Ìܼ¡

²ÝÂê¤Î³Îǧ

²ûÃæÅÅÅô¤Ë¸þ¤«¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¥í¥Ü¥Ã¥È

²«¿§¤¤¥Û¥¤¡¼¥ë¤ò2¸Ä°Ê¾åÏ¢¼Í¤¹¤ë¥í¥Ü¥Ã¥È¤òºîÀ®¤·¡¢°Ê²¼¤ÎÆ°¤­¤ò¤¹¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤òºîÀ®¤»¤è¡£
¤¿¤À¤·1,3¤Ï²ûÃæÅÅÅô¤ò2¸Ä»ÈÍѤ·¡¢¥í¥Ü¥Ã¥È¤ÎÆ°ºîÃæ¤Ï²ûÃæÅÅÅô¤òÆ°¤«¤µ¤Ê¤¤¤¬
¤¤¤í¤¤¤í¤Êµ÷Î¥¤äÊý¸þ¤Ë¤¢¤ë²ûÃæÅÅÅô¤ËÂбþ¤Ç¤­¤ë¥í¥Ü¥Ã¥È¤Ë¤¹¤ë¤³¤È¡£
2¤Ï²ûÃæÅÅÅô¤ò1¸Ä»ÈÍѤ·²ûÃæÅÅÅô¤ò¤æ¤Ã¤¯¤êÆ°¤«¤¹¡£
(½ÅÊ£¤·¤Ê¤¤¤è¤¦¤Ë°ì¿Í°ì¤Ä°Ê¾å¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¤³¤È¡£2¿Í¤Î¥Á¡¼¥à¤Ï1¤È2¡¢3¿Í¤Î¥Á¡¼¥à¤Ï1¡Á3)

1. Á´Êý¸þ¤«¤é2¤Ä¤Î²ûÃæÅÅÅô¤ÎÊý¸þ¤òõ¤·¤À¤·¡¢²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Û¥¤¡¼¥ë¤òÅꤲ¤ë¡£²Äǽ¤Ê¸Â¤êÀµ³Î¤ÊÊý¸þ¤ËÅꤲ¤ë¤³¤È¡£
2. ²ûÃæÅÅÅô¤ò¤æ¤Ã¤¯¤êÆ°¤«¤·¤¿¤È¤­²ûÃæÅÅÅô¤Ë¸þ¤«¤Ã¤Æ¿Ê¤ß¡¢²ûÃæÅÅÅô¤ÎÆ°¤­¤ò»ß¤á¤ì¤Ð°ìÄê¤Îµ÷Î¥
¡¡(²ûÃæÅÅÅô¤«¤é30cm°Ê¾åÎ¥¤ì¤¿µ÷Î¥)¤Þ¤Ç¶á¤Å¤¤¤Æ²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¡£
3. Á´Êý¸þ¤«¤é2¤Ä¤Î²ûÃæÅÅÅô¤ÎÊý¸þ¤òõ¤·¤À¤·¡¢40cm¤Îµ÷Î¥¤Ë¶á¤Å¤¤¤Æ²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Û¥¤¡¼¥ë¤òÅꤲ¡¢²ûÃæÅÅÅô¤ËÅö¤Æ¤ë¡£

²ûÃæÅÅÅô¤ÎÂå¤ï¤ê¤Ë·ÈÂӤΥ饤¥È¤Ê¤É¤òÍøÍѤ·¤Æ¤â¤è¤¤¡£

¥í¥Ü¥Ã¥È

¥í¥Ü¥Ã¥È¤ÎÁ´ÂοÞ

Àï¼Ö¤Î¤è¤¦¤Ê³°´Ñ¤Ë¤Ê¤ê¤Þ¤·¤¿¡£

Á°£±.JPG
Á°£².JPG
Á°£³.JPG























¹©Éפ·¤¿¤È¤³¤í

ÁõŶ£².JPG










¥Û¥¤¡¼¥ë¤òÂǤÁ½Ð¤¹¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¤·¤Ä¤Ä¡¢¥Û¥¤¡¼¥ë¤¬²¼¤ËÍî¤Á¤Ê¤¤¤è¤¦¤Ë¡¢
­¡¤ÇÆóÃÊÌܤΥۥ¤¡¼¥ë¤ò¡¢­¢¤Ç°ìÈÖ²¼¤Î¥Û¥¤¡¼¥ë¤ò¡¢¶¦¤ËȾʬ¤À¤±²¡¤µ¤¨¤Þ¤·¤¿¡£
¼ÂºÝ¥í¥Ü¤¬Æ°¤¤¤Æ¤¤¤ë¤È¡¢¥Û¥¤¡¼¥ë¤¬·Ú¤¤¤¿¤á¡¢¿¶Æ°¤Ç¤¹¤°²¼¤ËÍî¤Á¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢
²¡¤µ¤¨¤Ê¤¤¤ï¤±¤Ë¤Ï¤¤¤«¤Ê¤«¤Ã¤¿¤Î¤Ç¤¹¤¬¡¢¤³¤ì¤Ç²ò·è¤Ç¤­¤Þ¤·¤¿¡£
¤½¤·¤Æ­£¤ò¥â¡¼¥¿¡¼¤Ç²óž¤µ¤»¤Æ°ìÈÖ²¼¤Î¥Û¥¤¡¼¥ë¤òÂǤÁ¤Þ¤¹¡£









¥»¥ó¥µ¡¼Éô.JPG








ÀèÇڤΥڡ¼¥¸¤ò¸«¤Æ¤¤¤¿¤È¤³¤í¡¢º¸¤Î¼Ì¿¿¤Î¤è¤¦¤Ë¤·¤Æ¡¢¥»¥ó¥µ¡¼¤Î´Ö¤ò»ÅÀڤꡢ
¤è¤êÀµ³Î¤Ë²ûÃæÅÅÅô¤ÎÊý¸þ¤ò¸þ¤¯¤è¤¦¤Ë¤·¤Æ¤¤¤¿¥°¥ë¡¼¥×¤¬¤¢¤ê¡¢
¼«Ê¬¤¿¤Á¤Î¥°¥ë¡¼¥×¤Ç¤â¤½¤ì¤ò»È¤¦¤³¤È¤Ë¤·¤Þ¤·¤¿¡£
¼ÂºÝ¤³¤ì¤Ç¤«¤Ê¤êÀµ³Î¤ÊÊý¸þ¤Ë¥Û¥¤¡¼¥ë¤òȯ¼Í¤Ç¤­¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£












¶ìÏ«¤·¤¿¤È¤³¤í

²¿¤È¸À¤Ã¤Æ¤â¡¢¡Øȯ¼Í¡Ù¤È¡ØÁõŶ¡Ù¤ò¤É¤¦¤¹¤ë¤«Çº¤ß¤Þ¤·¤¿¡£

½Æ¿È.JPG








¤Þ¤º¡Øȯ¼Í¡Ù¤Ë¤Ä¤¤¤Æ
¤³¤Î¼Ì¿¿¤Ç¤Ï¤ï¤«¤ê¤Å¤é¤¤¤Ç¤¹¤¬¡¢ÀÖ¤¯°Ï¤Ã¤¿Éôʬ¤Î±¦¤Èº¸¤Ç¹â¤µ¤òÊѤ¨¤ë¤³¤È¤Ç¡¢
½Æ¿È¤ÎÉôʬ¤Ë·¹¼Ð¤ò¤Ä¤±¤Æ¤¤¤Þ¤¹¡£¡Êº¸¤«¤é±¦¤Ë¸þ¤«¤Ã¤Æ¹â¤¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡Ë
¤³¤ì¤Ë¤è¤ê¡¢¥Û¥¤¡¼¥ë¤ò°ì¥ö½ê¤Ë½¸¤á¡¢°ÂÄꤷ¤¿Ï¢¼Í¤ò²Äǽ¤È¤·¤Þ¤·¤¿¡£

¤½¤·¤Æ¡¢ÀÖ¤¯°Ï¤Ã¤¿Éôʬ¤Î¥Ñ¡¼¥Ä¤Ï¡¢
°ì¸«¤à¤ä¤ß¤ä¤¿¤é¤È¤Ä¤±¤é¤ì¤¿¤è¤¦¤Ë¸«¤¨¤Þ¤¹¤¬¡¢
¥Û¥¤¡¼¥ëÁõŶÉô¤È¡¢¥Û¥¤¡¼¥ë¤òÂǤÁ½Ð¤¹ÁõÃ֤Ȥ¬¤¦¤Þ¤¯¤«¤ß¹ç¤¦¤è¤¦¤Ë
ÈùÄ´À°¤ò½Å¤Í¤Æ¤¤¤Ã¤¿·ë²Ì¡¢¤³¤¦¤Ê¤ê¤Þ¤·¤¿¡£







ÁõŶ£±.JPG








¼¡¤Ë¡ØÁõŶ¡Ù¤Ë¤Ä¤¤¤Æ
º£²ó¤Ï¡¢°ì¤Ä¥Û¥¤¡¼¥ë¤òȯ¼Í¤·¤¿¤é¼¡¤Î¥Û¥¤¡¼¥ë¤¬¾å¤«¤éÍî¤Á¤Æ¤¯¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¤¬¡¢
¼ÂºÝ¡¢ÂǤ俸å¤Ë¼¡¤Î¥Û¥¤¡¼¥ë¤¬¤¦¤Þ¤¯Íî¤Á¤Æ¤¯¤ì¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¶ìÏ«¤·¤Þ¤·¤¿¡£
¤½¤³¤Ç¡¢ÀÖ¤¯°Ï¤Ã¤¿Éôʬ¤Ë¡¢·¹¼Ð¤ÎÉôÉʤò¤Ä¤±¤ë¤³¤È¤Ç¡¢Î㤨¥Û¥¤¡¼¥ë¤¬¤º¤ì¤Æ¤¤¤¿¤È¤·¤Æ¤â¡¢
ȯ¼ÍÉô¤Ë¤Ï¡¢¤Á¤ç¤¦¤É¿¿¤óÃæ¤ËÍî¤Á¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£










¥×¥í¥°¥é¥à

¤È¤·¤¾¤¦¤Î¥×¥í¥°¥é¥à

²ÝÂê¤Î£±¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£

#define turn_R(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);    //±¦²óž¤òÄêµÁ
#define shot OnFwd(OUT_B);Wait(20);Off(OUT_B);    //¥Û¥¤¡¼¥ë¤Îȯ¼Í¤òÄêµÁ
task main()
{
SetSensor(SENSOR_1, SENSOR_LIGHT);    //¥»¥ó¥µ¡¼£±¤ò¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
SetSensor(SENSOR_3, SENSOR_LIGHT);    //¥»¥ó¥µ¡¼£³¤ò¸÷¥»¥ó¥µ¡¼¤ÈÄêµÁ
SetSensorMode(SENSOR_1,SENSOR_MODE_RAW);    //¥»¥ó¥µ¡¼£±¤ò¹â´¶Å٥⡼¥É¤Ë¤¹¤ë
SetSensorMode(SENSOR_3,SENSOR_MODE_RAW);    //¥»¥ó¥µ¡¼£³¤ò¹â´¶Å٥⡼¥É¤Ë¤¹¤ë
int s=0;    //¥Û¥¤¡¼¥ë¤Îȯ¼Í²ó¿ô¤òs¤È¤·½é´üÃͤò£°¤Ë¤¹¤ë
while (s<2){    //¥Û¥¤¡¼¥ë¤ò£²È¯È¯¼Í¤¹¤ë¤Þ¤Ç°Ê²¼¤ÎÆ°ºî¤ò¼Â¹Ô¤¹¤ë
if((SENSOR_1>700)&&(SENSOR_3>700))    //²ûÃæÅÅÅô¤Î¸÷¤ò´¶ÃΤ·¤¿»þ
   {
       shot;    //¥Û¥¤¡¼¥ë¤òȯ¼Í¤¹¤ë
       s++;    //ȯ¼Í²ó¿ô¤Ë£±¤ò­¤¹
       turn_R(30);
   }
  else    //²ûÃæÅÅÅô¤Î¸÷¤ò´¶ÃΤ·¤Æ¤¤¤Ê¤¤»þ
   {
       turn_R(300);    //±¦¤Ë²óž¤¹¤ë
   }
   }
Off(OUT_A+OUT_B+OUT_C);    //Ää»ß
}

¸÷¤ÎÌÀ¤ë¤µ¤ÎºÇÂçÃͤòµá¤á¤Æ¡¢¤½¤³¤Ë¥Û¥¤¡¼¥ë¤òȯ¼Í¤¹¤ë¥×¥í¥°¥é¥à¤òºî¤ê¤¿¤«¤Ã¤¿¤Î¤Ç¤¹¤¬¡¢
²ûÃæÅÅÅô¤¬Æó¤Ä¤¢¤ë¤¿¤á¡¢ºÇÂçÃͤȡ¢¤½¤Î¼¡¤ËÌÀ¤ë¤¤Éôʬ¤ò¸¡½Ð¤¹¤ë¥×¥í¥°¥é¥à¤ò¹½À®¤¹¤ëɬÍפ¬¤¢¤ë¤È»×¤¤¡¢
¤¤¤í¤¤¤í¹Í¤¨¤¿¤Î¤Ç¤¹¤¬¡¢Îɤ¤¥×¥í¥°¥é¥à¤¬»×¤¤É⤫¤Ð¤º¡¢
·ë¶É¡¢°ìÄê´ð½à¤è¤êÌÀ¤ë¤¯¤Ê¤Ã¤¿¤é¥Û¥¤¡¼¥ë¤òȯ¼Í¤¹¤ë¥×¥í¥°¥é¥à¤Ë¤·¤Þ¤·¤¿¡£

¥ª¥ì¥ó¥¸¤Î¥×¥í¥°¥é¥à

#define eye_L SENSOR_1                   //eye_L¤òÄêµÁ
#define eye_R SENSOR_3                   //eye_R¤òÄêµÁ
#define cont 45                          //cont¤ò45¤ÈÄêµÁ
#define time 50                          //time¤ò50¤ÈÄêµÁ
task main ()
{
SetSensor(eye_L, SENSOR_LIGHT);                 //º¸¤Î¸÷¥»¥ó¥µ¡¼
	SetSensor(eye_R, SENSOR_LIGHT);                 //±¦¤Î¸÷¥»¥ó¥µ¡¼
	int i=0;                                        //ÊÑ¿ô¤ò»ÈÍÑ¡¡0¤«¤é
	Wait(100);                                      //°ìÉÃÂԤäƤ«¤é¥¹¥¿¡¼¥È
while(FastTimer(0)<time)
      {right_turn
         if(SENSOR_1>light_max)
           {light_max=SENSOR_1;}
right_turn 
sub search_light()                  //±¦²ó¤ê¤·Â³¤±¤Æ¸÷¤òõ¤¹¥×¥í¥°¥é¥à
{
	OnFwd(OUT_C); Wait(50);
	Off(OUT_C); Wait(20);
	PlayTone(330,50) ;
	ClearTimer(0);               //search_light¤ò¼Â¹Ô¤¹¤ë¤¿¤Ó¤Ë¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¡õ¥¹¥¿¡¼¥È¤¹¤ë
until(SENSOR_1>=light_max);
Float(OUT_C);
arm Wait(100);
	{
	if ((eye_L >= cont ) && (eye_R >= cont ))       //¥»¥ó¥µ¡¼¤¬Î¾ÊýÈ¿±þ¤·¤¿¤È¤­
		{
		if (FastTimer(0) <  700){               
		OnFwd(OUT_C); Wait(time); Off(OUT_C); Wait(10);
		OnRev(OUT_C); Wait(time); Off(OUT_C); Wait(10);
			if (FastTimer(0) >=  700){    //¼·É÷ФäƤ¤¤ë¤Ê¤é¡¢¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¥×¥í¥°¥é¥à
			OnFwd(OUT_A); Wait(20);
			Off(OUT_A);
			Wait(100);
			i++;                          //ÊÑ¿ô¤Ë1¤ò­¤·¤Æ¥×¥í¥°¥é¥à¤Ï¾å¤ËÌá¤ë
			}
		}
	else if ((eye_L >= cont ) && (eye_R  <= cont ))      //º¸¤Î¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Æ¤¤¤ë¤È¤­¡¢º¸¤Ë¶Ê¤¬¤ë
		{
		PlayTone(349,50) ;
		OnRev(OUT_C); Wait(time); Off(OUT_C); Wait(10);}    
	else if ((eye_L <= cont ) && (eye_R >= cont ))       //±¦¤Î¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Æ¤¤¤ë¤È¤­¡¢±¦¤Ë¶Ê¤¬¤ë
		{
		PlayTone(440,50) ;
		OnFwd(OUT_C); Wait(time); Off(OUT_C); Wait(10);}
	else {                                                //¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Æ¤¤¤Ê¤¤¤È¤­¡¢  search_light¤ò¥¹¥¿¡¼¥È
		search_light();}
	}
 }
 }

¤Þ¤È¤á¡¦È¿¾Ê

¤È¤·¤¾¤¦

º£²ó¤Ï¡¢²ÝÂ꣱¡¤£²¤ÈÈæ¤Ù¤ë¤È¤«¤Ê¤êÀ©ºî´ü´Ö¤¬Ã»¤¯¡¢¥·¥Ó¥¢¤Ê²ó¤È¤Ê¤ê¤Þ¤·¤¿¡£
¤·¤«¤·¤½¤ì¤Ç¤â¡¢¥í¥Ü¥Ã¥È¤ÎÀ©ºî¤Ë´Ø¤·¤Æ¤Ï¡¢¥ª¥ì¥ó¥¸¤Î"¤Ô¤é¤á¤­"¤Ë¤«¤Ê¤êµß¤ï¤ì¤Þ¤·¤¿¡£
¥×¥í¥°¥é¥à¤â¡¢¤â¤¦°ì¹©Éפ·¤¿¤«¤Ã¤¿¤Î¤Ç¤¹¤¬¡¢´üËö»î¸³¤È¤Î·ó¤Í¹ç¤¤¤¬¡Ä
¤Þ¤¢¤È¤ê¤¢¤¨¤º´°À®¤·¤ÆÎɤ«¤Ã¤¿¤Ç¤¹¡£

¥ª¥ì¥ó¥¸

»þ´Ö¤¬Ã»¤¤¾å¤Ë¥í¥Ü¥Ã¥È¤Î¹½Â¤¤¬Ê¬¤«¤ê¤Å¤é¤¤¤È¤¤¤¦µ´¤Î¤è¤¦¤Ê²ÝÂê¤À¤Ã¤¿¡£¤È¤·¤¾¤¦¤Ë¥Û¡¼¥à¥Ú¡¼¥¸¤ÎºîÀ®¤òÂçÉôʬǤ¤»¤Æ¤·¤Þ¤Ã¤¿¤Î¤¬¿´¶ì¤·¤¤¡£

¥³¥á¥ó¥È

¥³¥á¥ó¥È¤ò¤É¤¦¤¾¡ª



źÉÕ¥Õ¥¡¥¤¥ë: fileÁõŶ£².JPG 291·ï [¾ÜºÙ] fileÁõŶ£±.JPG 285·ï [¾ÜºÙ] fileÁ°£³.JPG 277·ï [¾ÜºÙ] fileÁ°£².JPG 334·ï [¾ÜºÙ] fileÁ°£±.JPG 310·ï [¾ÜºÙ] file½Æ¿È.JPG 298·ï [¾ÜºÙ] file¥»¥ó¥µ¡¼Éô.JPG 282·ï [¾ÜºÙ]

¥È¥Ã¥×   ÊÔ½¸ Åà·ë º¹Ê¬ ÍúÎò źÉÕ Ê£À½ ̾Á°Êѹ¹ ¥ê¥í¡¼¥É   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS
Last-modified: 2010-07-30 (¶â) 17:50:28