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#contents
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#define up RotateMotor(OUT_C,-30,30);Off(OUT_C);Wait(100); //É®¤ò¾å¤²¤ë(30%¤Î®¤µ¤Ç30¡ë)
#define down RotateMotor(OUT_C,15,28);Off(OUT_C);Wait(100); //É®¤ò²¼¤í¤¹(15%¤Î®¤µ¤Ç28¡ë)
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#define str(X,Y) RotateMotor(OUT_A,X,Y*360/35);Off(OUT_A);Wait(100); //¥í¥Ü¥Ã¥È¤ò¾å²¼¤Ëư¤«¤¹ X:¥â¡¼¥¿¡¼¤Î®¤µ Y:²ó¤¹³ÑÅÙ¡¡
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#define LR(X,Y) RotateMotor(OUT_B,X,Y*360/7);Off(OUT_B);Wait(100); //¥Ú¥ó¤ò²£¤Ëư¤«¤¹ X:¥â¡¼¥¿¡¼¤Î®¤µ Y:²ó¤¹³ÑÅÙ
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sub Hir()
{
str(30,2); //¡¸å¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡ //¢¥Ú¥ó¤ò¾å¤²¤ë
LR(-60,2);¡¡ //£º¸¤Ë60¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //¤¥Ú¥ó¤ò²¼¤²¤ë
LR(60,7);¡¡¡¡ //¥±¦¤Ë60¡ó¤Î®¤µ¤Ç3.5cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡ //¦¥Ú¥ó¤ò¾å¤²¤ë
LR(-60,7);¡¡ //§º¸¤Ë60¡ó¤Î®¤µ¤Ç3.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //¨¥Ú¥ó¤ò²¼¤²¤ë
RotateMotorEx(OUT_AB,30,675/7,-100,true,true);¡¡//©º¸¼Ð¤á¸å¤í¤Ë30¡ó¤Î®¤µ¤ÇÌó5cm¿Ê¤à
Wait(100);¡¡ //0.1ÉÃÂÔ¤Ä
up;¡¡¡¡¡¡¡¡¡¡ //ª¥Ú¥ó¤ò¾å¤²¤ë
LR(30,2);¡¡¡¡ //«±¦¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
str(-30,2);¡¡ //¬¾å¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //¥Ú¥ó¤ò¾å¤²¤ë
RotateMotorEx(OUT_AB,30,450/7,100,true,false);¡¡//®±¦¼Ð¤áÁ°¤Ë30¡ó¤Î®¤µ¤ÇÌó4cm¿Ê¤à
Wait(100);¡¡ //0.1ÉÃÂÔ¤Ä
up;¡¡¡¡¡¡¡¡¡¡ //¯¥Ú¥ó¤ò¾å¤²¤ë
str(30,4);¡¡ //°²¼¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
LR(-30,1);¡¡ //±º¸¤Ë30¡ó¤Î®¤µ¤Ç0.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //²¥Ú¥ó¤ò²¼¤²¤ë
LR(30,4);¡¡¡¡ //³±¦¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
str(-30,3/2); //´¾å¤Ë30¡ó¤Î®¤µ¤Ç0.75cm¿Ê¤à
str(30,3); //21²¼¤Ë30¡ó¤Î®¤µ¤Ç1.5cm¿Ê¤à
up; ¡¡¡¡¡¡¡¡¡¡ //22¥Ú¥ó¤ò¾å¤²¤ë¡¡¹½ªÎ»
}
#ref(¿Þ1.jpg)
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sub Oka()
{
str(30,2); //¡²¼¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
LR(-30,3);¡¡¡¡¡¡//¢º¸¤Ë30¡ó¤Î®¤µ¤Ç1.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //£¥Ú¥ó¤ò²¼¤²¤ë
LR(30,4);¡¡¡¡¡¡ //¤±¦¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //¥¥Ú¥ó¤ò¾å¤²¤ë
LR(-30,4);¡¡¡¡¡¡//¦º¸¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //§¥Ú¥ó¤ò²¼¤²¤ë
str(30,8);¡¡¡¡¡¡//¨²¼¤Ë30¡ó¤Î®¤µ¤Ç4cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //©¥Ú¥ó¤ò¾å¤²¤ë
str(-30,5);¡¡¡¡ //ª¾å¤Ë30¡ó¤Î®¤µ¤Ç2.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //«¥Ú¥ó¤ò²¼¤²¤ë
LR(60,4);¡¡¡¡¡¡ //¬±¦¤Ë60¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ú¥ó¤ò¾å¤²¤ë
LR(-60,2);¡¡¡¡¡¡//®±¦¤Ë60¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //¯¥Ú¥ó¤ò²¼¤²¤ë
str(30,5);¡¡¡¡¡¡//°²¼¤Ë30¡ó¤Î®¤µ¤Ç2.5cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //±¥Ú¥ó¤ò¾å¤²¤ë
LR(-30,4); //²º¸¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
down; //³¥Ú¥ó¤ò²¼¤²¤ë
LR(30,10); //´±¦¤Ë30¡ó¤Î®¤µ¤Ç5cm¿Ê¤à
up; //21¥Ú¥ó¤ò¾å¤²¤ë¡¡µÖ½ªÎ»
}
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task main()
{
Hir();¡¡¡¡¡¡¡¡//¡Ö¹¡×¤Î»ú¤ò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
Wait(100); //0.1ÉÃÂÔ¤Ä
Oka();¡¡¡¡¡¡¡¡//¡ÖµÖ¡×¤Î»ú¤ò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
}
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#define up RotateMotor(OUT_C,-30,30);Off(OUT_C);Wait(100); //É®¤ò¾å¤²¤ë(30%¤Î®¤µ¤Ç30¡ë)
#define down RotateMotor(OUT_C,15,28);Off(OUT_C);Wait(100); //É®¤ò²¼¤í¤¹(15%¤Î®¤µ¤Ç28¡ë)
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#define str(X,Y) RotateMotor(OUT_A,X,Y*360/35);Off(OUT_A);Wait(100); //¥í¥Ü¥Ã¥È¤ò¾å²¼¤Ëư¤«¤¹ X:¥â¡¼¥¿¡¼¤Î®¤µ Y:²ó¤¹³ÑÅÙ¡¡
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#define LR(X,Y) RotateMotor(OUT_B,X,Y*360/7);Off(OUT_B);Wait(100); //¥Ú¥ó¤ò²£¤Ëư¤«¤¹ X:¥â¡¼¥¿¡¼¤Î®¤µ Y:²ó¤¹³ÑÅÙ
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sub Hir()
{
str(30,2); //¡¸å¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡ //¢¥Ú¥ó¤ò¾å¤²¤ë
LR(-60,2);¡¡ //£º¸¤Ë60¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //¤¥Ú¥ó¤ò²¼¤²¤ë
LR(60,7);¡¡¡¡ //¥±¦¤Ë60¡ó¤Î®¤µ¤Ç3.5cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡ //¦¥Ú¥ó¤ò¾å¤²¤ë
LR(-60,7);¡¡ //§º¸¤Ë60¡ó¤Î®¤µ¤Ç3.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //¨¥Ú¥ó¤ò²¼¤²¤ë
RotateMotorEx(OUT_AB,30,675/7,-100,true,true);¡¡//©º¸¼Ð¤á¸å¤í¤Ë30¡ó¤Î®¤µ¤ÇÌó5cm¿Ê¤à
Wait(100);¡¡ //0.1ÉÃÂÔ¤Ä
up;¡¡¡¡¡¡¡¡¡¡ //ª¥Ú¥ó¤ò¾å¤²¤ë
LR(30,2);¡¡¡¡ //«±¦¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
str(-30,2);¡¡ //¬¾å¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //¥Ú¥ó¤ò¾å¤²¤ë
RotateMotorEx(OUT_AB,30,450/7,100,true,false);¡¡//®±¦¼Ð¤áÁ°¤Ë30¡ó¤Î®¤µ¤ÇÌó4cm¿Ê¤à
Wait(100);¡¡ //0.1ÉÃÂÔ¤Ä
up;¡¡¡¡¡¡¡¡¡¡ //¯¥Ú¥ó¤ò¾å¤²¤ë
str(30,4);¡¡ //°²¼¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
LR(-30,1);¡¡ //±º¸¤Ë30¡ó¤Î®¤µ¤Ç0.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡ //²¥Ú¥ó¤ò²¼¤²¤ë
LR(30,4);¡¡¡¡ //³±¦¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
str(-30,3/2); //´¾å¤Ë30¡ó¤Î®¤µ¤Ç0.75cm¿Ê¤à
str(30,3); //21²¼¤Ë30¡ó¤Î®¤µ¤Ç1.5cm¿Ê¤à
up; ¡¡¡¡¡¡¡¡¡¡ //22¥Ú¥ó¤ò¾å¤²¤ë¡¡¹½ªÎ»
}
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sub Oka()
{
str(30,2); //¡²¼¤Ë30¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
LR(-30,3);¡¡¡¡¡¡//¢º¸¤Ë30¡ó¤Î®¤µ¤Ç1.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //£¥Ú¥ó¤ò²¼¤²¤ë
LR(30,4);¡¡¡¡¡¡ //¤±¦¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //¥¥Ú¥ó¤ò¾å¤²¤ë
LR(-30,4);¡¡¡¡¡¡//¦º¸¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //§¥Ú¥ó¤ò²¼¤²¤ë
str(30,8);¡¡¡¡¡¡//¨²¼¤Ë30¡ó¤Î®¤µ¤Ç4cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //©¥Ú¥ó¤ò¾å¤²¤ë
str(-30,5);¡¡¡¡ //ª¾å¤Ë30¡ó¤Î®¤µ¤Ç2.5cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //«¥Ú¥ó¤ò²¼¤²¤ë
LR(60,4);¡¡¡¡¡¡ //¬±¦¤Ë60¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ú¥ó¤ò¾å¤²¤ë
LR(-60,2);¡¡¡¡¡¡//®±¦¤Ë60¡ó¤Î®¤µ¤Ç1cm¿Ê¤à
down;¡¡¡¡¡¡¡¡¡¡ //¯¥Ú¥ó¤ò²¼¤²¤ë
str(30,5);¡¡¡¡¡¡//°²¼¤Ë30¡ó¤Î®¤µ¤Ç2.5cm¿Ê¤à
up;¡¡¡¡¡¡¡¡¡¡¡¡ //±¥Ú¥ó¤ò¾å¤²¤ë
LR(-30,4); //²º¸¤Ë30¡ó¤Î®¤µ¤Ç2cm¿Ê¤à
down; //³¥Ú¥ó¤ò²¼¤²¤ë
LR(30,10); //´±¦¤Ë30¡ó¤Î®¤µ¤Ç5cm¿Ê¤à
up; //21¥Ú¥ó¤ò¾å¤²¤ë¡¡µÖ½ªÎ»
}
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task main()
{
Hir();¡¡¡¡¡¡¡¡//¡Ö¹¡×¤Î»ú¤ò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
Wait(100); //0.1ÉÃÂÔ¤Ä
Oka();¡¡¡¡¡¡¡¡//¡ÖµÖ¡×¤Î»ú¤ò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
}
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