2018a/Member/Mooo/Mission1
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[[2018a/Member]]
#contents
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**´ðËÜ»ö¹à¤ÎÄêµÁ [#la12c996]
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#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]
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-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]
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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);
}
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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]
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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]
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-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]
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#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°Üư
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]
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#contents
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#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]
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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
}
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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]
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void turnL90()
{
RotateMotorEx(OUT_AC, 30, 235, 100, true, true);
Wait(200);
}
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void turnR90()
{
RotateMotorEx(OUT_AC, 30, -235, -100, true, true);
Wait(200);
}
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void turnR(int x)
{
RotateMotorEx(OUT_AC, 30, x * 235 / 90, -100, true, true);
Wait(200);
}
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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]
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void pen_down()
{
RotateMotor(OUT_B, 40, -20);
Wait(100);
}
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void pen_up()
{
RotateMotor(OUT_B, 40, 20);
Wait(100);
}
** ½ÄÀþ¡¢²£Àþ¤ò°ú¤¯¥×¥í¥°¥é¥à[#qda95588]
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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]
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#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°Üư
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]
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