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#define FRONT_M(a) OnFwd(OUT_A);Wait(a);Off(OUT_A);Wait(100); //Á°¿Ê
#define BACK_M(b) OnRev(OUT_A);Wait(b);Off(OUT_A);Wait(100); //¸åÂà
#define RIGHT_M(t) OnFwd(OUT_B);Wait(t);Off(OUT_B);Wait(100); //ÏÓ¤ò±¦¤Ë
#define LEFT_M(s) OnRev(OUT_B);Wait(s);Off(OUT_B);Wait(100); //ÏÓ¤òº¸¤Ë
#define ARM_ON OnRev(OUT_C);Wait(10);Off(OUT_C);Wait(150); //¥Ú¥ó¤ò²¼¤²¤ë
#define ARM_OFF OnFwd(OUT_C);Wait(10);Off(OUT_C);Wait(150); //¥Ú¥ó¤ò¾å¤²¤ë
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task main()
{
LEFT_M(12);// ¡
ARM_ON;
OnRev(OUT_AB);
Wait(2);
Off(OUT_AB);
Wait(100);
RIGHT_M(16);//¡¡¢
BACK_M(10);
LEFT_M(15);
ARM_OFF;
FRONT_M(8);// £
ARM_ON;
RIGHT_M(15);
ARM_OFF;
LEFT_M(15);
FRONT_M(8);// ¤
ARM_ON;
BACK_M(13);
ARM_OFF;
FRONT_M(4);// ¥
ARM_ON;
RIGHT_M(15);
ARM_OFF;
LEFT_M(15);
BACK_M(3);// ¦
ARM_ON;
RIGHT_M(18);
BACK_M(10);
OnFwd(OUT_A);
OnRev(OUT_B);
Wait(5);
Off(OUT_AB);
ARM_OFF;
LEFT_M(9);// §
FRONT_M(6);
ARM_ON;
BACK_M(6);
ARM_OFF;
LEFT_M(10);// ¨
FRONT_M(6);
ARM_ON;
BACK_M(4);
RIGHT_M(10);
ARM_OFF;
FRONT_M(4);//¡¡©
ARM_ON;
BACK_M(5);
ARM_OFF;
}
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#define FRONT_M(a) OnFwd(OUT_A);Wait(a);Off(OUT_A);Wait(100); //Á°¿Ê
#define BACK_M(b) OnRev(OUT_A);Wait(b);Off(OUT_A);Wait(100); //¸åÂà
#define RIGHT_M(t) OnFwd(OUT_B);Wait(t);Off(OUT_B);Wait(100); //ÏÓ¤ò±¦¤Ë
#define LEFT_M(s) OnRev(OUT_B);Wait(s);Off(OUT_B);Wait(100); //ÏÓ¤òº¸¤Ë
#define ARM_ON OnRev(OUT_C);Wait(10);Off(OUT_C);Wait(150); //¥Ú¥ó¤ò²¼¤²¤ë
#define ARM_OFF OnFwd(OUT_C);Wait(10);Off(OUT_C);Wait(150); //¥Ú¥ó¤ò¾å¤²¤ë
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task main()
{
LEFT_M(12);// ¡
ARM_ON;
OnRev(OUT_AB);
Wait(2);
Off(OUT_AB);
Wait(100);
RIGHT_M(16);//¡¡¢
BACK_M(10);
LEFT_M(15);
ARM_OFF;
FRONT_M(8);// £
ARM_ON;
RIGHT_M(15);
ARM_OFF;
LEFT_M(15);
FRONT_M(8);// ¤
ARM_ON;
BACK_M(13);
ARM_OFF;
FRONT_M(4);// ¥
ARM_ON;
RIGHT_M(15);
ARM_OFF;
LEFT_M(15);
BACK_M(3);// ¦
ARM_ON;
RIGHT_M(18);
BACK_M(10);
OnFwd(OUT_A);
OnRev(OUT_B);
Wait(5);
Off(OUT_AB);
ARM_OFF;
LEFT_M(9);// §
FRONT_M(6);
ARM_ON;
BACK_M(6);
ARM_OFF;
LEFT_M(10);// ¨
FRONT_M(6);
ARM_ON;
BACK_M(4);
RIGHT_M(10);
ARM_OFF;
FRONT_M(4);//¡¡©
ARM_ON;
BACK_M(5);
ARM_OFF;
}
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