100 '6リンク往復運動機構
110 '    producted by Takuma Tsuji
120 '			date 2007/11/14
130 '-------------初期データ入力--------------------------------
140 cls 3 : screen 3
150 PI=3.141592653# : RAD=PI/180 : wt=1 : sc=0 :t=1
160 X0=500:Y0=310
170 L1=10.0
180 L2=17.5#
190 L3=13#
200 L4=17.5#
210 L5=18.5#
220 L6=37
230 X1=17
240 Y1=11
250 ZOOM=7
260 CLS 3
270 SITA=35 : d=3
280 '
290 '---------------- 座標計算用データ --------------------------
300 FOR SITA=0 TO 360 
310 CLS 3
320 X2=L1*COS(SITA*RAD):Y2=L1*SIN(SITA*RAD)+Y1
330 A1=(-2*X2+2*X1)/(2*Y2)
340 B1=(X2^2-X1^2+Y2^2-L2^2+L3^2)/(2*Y2)
350 N1=(1+A1^2)
360 N2=(2*A1*B1-2*X1)
370 N3=(X1^2+B1^2-L3^2)
380 X31=(-N2+SQR(N2^2-4*N1*N3))/(2*N1) : Y31=A1*X31+B1
390 X32=(-N2+SQR(N2^2-4*N1*N3))/(2*N1) : Y32=A1*X32+B1
400 IF SITA=0 THEN
410 	X3=X31 : Y3=Y31 : GOTO 620
420 END IF
430 X33=X3-X31 : Y33=Y3-Y31 : X34=X3-X32 : Y34=Y3-Y32
440 XX31=SQR(X33^2+Y33^2) : XX32=SQR(X34^2+Y34^2)
450 A1=(-2*X2+2*X1)/(2*Y2)
460 B1=(X2^2-X1^2+Y2^2-L2^2+L3^2)/(2*Y2)
470 N1=(1+A1^2)
480 N2=(2*A1*B1-2*X1)
490 N3=(X1^2+B1^2-L3^2)
500 X31=(-N2+SQR(N2^2-4*N1*N3))/(2*N1) : Y31=A1*X31+B1
510 X32=(-N2+SQR(N2^2-4*N1*N3))/(2*N1) : Y32=A1*X32+B1
520 IF XX31<=XX32 THEN
530 	X3=X31 : Y3=Y31 : GOTO 620
540 ELSE
550 X33=X3-X31 : Y33=Y3-Y31 : X34=X3-X32 : Y34=Y3-Y32
560 XX31=SQR(X33^2+Y33^2) : XX32=SQR(X34^2+Y34^2)
570 IF XX31<=XX32 THEN
580           X3=X31 : Y3=Y31 : GOTO 620
590 ELSE
600          X3=X32 : Y3=Y32 
610 END IF
620 A2=-(2*X3-2*X2)/(2*Y3-2*Y2) : B2=-(X2^2-X3^2)/(2*Y3-2*Y2)-(Y2^2-Y3^2-L4^2+L5^2)/(2*Y3-2*Y2)
630 N4=(1+A2^2) : N5=2*(B2-Y3)*A2-2*X3 : N6=X3^2+(B2-Y3)^2-L5^2
640 X41=(-N5+SQR(N5^2-4*N4*N6))/(2*N4) : Y41=A2*X41+B2
650 X42=(-N5-SQR(N5^2-4*N4*N6))/(2*N4) : Y42=A2*X42+B2
660 IF SITA=0 THEN
670 	X4=X41 : Y4=Y41 : GOTO 760
680 END IF
690 X43=X4-X41 : Y43=Y4-Y41 : X44=X4-X42 : Y44=Y4-Y42
700 XX41=SQR(X43^2+Y43^2) : XX42=SQR(X44^2+Y44^2)
710 IF XX41<XX42 THEN
720 	X4=X41 : Y4=Y41 : GOTO 760
730 ELSE
740 	X4=X42 : Y4=Y42 
750 END IF
760 A3=.4663# : B3=-5
770 N7=(1+A3^2) : N8=2*A3*(B3-Y4)-2*X4 : N9=X4^2+(B3-Y4)^2-L6^2
780 X51=(-N8+SQR(N8^2-4*N7*N9))/(2*N7) : Y51=A3*X51+B3
790 X52=(-N8-SQR(N8^2-4*N7*N9))/(2*N7) : Y52=A3*X52+B3
800 IF SITA=0 THEN  
810 	X5=X51 : Y5=Y51 : GOTO 900
820 END IF
830 X53=X5-X51 :Y53=Y5-Y51 : X54=X5-X52 : Y54=Y5-Y52
840 XX51=SQR(X53^2+Y53^2) : XX52=SQR(X54^2+Y54^2) 
850 IF XX51<XX52 THEN
860 	X5=X51 : Y5=Y51 : GOTO 900
870 ELSE 
880 	X5=X52 : Y5=Y52
890 END IF
900 LINE(X0+20,Y0)-(X0-610,Y0)
910 LINE(X0,Y0+20)-(X0,Y0-390)
920 LINE(X0,Y0-ZOOM*Y1)-(X0-ZOOM*X2,Y0-ZOOM*Y2)
930 LINE(X0-ZOOM*X2,Y0-ZOOM*Y2)-(X0-ZOOM*X4,Y0-ZOOM*Y4)
940 LINE(X0-ZOOM*X2,Y0-ZOOM*Y2)-(X0-ZOOM*X3,Y0-ZOOM*Y3)
950 LINE(X0-ZOOM*X3,Y0-ZOOM*Y3)-(X0-ZOOM*X4,Y0-ZOOM*Y4)
960 LINE(X0-ZOOM*X1,Y0)-(X0-ZOOM*X3,Y0-ZOOM*Y3)
970 LINE(X0-ZOOM*X5,Y0-ZOOM*Y5)-(X0-ZOOM*X4,Y0-ZOOM*Y4)
980 CIRCLE(X0,Y0-ZOOM*Y1),3
990 CIRCLE(X0-ZOOM*X2,Y0-ZOOM*Y2),3
1000 CIRCLE(X0-ZOOM*X3,Y0-ZOOM*Y3),3
1010 CIRCLE(X0-ZOOM*X4,Y0-ZOOM*Y4),3
1020 CIRCLE(X0-ZOOM*X1,Y0),3
1030 CIRCLE(X0-ZOOM*X5,Y0-ZOOM*Y5),3
1040 fain=atn(-a3) :a4=-1/a3
1050 dx1=d*cos(45*rad) : dy1=d*sin(45*rad)
1060 dx2=-d*cos(45*rad) : dy2=d*sin(45*rad)
1070 dx3=-d*cos(45*rad) : dy3=-d*sin(45*rad)
1080 dx4=d*cos(45*rad) : dy4=-d*sin(45*rad)
1090 xx1=dx1*cos(fain)+dy1*sin(fain)+x5 : yy1=-dx1*sin(fain)+dy1*cos(fain)+y5
1100 xx2=dx2*cos(fain)+dy2*sin(fain)+x5 : yy2=-dx2*sin(fain)+dy2*cos(fain)+y5
1110 xx3=dx3*cos(fain)+dy3*sin(fain)+x5 : yy3=-dx3*sin(fain)+dy3*cos(fain)+y5
1120 xx4=dx4*cos(fain)+dy4*sin(fain)+x5 : yy4=-dx4*sin(fain)+dy4*cos(fain)+y5
1130 line(x0-zoom*xx1,y0-zoom*yy1)-(x0-zoom*xx2,y0-zoom*yy2)
1140 line(x0-zoom*xx2,y0-zoom*yy2)-(x0-zoom*xx3,y0-zoom*yy3)
1150 line(x0-zoom*xx3,y0-zoom*yy3)-(x0-zoom*xx4,y0-zoom*yy4)
1160 line(x0-zoom*xx4,y0-zoom*yy4)-(x0-zoom*xx1,y0-zoom*yy1)
1170 x8=80 : y8=a3*x8-8
1180 x9=0 : y9=a3*x9-8
1190 line(x0-zoom*x8,y0-zoom*y8)-(x0-zoom*x9,y0-zoom*y9)
1200 sc=t mod 2 :dp=1+((t+1) mod 2)*16
1210 screen ,,sc,dp
1220 FOR W=0 TO WT : NEXT W :t=t+1:CLS 3
1230 NEXT SITA
1240 goto 410
1250 END