6){
until(Message() == kankan);
lift_down;
Wait(MOVE_TIMEC);
release;
Wait(50);
k++;
}
ClearMessage();
SendMessage(kousin);
Wait(10);
ClearMessage();
while(k < 7){
until(Message() == pdown);
lift_down;
Wait(MOVE_TIMED);
Off(OUT_AB);
k++;
}
ClearMessage();
SendMessage(zensin);
Wait(10);
ClearMessage();
while(k < 8){
until(Message() == kyatti);
tukamu;
Wait(50);
k++;
}
ClearMessage();
SendMessage(bniraitore);
ClearMessage();
while(k < 9){
until(Message() == kanhanasu);
release;
Wait(50);
k++;
}
ClearMessage();
SendMessage(tyoikousin);
Wait(10);
Off(OUT_ABC);
}
**¥¿¥¤¥ä¤Î¥×¥í¥°¥é¥à [#f8abc9a4]
#define kurot 37
#define kurok 42
#define kurog 45
#define shiro 47
#define hi 5
#define low 2
#define sh SetPower(OUT_AC, hi);
#define sl SetPower(OUT_AC,low);
#define slh SetPower(OUT_A,low); SetPower(OUT_C,hi);
#define shl SetPower(OUT_A,hi); SetPower(OUT_C,low);
#define sss SetPower(OUT_A,1);SetPower(OUT_C,1);
#define mae sh OnFwd(OUT_AC);
#define ushiro OnRev(OUT_AC);
#define migi0 sl; OnFwd(OUT_C); Off(OUT_A);
#define migi1 sl; OnFwd(OUT_C); OnRev(OUT_A);
#define hidari0 sl; Off(OUT_C); OnFwd(OUT_A);
#define hidari1 sl; OnRev(OUT_C); OnFwd(OUT_A);
#define STEP 1
#define nMAX 5
#define yasumi Off(OUT_AC); Wait(100);
#define cross 25
#define cross_line sl; OnFwd(OUT_AC); Wait(cross); yasumi;
#define kousin 5
#define pdown 6
#define zensin 7
#define kyatti 8
#define anoraitore 10
#define kankan 11
#define bnoraitore 12
#define cnoraitore 13
#define bniraitore 14
#define kanhanasu 15
#define tyoikousin 16
int p=0;
int n=0;
int x=0;
int y=0;
sub hidarikan () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(SENSOR_1 > 55){
if (SENSOR_1 < kurot){
hidari0;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi0;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi0;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
sub hidaria () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 2){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
sub hidarib () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 3){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
sub hidaric () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 4){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
sub hidarid () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 7){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
task main ()
{
int p=0;
int n=0;
int x=0;
int y=0;
int k=0;
migi0;until(SENSOR_1 < 45); Off(OUT_AC);
hidarikan();
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 1){
until(Message() == anoraitore);
hidaria();
k++;
}
hidarikan();
ClearMessage();
SendMessage(kankan);
Wait(10);
ClearMessage();
while(k < 2){
until(Message() == kousin);
OnRev(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(pdown);
Wait(10);
ClearMessage();
while(k < 3){
until(Message() == zensin);
OnFwd(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 4){
until(Message() == bnoraitore);
hidarib();
hidari1;
Wait(50);
OnFwd(OUT_AC);
Wait(25);
OnRev(OUT_AC);
Wait(50);
Off(OUT_AC);
migi0;
Wait(50);
migi1;until(SENSOR_1 <45); Off(OUT_AC);
hidarikan();
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 5){
until(Message() == cnoraitore);
hidaric();
hidarikan();
k++;
}
ClearMessage();
SendMessage(kankan);
Wait(10);
ClearMessage();
while(k < 6){
until(Message() == kousin);
OnRev(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(pdown);
Wait(10);
ClearMessage();
while(k < 7){
until(Message() == zensin);
OnFwd(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 8){
until(Message() == bniraitore);
hidarid();
hidari0;
Wait(10);
OnFwd(OUT_AC);
Wait(15);
k++;
}
ClearMessage();
SendMessage(kanhanasu);
Wait(10);
ClearMessage();
while(k < 9){
until(Message() == tyoikousin);
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
k++;
}
}
*·ë²Ì [#a6e03c9f]
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*È¿¾Ê [#h23358e7]
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**¥×¥í¥°¥é¥ß¥ó¥°¤ÎÀ½ºî [#wcc22ecf]
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*²ÝÂꣲ [#o47b0ac4]
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*¥á¥ó¥Ð¡¼¾Ò²ð [#o77ce12a]
**nazan Íý³ØÉô¿ôÍý¼«Á³¾ðÊó²Ê³Ø²Ê¡¡¿ô³Ø¤òÃΤê¿Ô¤¯¤·¤Æ¤Ï¤¤¤Ê¤¤ÃË [#y21d7d3a]
**shinshi ¹©³ØÉô¾ðÊ󹩳زʡ¡¤ª¤·¤ã¤ì¤Ç¥À¥ó¥Ç¥£¤ÊÃË [#z95fce3e]
**tomato ¹©³ØÉôÅŵ¤ÅŻҹ©³Ø²Ê¡¡Ì¡²è¤ËÀºÄ̤·¤Æ¤ëÃË [#y7624957]
**satoT ÇÀ³ØÉô±þÍÑÀ¸Ì¿²Ê³Ø²Ê¡¡¿ÈĹ185ѤΥ¹¥Ê¥¤¥Ñ¡¼¡¡ [#kfac7c03]
*¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#lfe206b7]
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*¥×¥í¥°¥é¥ß¥ó¥° [#c67c8bb0]
**¥¢¡¼¥à¤Î¥×¥í¥°¥é¥ß¥ó¥° [#lbd50944]
#define kurot 37
#define kurok 42
#define kurog 45
#define shiro 47
#define hi 1
#define low 1
#define lift_up OnFwd(OUT_AB);
#define lift_down OnRev(OUT_AB);
#define tukamu OnRev(OUT_C);
#define release OnFwd(OUT_C);
#define MOVE_TIMEA 280
#define MOVE_TIMEB 140
#define MOVE_TIMEC 30
#define MOVE_TIMED 250
#define kousin 5
#define pdown 6
#define zensin 7
#define kyatti 8
#define anoraitore 10
#define kankan 11
#define bnoraitore 12
#define cnoraitore 13
#define bniraitore 14
#define kanhanasu 15
#define tyoikousin 16
int p=0;
int n=0;
int x=0;
int y=0;
int k=0;
task main()
{
ClearMessage();
while(k < 1){
until(Message() == kyatti);
tukamu;
Wait(50);
lift_up;
Wait(300);
k++;
}
ClearMessage();
SendMessage(anoraitore);
Wait(10);
while(k < 2){
ClearMessage();
until(Message() == kankan);
lift_down;
Wait(MOVE_TIMEC);
Off(OUT_AB);
release;
Wait(50);
Off(OUT_C);
release;
Wait(50);
Off(OUT_C);
k++;
}
ClearMessage();
SendMessage(kousin);
Wait(10);
ClearMessage();
while(k < 3){
until(Message() == pdown);
lift_down;
Wait(MOVE_TIMED);
Off(OUT_AB);
k++;
}
ClearMessage();
SendMessage(zensin);
Wait(10);
ClearMessage();
while(k < 4){
until(Message() == kyatti);
tukamu;
Wait(50);
k++;
}
ClearMessage();
SendMessage(bnoraitore);
Wait(10);
ClearMessage();
while(k < 5){
until(Message() == kyatti);
tukamu;
Wait(50);
lift_up;
Wait(MOVE_TIMEA);
k++;
}
ClearMessage();
SendMessage(cnoraitore);
Wait(10);
ClearMessage();
while(k < 6){
until(Message() == kankan);
lift_down;
Wait(MOVE_TIMEC);
release;
Wait(50);
k++;
}
ClearMessage();
SendMessage(kousin);
Wait(10);
ClearMessage();
while(k < 7){
until(Message() == pdown);
lift_down;
Wait(MOVE_TIMED);
Off(OUT_AB);
k++;
}
ClearMessage();
SendMessage(zensin);
Wait(10);
ClearMessage();
while(k < 8){
until(Message() == kyatti);
tukamu;
Wait(50);
k++;
}
ClearMessage();
SendMessage(bniraitore);
ClearMessage();
while(k < 9){
until(Message() == kanhanasu);
release;
Wait(50);
k++;
}
ClearMessage();
SendMessage(tyoikousin);
Wait(10);
Off(OUT_ABC);
}
**¥¿¥¤¥ä¤Î¥×¥í¥°¥é¥à [#f8abc9a4]
#define kurot 37
#define kurok 42
#define kurog 45
#define shiro 47
#define hi 5
#define low 2
#define sh SetPower(OUT_AC, hi);
#define sl SetPower(OUT_AC,low);
#define slh SetPower(OUT_A,low); SetPower(OUT_C,hi);
#define shl SetPower(OUT_A,hi); SetPower(OUT_C,low);
#define sss SetPower(OUT_A,1);SetPower(OUT_C,1);
#define mae sh OnFwd(OUT_AC);
#define ushiro OnRev(OUT_AC);
#define migi0 sl; OnFwd(OUT_C); Off(OUT_A);
#define migi1 sl; OnFwd(OUT_C); OnRev(OUT_A);
#define hidari0 sl; Off(OUT_C); OnFwd(OUT_A);
#define hidari1 sl; OnRev(OUT_C); OnFwd(OUT_A);
#define STEP 1
#define nMAX 5
#define yasumi Off(OUT_AC); Wait(100);
#define cross 25
#define cross_line sl; OnFwd(OUT_AC); Wait(cross); yasumi;
#define kousin 5
#define pdown 6
#define zensin 7
#define kyatti 8
#define anoraitore 10
#define kankan 11
#define bnoraitore 12
#define cnoraitore 13
#define bniraitore 14
#define kanhanasu 15
#define tyoikousin 16
int p=0;
int n=0;
int x=0;
int y=0;
sub hidarikan () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(SENSOR_1 > 55){
if (SENSOR_1 < kurot){
hidari0;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi0;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi0;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
sub hidaria () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 2){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
sub hidarib () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 3){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
sub hidaric () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 4){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
sub hidarid () {
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_3,SENSOR_LIGHT);
while(n < 7){
while(p < nMAX){
if (SENSOR_1 < kurot){
hidari1;
p++;
} else {
if(SENSOR_1 < kurok){
hidari0;
} else if (SENSOR_1 < kurog){
mae;
} else if (SENSOR_1 < shiro){
migi0;
} else {
migi1;
}
p=0;
}
Wait(STEP);
}
yasumi;
migi1;
Wait(nMAX*STEP*2);
cross_line;
n++;
p=0;
}
}
task main ()
{
int p=0;
int n=0;
int x=0;
int y=0;
int k=0;
migi0;until(SENSOR_1 < 45); Off(OUT_AC);
hidarikan();
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 1){
until(Message() == anoraitore);
hidaria();
k++;
}
hidarikan();
ClearMessage();
SendMessage(kankan);
Wait(10);
ClearMessage();
while(k < 2){
until(Message() == kousin);
OnRev(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(pdown);
Wait(10);
ClearMessage();
while(k < 3){
until(Message() == zensin);
OnFwd(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 4){
until(Message() == bnoraitore);
hidarib();
hidari1;
Wait(50);
OnFwd(OUT_AC);
Wait(25);
OnRev(OUT_AC);
Wait(50);
Off(OUT_AC);
migi0;
Wait(50);
migi1;until(SENSOR_1 <45); Off(OUT_AC);
hidarikan();
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 5){
until(Message() == cnoraitore);
hidaric();
hidarikan();
k++;
}
ClearMessage();
SendMessage(kankan);
Wait(10);
ClearMessage();
while(k < 6){
until(Message() == kousin);
OnRev(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(pdown);
Wait(10);
ClearMessage();
while(k < 7){
until(Message() == zensin);
OnFwd(OUT_AC);
Wait(10);
Off(OUT_AC);
k++;
}
ClearMessage();
SendMessage(kyatti);
Wait(10);
ClearMessage();
while(k < 8){
until(Message() == bniraitore);
hidarid();
hidari0;
Wait(10);
OnFwd(OUT_AC);
Wait(15);
k++;
}
ClearMessage();
SendMessage(kanhanasu);
Wait(10);
ClearMessage();
while(k < 9){
until(Message() == tyoikousin);
OnRev(OUT_AC);
Wait(100);
Off(OUT_AC);
k++;
}
}
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