10/*pokerobo.c */   
20 int mia,mik,hia,hik,mia1,mia2,mik1,mik2; 
30 int hia1,hia2,hik1,hik2,atama;
40 int srv1,srv2,srv4,srv8,srv16;
50 int bb,p,q;
60 void servo();
70 void srv2m(int p,int q);
80 void srv4p(int p,int q);
90 void tyuuritu();
100 void asihumi(int ee);
110 void mae(int ee);
120 void usiro(int ee);
130 void migimae(int ee);
140 void hidarimae(int ee); 
150 void atahida();
160 void atamigi();
170 void head();
180main()
190{int dd,kk;
200 FILE *stream;
210 stream=fopen("pio","r+");
220 pioset(0x00);
230 tyuuritu();
240 for(dd=0;dd<40;dd++)
250  servo(); 
260 printf("\nÏ´=4¤    ³¼Û=6\n");
270 printf("ËÀÞØÏ´=2,  зÞÏ´=8,  ±¼ÌÐ=5\n");
280 printf("±ÀÏËÀÞØ=1,  ±ÀÏзÞ=7  ĸÞÙÄÞ³»\n"); 
290while(1)
300{kk=getch();
310switch (kk) 
320{ case '4' :mae(2);break;
330 case '6':usiro(2);break;
340 case '2':hidarimae(2);break;
350 case '8':migimae(2);break;
360 case '5':asihumi(2);break;
370 case '1':atahida();break;
380 case '7':atamigi();break;
390} 
400 for(dd=0;dd<10;dd++)
410  servo(); 
420}} 
430void servo()
440{int dd;
450 poke(0x1ff,1);
460 poke(0x1fe,srv1);
470 call(0x100,&dd); 
480 poke(0x1ff,8);
490 poke(0x1fe,srv8); 
500 call(0x100,&dd);
510 poke(0x1ff,4);
520 poke(0x1fe,srv4);
530 call(0x100,&dd);
540 poke(0x1ff,2); 
550 poke(0x1fe,srv2); 
560 call(0x100,&dd);
570 poke(0x1ff,16);
580 poke(0x1fe,srv16);
590 call(0x100,&dd); 
600 for(dd=0;dd<10;dd++);
610}    
620void  srv2m( p, q)
630{    
640   srv4-=2;
650   servo();
660 for(srv2=p;srv2>q;srv2--)
670 { srv4--;
680   servo(); 
690 }     
700}    
710void srv4p( p, q) 
720{    
730   srv2+=2; 
740    servo();
750  for(srv4=p;srv4<q;srv4++)
760  { srv2++; 
770    servo();
780  }      
790}    
800void tyuuritu()
810{int b,yn; 
820  hia=srv1=77;
830  hik=srv2=77;
840  mik=srv4=77;
850  mia=srv8=77;
860  atama=srv16=77;
870 while(1) 
880 {printf("»-ÎÞÉ Î°ÑÎß¼Þ¼®Ý Á®³¾²\n"); 
890  do{        
900 printf("%d  ËÀÞر¼ ·ÞÊ 0  ",hia); 
910  scanf("%d",&yn); 
920  if(yn<2)  break;
930  hia=srv1=yn; 
940  for(b=0;b<50;b++)
950   servo(); 
960  }while(1);
970  do{        
980  printf("%d ËÀÞغ¼  ·ÞÊ 0  ",hik);
990  scanf("%d",&yn);
1000  if(yn<1)  break; 
1010  srv2=hik=yn; 
1020  for(b=0;b<50;b++)
1030   servo();
1040  }while(1); 
1050  do{ 
1060  printf("%d з޺¼  ·ÞÊ 0  ",mik);
1070  scanf("%d",&yn); 
1080  if(yn<1)  break;
1090  srv4=mik=yn;
1100  for(b=0;b<50;b++)
1110   servo();
1120  }while(1);
1130  do{         
1140  printf("%d зޱ¼  ·ÞÊ 0 ",mia);
1150  scanf("%d",&yn);
1160  if(yn<1)  break;
1170  srv8=mia=yn;  
1180  for(b=0;b<50;b++)
1190   servo();
1200  }while(1);
1210  do{         
1220  printf("%d ±ÀÏ  ·ÞÊ 0 ",atama);
1230  scanf("%d",&yn);
1240  if(yn<1)  break;
1250  srv16=atama=yn;
1260  for(b=0;b<50;b++) 
1270   servo();
1280  }while(1);
1290  mia1=mia- 6;
1300  mia2=mia+ 6;
1310  hia1=hia- 6;
1320  hia2=hia+ 6; 
1330  mik1=mik-8; 
1340  mik2=mik+8; 
1350  hik1=hik-8; 
1360  hik2=hik+8; 
1370  srv4=mik;
1380  srv2=hik; 
1390  srv1=hia;
1400  srv8=mia; 
1410  for(b=0;b<30;b++)
1420   servo();
1430  printf("ÔØŵ¼=0,¼­³Ø®³=1 ");
1440  scanf("%d",&yn);
1450  if(yn==1) break;
1460 }      
1470}     
1480void asihumi(ee)
1490{int b,d,f; 
1500 srv2=hik; 
1510 srv1=hia;
1520 srv8=mia;
1530 srv2m(hik-1,hik1); 
1540 for(d=0;d<10;d++)
1550  servo(); 
1560 for (f=0;f<ee;f++) 
1570 {      
1580  srv4p(mik1,mik2);
1590  for(d=0;d<10;d++)
1600  servo();
1610  srv2m(hik2,hik1);
1620  for(d=0;d<10;d++)
1630  servo(); 
1640 }      
1650 srv4p(mik1+1,mik);
1660 srv2=hik;  
1670  for(d=0;d<10;d++)
1680  servo(); 
1690}     
1700void mae(ee)
1710{int b,d,f;
1720 srv2=hik;
1730 srv1=hia; 
1740 srv8=mia; 
1750 srv2m(hik,hik1);
1760 srv1=hia;
1770 srv4+=2; 
1780 for(srv8=mia;srv8<mia2;srv8++)
1790 { servo();
1800   srv1++;
1810 }      
1820 for (f=0;f<ee;f++)
1830 {      
1840  srv4p(mik1,mik2); 
1850  for(srv8=mia2;srv8>mia1;srv8--)
1860  {servo();
1870   srv1--; 
1880  } 
1890  srv2m(hik2,hik1);
1900  for(srv8=mia1;srv8<mia2;srv8++) 
1910  {servo();
1920   srv1++;
1930  }       
1940 }      
1950 srv4p(mik1,mik); 
1960 for(srv8=mia2;srv8<mia;srv8--) 
1970 {servo();
1980  srv1--; 
1990 }
2000 srv2=hik;
2010 srv1=hia;
2020 srv8=mia;
2030 for(d=0;d<10;d++) servo();
2040}     
2050void usiro(ee)
2060{int b,d,f;
2070 srv2=hik;
2080 srv1=hia;
2090 srv2m(hik,hik1);
2100 for(srv8=mia;srv8>mia1;srv8--)
2110 { servo(); 
2120   srv1--;  
2130  } 
2140 for(f=0;f<ee;f++)
2150 {      
2160  srv4p(mik1,mik2); 
2170  for(srv8=mia1;srv8<mia2;srv8++)
2180  {servo();
2190   srv1++;   
2200  }       
2210  srv2m(hik2,hik1);
2220 for(srv8=mia2;srv8>mia1;srv8--) 
2230 {servo();
2240  srv1--;
2250 }      
2260 }      
2270 srv4p(mik1,mik); 
2280 for(srv8=mia1;srv8<mia;srv8++) 
2290 {servo();
2300  srv1++;
2310 }
2320 srv2=hik; 
2330 srv1=hia;
2340 for(d=0;d<10;d++) servo();
2350}     
2360void migimae(ee)
2370{int b,d,f; 
2380 srv4=mik;   
2390 srv4p(mik,mik2);
2400 for(srv1=hia;srv1>hia1;srv1--)
2410   servo();
2420 for (f=0;f<ee;f++)
2430 {      
2440   srv2m(hik2,hik1); 
2450 for(srv1=hia1;srv1<hia2;srv1++)
2460   servo();
2470  srv4p(mik1,mik2); 
2480 for(srv1=hia2;srv1>hia1;srv1--) 
2490   servo();
2500 }      
2510 srv1=hia; 
2520 srv2m(hik2,hik);
2530 for(d=0;d<10;d++) servo();
2540}     
2550void hidarimae(ee)
2560{int b,d,f;
2570 srv2=hik;
2580 srv2m(hik,hik1);  
2590 for(srv8=mia;srv8<mia2;srv8++) 
2600   servo(); 
2610 for (f=0;f<ee;f++) 
2620 {      
2630  srv4p(mik1,mik2);
2640 for(srv8=mia2;srv8>mia1;srv8--)
2650   servo();
2660  srv2m(hik2,hik1);
2670 for(srv8=mia1;srv8<mia2;srv8++) 
2680   servo();
2690 }      
2700srv8=mia;
2710 srv4p(mik1,mik);
2720 srv2=hik;
2730 for(d=0;d<10;d++) servo(); 
2740}     
2750void atahida()
2760{     
2770 if(srv16==atama)
2780 {      
2790  for(srv16=atama;srv16<(atama+20);srv16++)
2800  servo(); 
2810 }      
2820 else
2830  head();
2840}
2850void atamigi()
2860{
2870 if(srv16==atama)
2880 {
2890  for(srv16=atama;srv16>(atama-20);srv16--)
2900    servo();
2910 }
2920 else
2930  head();
2940}
2950 void head()
2960 {
2970  while(srv16<atama)
2980  { servo();
2990    srv16++;
3000  }
3010  while(srv16>atama)
3020  { servo();
3030    srv16--;
3040  }
3050 }