Ìܼ¡

¥á¥ó¥Ð¡¼

¡¦snowdrop¡Ä¤³¤Î¥Ú¡¼¥¸¤Î¼¹É®¼Ô¡£¼ç¤Ë¥¢¡¼¥à¤Î²þÎɤȡ¢¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç¥¢¡¼¥à¤ò¾å¤²¤ë¤Þ¤Ç¤Î ¥×¥í¥°¥é¥à¤ÎºîÀ®¤òôÅö¡£

¡¦bosoo¡Ä¼ç¤Ë¥í¥Ü¥Ã¥ÈËÜÂΤòºî¤ë¤Ë¤¢¤¿¤Ã¤Æ¤Î¥¢¥¤¥Ç¥£¥¢¤ò½Ð¤·¤Æ¤¯¤ì¤Þ¤·¤¿¡£

¡¦saborijini¡Ä¥×¥í¥°¥é¥àºîÀ®¤È¥í¥Ü¥Ã¥ÈËÜÂΤÎÊý¸þÀ­¤Î·èÄꡦºîÀ®¤òôÅö¡£

¡¦hodaka¡Ä»æ¥³¥Ã¥×¤ò¤É¤¦¤Ä¤«¤á¤ÐÎɤ¤¤«¡¢²ÝÂê¤ò¥¯¥ê¥¢¤¹¤ë¤¿¤á¤Î¥¢¥¤¥Ç¥£¥¢Ã´Åö¡£¤³¤Î¹ÖµÁ¤ÎÁ°È¾¤Ç¤Ï¤È¤Æ¤â¤ªÀ¤Ïäˤʤê¤Þ¤·¤¿¡£

²ÝÂê¤Ë¤Ä¤¤¤Æ

[»æ¥³¥Ã¥×¼ý½¸¥í¥Ü¥Ã¥È] 2Âæ¤Î¥í¥Ü¥Ã¥È¤Ç»æ¥³¥Ã¥×¤ò¼ý½¸¤·¡¢Æ±¤¸ÈÖ¹æ¤Î½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤Ë½Å¤Í¤ë¡£

2014a-mission2.png

[¥Õ¥£¡¼¥ë¥É¤ÎÀâÌÀ]◦

¾å¿Þ¤Î¤è¤¦¤Ë¡¢¥Õ¥£¡¼¥ë¥É¤Ï²ÝÂê1¤Ç»ÈÍѤ·¤¿»æ¤ò2Ëç¤Ä¤Ê¤®¹ç¤ï¤»¤ë (¾ÜºÙ¤Ê¿ÞÌ̤Ï2014a/Mission1¤ò»²¾È¤Î¤³¤È)¡£

¿Þ¤Î±¦È¾Ê¬¤Î²«¿§¤¤ÃÏÅÀ¤Ë¤Ï¡¢¤½¤Î¿ô»ú¤ÈƱ¤¸¿ô»ú¤¬½ñ¤¤¤Æ¤¢¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤Æ¤¤¤ë¡£

¤Þ¤¿º¸È¾Ê¬¤ÎA,B,C¤ÎÃÏÅÀ¤Ë¤â1¤«¤é3¤Þ¤Ç¤Î¿ô»ú¤¬½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤Æ¤¤¤ë¤¬¡¢ ¤É¤Î¥³¥Ã¥×¤ò¤É¤ÎÃÏÅÀ¤ËÃÖ¤¯¤«¤ÏľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ¥é¥ó¥À¥à¤Ë·è¤á¤ë¡£

[´ðËܥ롼¥ë]

◦¶¥µ»»þ´Ö¤Ï¿³È½¤¬Â³¹ÔÉÔǽ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¡¢¤¢¤ë¤¤¤Ï¥ê¥¿¥¤¥¢¤¹¤ë¤Þ¤Ç¡£

◦¿Þ¤Î±¦¾å¤Î¥¹¥¿¡¼¥È¥¨¥ê¥¢¤«¤é¥¹¥¿¡¼¥È¤¹¤ë(²ÝÂê1¤ÈƱ¤¸)¡£ÀÜÃϤ·¤Æ¤¤¤ëÉôʬ¤¬¥¹¥¿¡¼¥È¥¨¥ê¥¢Æâ¤ËÆþ¤Ã¤ÆÆþ¤ì¤Ð¤è¤¤¡£

◦¿Þ¤Îº¸È¾Ê¬¤Ë¤¢¤ë»æ¥³¥Ã¥×¤ò½¸¤á¤Æ¡¢¤½¤ì¤¾¤ì±¦È¾Ê¬¤Ë¤¢¤ëƱ¤¸ÈÖ¹æ¤Î»æ¥³¥Ã¥×¤Ë½Å¤Í¤ë¡£

◦±¦È¾Ê¬¤Î»æ¥³¥Ã¥×¤Ï10cmÆâ¤Î°ÜÆ°¤Ïǧ¤á¤ë¡£

◦³«»Ï¤Î¹ç¿Þ¤«¤é£µÉðÊÆâ¤Ë¥¹¥¿¡¼¥È¥Ü¥¿¥ó¤ò²¡¤¹ºî¶È¤ò´°Î»¤¹¤ë¤³¤È¡£

◦¶¥µ»¤¬½ªÎ»¤¹¤ë¤Þ¤Ç¡¢¥í¥Ü¥Ã¥È¤Ë¿¨¤Ã¤¿¤ê¿Í´Ö¤¬±ó³Ö¤ÇÁàºî¤·¤Æ¤Ï¤Ê¤é¤Ê¤¤¡£

◦ÅÓÃæ¤Ç¤¦¤Þ¤¯Æ°¤«¤Ê¤¯¤Ê¤Ã¤¿¾ì¹ç¡¢£±²ó¸Â¤êºÆ¥¹¥¿¡¼¥È¤¹¤ë¤³¤È¤¬¤Ç¤­¤ë¡ÊºÆ¥¹¥¿¡¼¥È¤ÎºÝ¤ËÊÌ¥×¥í¥°¥é¥à¤Çµ¯Æ°¤·¤Æ¤è¤¤¡Ë¡£

»æ¥³¥Ã¥×¤Î°ÌÃ֤ηè¤áÊý¡¢µ»½ÑÅÀ¤Î·×»»ÊýË¡¤Ë¤Ä¤¤¤Æ¤Ï2014a/Mission2¤ò¸«¤Æ¤¯¤À¤µ¤¤¡£

¥í¥Ü¥Ã¥È

¥í¥Ü¥Ã¥ÈËÜÂÎ

robot all.JPG

¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎÁü¤Ç¤¹¡£

¥í¥Ü¥Ã¥È¤ò2¤Äºî¤ê¡¢¤½¤ì¤¾¤ì¤òÄÌ¿®¤µ¤»¤ë¤È¤¤¤¦°Æ¤âºÇ½é¤Ë½Ð¤Þ¤·¤¿¤¬

¤½¤ì¤À¤È¥×¥í¥°¥é¥à¤â2¤Äºî¤é¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤È¤¤¤¦¤³¤È¤ÇÃÇÇ°¤·¤Þ¤·¤¿¡£

¤³¤Î´°À®·Á¤Ç¤Ï¡¢¥í¥Ü¥Ã¥ÈËÜÂΡʤϤ¸¤á¤Ë¥Ü¥¿¥ó¤ò²¡¤¹Éôʬ¡Ë¤ò2ÃʽŤͤˤ·¤Æ

¤½¤Î2¤Ä¤òÄÌ¿®¤µ¤»¤ë¤³¤È¤Ë¤è¤Ã¤Æ²ÝÂê¤Î¥¯¥ê¥¢¤òÌܻؤ·¤Þ¤¹¡£

ÄÌ¿®¤Ë¤Ä¤¤¤Æ¤Ï¸å¤Î¥×¥í¥°¥é¥à¤Ç¾Ü¤·¤¯ÀâÌÀ¤·¤Þ¤¹¡£

¥¢¡¼¥à

arm.JPG

»ä¤¬°ìÈÖÎϤòÃí¤¤¤À¤Î¤¬¥¢¡¼¥à¤Î²þÎɤǤ¹¡£¾å¤Î¼Ì¿¿¤Ï¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¥¢¡¼¥à¤ò²£¤«¤é¸«¤¿¿Þ¤Ç¤¹¡£

¡Ö¥³¥Ã¥×¤ò¤Ä¤«¤à¢ª¤Ä¤«¤ó¤À¾õÂ֤Τޤޥ¢¡¼¥à¤ò¾åÊý¤ËÆ°¤«¤¹¡×¤È¤¤¤¦Æ°ºî¤¬É¬Íפˤʤë¤Î¤Ç

¥³¥Ã¥×¤ò¤Ä¤«¤à¤¿¤á¤Î¥â¡¼¥¿¡¼¤È¤½¤Î¥â¡¼¥¿¡¼¤ò¾å¤Ë¤¢¤²¤ë¤¿¤á¤Î¥â¡¼¥¿¡¼2¤Ä¤òÀܳ¤·¤Þ¤·¤¿¡£

¥¢¡¼¥à¤È¥â¡¼¥¿¡¼¤ò¹ç¤ï¤»¤¿¤â¤Î¤¬°Õ³°¤È½Å¤¿¤¤¤¿¤á¡¢ÌäÂêÅÀ¤¬Æó¤Ä¤¢¤ê¤Þ¤·¤¿¡£

¡¡­¡¥³¥Ã¥×¤ò¤Ä¤«¤à»þ¡¢½ÅÎϤˤè¤ê¾å¢ª²¼¤ÎÆ°¤­¤¬Â®¤¹¤®¤Æ¥³¥Ã¥×¤òÀµ³Î¤Ë¤Ä¤«¤ß¤Å¤é¤¤

¡¡­¢¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À¸å¡¢¥¢¡¼¥à¤È¥â¡¼¥¿¡¼¤ò¾å¤Ë¤¢¤²¤ë¤³¤È¤¬º¤Æñ

»î¹Ôºø¸í¤Î·ë²Ì¡¢¥¢¡¼¥à¤òÆ°¤«¤¹¤¿¤á¤Î¥â¡¼¥¿¡¼¤È¤½¤Î¥â¡¼¥¿¤òÆ°¤«¤¹¤¿¤á¤Î¥â¡¼¥¿¡¼¤Ë

ÎØ¥´¥à¤ò¼è¤êÉÕ¤±¤ë¤³¤È¤Ç²ò·è¤·¤Þ¤·¤¿¡£¡Ê¾å¤Î¼Ì¿¿¤Ç¤Ï±¦Â¦¤Ë¤¢¤ë¡¢À֤Ȳ«¿§¤ÎÎØ¥´¥à¤Ç¤¹¡Ë

¤Á¤Ê¤ß¤Ë¡¢ÎØ¥´¥à¤ÏÉôÉÊÈ¢¤ÎÃæ¤ËÆþ¤Ã¤Æ¤¤¤¿¤â¤Î¤ò»ÈÍѤ·¤Þ¤·¤¿¡£

¤³¤ì¤ò¤Ä¤±¤ë¤³¤È¤Ç¡¢¥¢¡¼¥à¤¬²¼¤¬¤ë¤È¤­¤Ï¡Ö¾å¢ª²¼¡×¤ÎÆ°ºî¤¬ÍÞÀ©¤µ¤ì¤Æ¥³¥Ã¥×¤ò¤Ä¤«¤ß¤ä¤¹¤¯¤Ê¤ê¡¢

¥¢¡¼¥à¤ò¾å¤²¤ë¤È¤­¤Ï¿­¤Ó¤Æ¤¤¤ëÎØ¥´¥à¤ÎÃÆÀ­Îϡʤâ¤È¤ËÌá¤í¤¦¤È¤¹¤ëÎϡˤ¬Æ¯¤¤¤Æ¥¢¡¼¥à¤¬´Êñ¤Ë»ý¤Á¾å¤¬¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡ª

catch.JPG

»æ¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À»þ¤Î¼Ì¿¿¤Ç¤¹¡£

½é´ü¤Ï»ä¤Î¥°¥ë¡¼¥×¤¬²ÝÂê1¤ÇºîÀ®¤·¤¿¡¢º¸±¦¤«¤éʪÂΤò¤Ï¤µ¤à¥¿¥¤¥×¤Î¥¢¡¼¥à¤À¤Ã¤¿¤Î¤Ç¤¹¤¬(¾Ü¤·¤¯¤Ï2014a/Member/snowdrop/Mission1¤ò»²¾È¡Ë

¥³¥Ã¥×¤ò3ÅÀ¤Ç¤Ä¤«¤à¤Î¤¬°ÂÄꤷ¤Æ¤¤¤¿¤¿¤á¤³¤Î·Á¤Ë¤Ê¤ê¤Þ¤·¤¿¡£¡Ê¼Ì¿¿¤Ç¤Ï¸«¤¨¤Þ¤»¤ó¤¬±¦Â¦¤Î¥¿¥¤¥ä¤Î±ü¤Ë¤â¤¦°ì¤Ä¥¿¥¤¥ä¤¬¤¢¤ê¤Þ¤¹¡Ë

¥³¥Ã¥×¤ò¤Ä¤«¤ó¤Ç¤¤¤ëÉôʬ¤Î¥¿¥¤¥ä¤ÏË໤¤¬Â礭¤¤¤Î¤Ç¥³¥Ã¥×¤¬³ê¤é¤º¤Ë¤Ä¤«¤à¤³¤È¤¬¤Ç¤­¤Þ¤¹¡£

¥»¥ó¥µ¡¼

sensor.JPG

²ÝÂê¤ò¥¯¥ê¥¢¤¹¤ë¤Ë¤¢¤¿¤Ã¤Æ¡¢¼Ì¿¿²¼Êý¤Ë¤¢¤ë¥é¥¤¥È¥»¥ó¥µ¤È¾ðÊó¤Ë¤¢¤ëĶ²»ÇÈ¥»¥ó¥µ¤Î2¤Ä¤ò»ÈÍѤ·¤Þ¤·¤¿¡£

¥é¥¤¥È¥»¥ó¥µ¤Ï¥í¥Ü¥Ã¥È¤Ë¹õÀþ¤Î¾å¤ò°ÜÆ°¤µ¤»¤ë¤¿¤á¤Î¤â¤Î¤Ç¤¹¡£¡Ê²ÝÂê1¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤òƱ¤¸Í×ÎΡË

Ķ²»ÇÈ¥»¥ó¥µ¤Ï¤³¤Î²ÝÂê¤Ç½é¤á¤Æ»È¤¤¤Þ¤·¤¿¤¬¡¢¥³¥Ã¥×¤¬¤¢¤ë¤«Ìµ¤¤¤«¤ò¼±Ê̤¹¤ë¤¿¤á¤Î¤â¤Î¤Ç¤¹¡£

¤³¤Î²ÝÂê¤Ç¤Ï¡Ö¤É¤³¤Ë¥³¥Ã¥×¤¬¤¢¤ë¤Î¤«¡×¤ò¥í¥Ü¥Ã¥È¤Ëǧ¼±¤µ¤»¤ë¤Î¤¬¤È¤Æ¤â½ÅÍפˤʤäƤ¯¤ë¤Î¤Ç ¤³¤Î¥»¥ó¥µ¤òÍøÍѤ·¤Þ¤·¤¿¡£

light sensor.JPG

2¤Ä¤Î¥»¥ó¥µ¡¼¤ò²£¤«¤é¸«¤¿¼Ì¿¿¤Ç¤¹¡£

¥³¡¼¥É¤¬Í¾¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç¡¢¥í¥Ü¥Ã¥È¤ÎÆ°ºî¤Î¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤¤è¤¦¤°¤ë¤°¤ë´¬¤­¤Ä¤±¤Æ¤¤¤Þ¤¹¡£

Ķ²»ÇÈ¥»¥ó¥µ¤Î°ÌÃÖ¤¬¼ã´³¹â¤á¤Ê¤Î¤Ç¡¢¤½¤Î¹â¤µ¤Ë¤¢¤Ã¤¿Â礭¤á¤Î»æ¥³¥Ã¥×¤òÍÑ°Õ¤·¤Þ¤·¤¿¡£

¿Æµ¡¡Ê¥Þ¥¹¥¿¡¼¡Ë¤Î¥×¥í¥°¥é¥à

º£²ó¡¢»ä¤Ï¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Ï¤Û¤Ü¥Î¡¼¥¿¥Ã¥Á¤Ç¤·¤¿¡£

²¿¤È¤«Íý²ò¤Ï¤Ç¤­¤Þ¤·¤¿¤¬¡¢¾Ü¤·¤¯ÃΤꤿ¤¤Êý¤Ïsaborijini¤Î¥Ú¡¼¥¸2014a/Member/saborijini/Mission2¤ò¸«¤Æ¤â¤é¤Ã¤¿¤Û¤¦¤¬Îɤ¤¤È»×¤¤¤Þ¤¹¡£

£²Âæ¤Î¥í¥Ü¥Ã¥ÈËÜÂΤò»ÈÍѤ·¤Æ¡¢¤½¤Î£²¤Ä¤ËÄÌ¿®¤µ¤»¤Æ¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

ºÇ½é¤Ï¿Æµ¡¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤ÆÀâÌÀ¤·¤Þ¤¹¡£

ÄêµÁ

¤Þ¤º¤Ï#define¤ÇÄêµÁ¤·¤¿¤â¤Î¤Î³Îǧ¤Ç¤¹¡£

#define black 36
#define speed 35
#define A 38
#define B 65

black¤Ï¹õÀþ¤ÈÇòÀþ¤Î¶­³¦Ãͤò¼¨¤·¤Æ¤¤¤Þ¤¹¡£²ÝÂê1¤Ç¤ä¤Ã¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈƱ¤¸¤Ç¤¹¤Í¡£

speed¤ÏÃÙ¤á¤Î35¤ËÀßÄꤷ¤Æ¤¤¤Þ¤¹¡£

¤Þ¤¿¡¢º£²ó¤ÏÃ㿧¤¤»æ¥³¥Ã¥×¤ÈÇò¤¤»æ¥³¥Ã¥×¡¢¤½¤Î¦Ì̤ò¹õ¤¯Åɤ俤â¤Î¤Î3¼ïÎà¤ò»È¤¤¤Þ¤·¤¿¡£

A¤Ï¹õ¥³¥Ã¥×¤òÃ㥳¥Ã¥×¤Î¶­³¦ÃÍ¡¢B¤ÏÃ㥳¥Ã¥×¤ÈÇò¥³¥Ã¥×¤Î¶­³¦ÃͤòÄêµÁ¤·¤Æ¤¤¤Þ¤¹¡£

¥»¥ó¥µ¡¼¡¢ÊÑ¿ô

º£²ó»È¤Ã¤¿¥»¥ó¥µ¡¼¤ÈÊÑ¿ô¤ÎÀßÄê¤Ç¤¹¡£

task main()
{
SetSensorLight(S1);
SetSensorLight(S4);
SetSensorLowspeed(S3);

º£²ó¤Ï¸÷¥»¥ó¥µ2¤Ä¤ÈĶ²»ÇÈ¥»¥ó¥µ¤ò1¤Ä»È¤¤¤Þ¤·¤¿¡£

1¤Ë¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤθ÷¥»¥ó¥µ¡¢4¤Ë¤Ï»æ¥³¥Ã¥×¦Ì̤理òǧ¼±¤¹¤ë¥»¥ó¥µ¡Ê¹õorÇòorÃ㿧¡Ë¡¢

3¤Ë¤Ï¥³¥Ã¥×¤È¥í¥Ü¥Ã¥È¤È¤Îµ÷Î¥¤òȽÃǤ¹¤ë¤¿¤á¤ÎĶ²»ÇÈ¥»¥ó¥µ¤òÇÛÀþ¤·¤Æ¤¢¤ê¤Þ¤¹¡£

int msg;

msg¤È¤¤¤¦ÊÑ¿ô¤òÍѤ¤¤Þ¤·¤¿¡£¤Î¤Á¤Î¥×¥í¥°¥é¥à¤ÇÀâÌÀ¤·¤Þ¤¹¡£

¥×¥í¥°¥é¥àËÜÂÎ

¤Ç¤Ï¡¢¥í¥Ü¥Ã¥È¤ÎÆ°ºî¤ËÆþ¤Ã¤Æ¤¤¤­¤Þ¤·¤ç¤¦¡£

until(BluetoothStatus(1) == NO_ERR);  //»Òµ¡¤È¤ÎÄÌ¿®¤¬¾å¼ê¤¯¤¤¤Ã¤Æ¤¤¤ë¤È
RemotePlayTone(1,440,1000);¡¡¡¡¡¡¡¡¡¡//¥Ô¡¼¤Ã¤È²»¤¬ÌĤë

¤â¤·ÄÌ¿®¤¬ÀÚ¤ì¤Æ¤¤¤¿¤é¡¢¥í¥Ü¥Ã¥È¤Ï¤³¤ì°Ê¹ß¤ÎÆ°ºî¤ò¼Â¹Ô¤·¤Þ¤»¤ó¡£

¥í¥Ü¥Ã¥È¤É¤¦¤·¤ÎÄÌ¿®¾õ¶·¤ò³Îǧ¤¹¤ë¤Î¤ËÎɤ¤¼êÃʤÀ¤È»×¤¤¤Þ¤¹¡£

Off(OUT_BC);   //1.2ÉÃ¥í¥Ü¥Ã¥ÈÄä»ß
Wait(1200);

²»¤¬ÌĤäƤ¤¤ë´Ö¤Ï¥í¥Ü¥Ã¥È¤ÏÆ°¤«¤Ê¤¤¤³¤È¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

OnFwdSync(OUT_BC,speed,0);¡¡¡¡//£²¤Ä¤Î¥â¡¼¥¿B,C¤ò¥·¥ó¥¯¥í¤µ¤»¤Æľ¿Ê
until(SENSOR_1 < black);¡¡¡¡¡¡//¹õÀþ¤ËÅþ㤷¤¿¤é¡¡
PlaySound(SOUND_CLICK);¡¡¡¡¡¡//²»¤¬ÌĤë

»öÁ°¤Ë»þ´Ö¤ò·è¤á¤Æ¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¤Î¤Ç¤Ï¤Ê¤¯¡¢until¤òÍøÍѤ¹¤ë¤³¤È¤Ç¤è¤êÀµ³Î¤ÊÆ°¤­¤¬´üÂԤǤ­¤Þ¤¹¡£

Off(OUT_BC);¡¡¡¡//0.5ÉÃÄä»ß
Wait(500);
OnFwdSync(OUT_BC,speed,0); //0.4ÉÃÁ°¿Ê
Wait(400);
PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë

¤³¤ì¤ÇºÇ½é¡Ê¥¹¥¿¡¼¥È°ÌÃ֡ˤιõÀþ¤ÎÏȤò²£ÃǤ·¤Þ¤·¤¿¡£

Off(OUT_BC);  //0.5ÉÃÄä»ß
Wait(500);
OnFwdSync(OUT_BC,speed,0);  //¥í¥Ü¥Ã¥ÈÁ°¿Ê
until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç
PlaySound(SOUND_CLICK);¡¡¡¡//Åþ㤹¤ë¤È¥Ô¥Ã¤È²»¤¬ÌĤë

£²ËçÌܤλæ¤Î¹õÀþ¤ÎÏȤ˸þ¤«¤¤¤Þ¤¹¡£

Off(OUT_BC);   //²»¤¬ÌĤ俤ΤÁ0.5ÉÃÄä»ß
Wait(500);
OnFwd(OUT_B,speed);  //B¡Ê±¦¥¿¥¤¥ä¡Ë¤¬Á°Å¾¡¢C¡Êº¸¥¿¥¤¥ä¡Ë¤¬¸åž¢ªº¸Àû²ó
OnRev(OUT_C,speed);
until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç
PlaySound(SOUND_CLICK);¡¡¡¡¡¡//Åþ㤹¤ë¤È¥Ô¥Ã¤È²»¤¬ÌĤë

¥í¥Ü¥Ã¥È¤¬¹õÀþ¾å¤Ë¤¢¤ë¾õÂ֤Ǻ¸Àû²ó¤·¤Þ¤¹¡£¤Û¤Ü£¹£°ÅÙÀû²ó¤·¡¢¥í¥Ü¥Ã¥È¤Ïº¸¸þ¤­¤Ë¤Ê¤ê¤Þ¤¹¡£

Off(OUT_BC);    //0.7ÉÃÄä»ß
Wait(700);
OnFwd(OUT_B,speed);¡¡¡¡//0.18Éú¸Àû²ó
OnRev(OUT_C,speed);
Wait(180);
PlaySound(SOUND_CLICK);  //¥Ô¥Ã¤È²»¤¬ÌĤë

¤³¤ì¤ÏÈùÄ´À°¤Î¤¿¤á¤ÎÀû²ó¤Ç¤¹¡£

Off(OUT_BC);        //0.5ÉÃÄä»ß
Wait(500);
OnFwdSync(OUT_BC,speed,0);  //1.1ÉÃÁ°¿Ê
Wait(1100);
PlaySound(SOUND_CLICK);  //¥Ô¥Ã¤È²»¤¬ÌĤë

¹õÀþ¤Î¾å¤Ë¤¤¤ë¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤Æ¹õÀþ¤Î³°¤Ë½Ð¤·¤Þ¤¹¡£

Off(OUT_BC);           //0.5ÉÃÄä»ß
Wait(500);
OnFwdSync(OUT_BC,speed,0);¡¡¡¡//¥í¥Ü¥Ã¥ÈÁ°¿Ê
until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç
PlaySound(SOUND_CLICK);¡¡¡¡//Åþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
Off(OUT_BC);                //0.5ÉÃÄä»ß 
Wait(500);
OnFwdSync(OUT_BC,speed,0);  //0.5ÉÃÁ°¿Ê
Wait(500);
PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë

¤³¤³¤Þ¤Ç¤Ç1²ó¹õÀþ¤ò²£ÃǤ·¤Æ¤¤¤Þ¤¹¡£

Off(OUT_BC);              //0.5ÉÃÄä»ß
Wait(500);
OnFwdSync(OUT_BC,speed,0);¡¡//¥í¥Ü¥Ã¥ÈÁ°¿Ê
until(SENSOR_1 < black);¡¡¡¡//¹õÀþ¤ËÅþ㤹¤ë¤Þ¤Ç
PlaySound(SOUND_CLICK);¡¡ //Åþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë

¡¡

Off(OUT_BC);           //²»¤¬ÌĤ俸å0.5ÉÃÄä»ß
Wait(500);    
OnFwdSync(OUT_BC,speed,0); //0.6ÉÃÁ°¿Ê
Wait(600);
PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë
Off(OUT_BC);              //0.5ÉÃÄä»ß
Wait(500);

¤³¤ì¤¬2²ó¤á¤Î¹õÀþ¤Î²£ÃǤˤʤê¤Þ¤¹¡£

¤³¤Î»þÅÀ¤Ç¡¢¥í¥Ü¥Ã¥È¤Ï2Ëç¤Î»æ¤ò½ÄÃǤ·¤Æ¤¤¤ë¹õÀþ¾å¤Ë¤¢¤ê¤Þ¤¹¡£

OnFwd(OUT_B,speed);        //º¸Àû²ó
OnRev(OUT_C,speed);
until(SENSOR_1 < black);¡¡//¹õÀþ¾å¤ËÍè¤ë¤Þ¤Ç
PlaySound(SOUND_CLICK);¡¡//¹õÀþ¾å¤ËÅþ㤷¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
Off(OUT_BC);             //0.5ÉÃÄä»ß
Wait(500);

¤³¤ì¤Ç¥³¥Ã¥×¤ÎÌܤÎÁ°¤Þ¤Ç¥í¥Ü¥Ã¥È¤¬Íè¤Þ¤¹¡£

OnRevSync(OUT_BC,speed,0);  //2Éøå¿Ê
Wait(2000);

¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬¶á¤¹¤®¤ë¤¿¤á¡¢¤¤¤Ã¤¿¤ó²¼¤¬¤ê¤Þ¤¹¡£

OnFwdSync(OUT_BC,speed,0);  //¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬12¥»¥ó¥Á°Ê²¼¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê
until(SensorUS(S3) <= 12);

Ķ²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ¥³¥Ã¥×¤ò¤Ä¤«¤à¤Î¤ËºÇŬ¤Ê12¥»¥ó¥Á¤Þ¤Ç¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤Þ¤¹¡£

Off(OUT_BC);  //0.1ÉÃÄä»ß
Wait(100);
RemoteStartProgram(1,"z_slave.rxe"); //»Òµ¡¤ÈÄÌ¿®

¤³¤Î¸å¡¢¿Æµ¡¤È»Òµ¡¤¬ÄÌ¿®¤·¤Æ¥×¥í¥°¥é¥à¡Öz_slave.rxe¡×¤ò»Òµ¡¤Ë¼Â¹Ô¤µ¤»¤Þ¤¹¡£

¸å¤Ë¾Ò²ð¤¹¤ë»Òµ¡¤Î¥×¥í¥°¥é¥à¤ò¸«¤ë¤Èʬ¤«¤ê¤Þ¤¹¤¬¡¢¤³¤ì¤Ï¥¢¡¼¥à¤ò²¼¤²¤Æ¥³¥Ã¥×¤ò¤Ä¤«¤ß¡¢

ºÆ¤Ó¥¢¡¼¥à¤ò¾å¤²¤ëÆ°ºî¤Ç¤¹¡£

while(msg != 11){           //»Òµ¡¤«¤é11¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤Ã¤¿¤é
ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡//¿Æµ¡Æâ¤ÎMAILBOX1¤ò¶õ¤Ë¤¹¤ë¡Êtrue)
}
PlaySound(SOUND_CLICK);        //¥Ô¥Ã¤È²»¤¬ÌĤë

»Òµ¡¤¬¤­¤Á¤ó¤ÈÆ°ºî¤ò¤·¤¿¤³¤È¤ò²»¤Ç³Îǧ¤·¤Æ¡¢¼¡¤ÎÆ°ºî¤Ë°Ü¤ê¤Þ¤¹¡£

°Ê²¼¤Ï¡¢¥³¥Ã¥×¤Î¿§¤Ë¤è¤Ã¤Æ¥í¥Ü¥Ã¥È¤ÎÆ°¤­¤¬ÊѤï¤ê¤Þ¤¹¡£

if(SENSOR_4 < A){       //¥³¥Ã¥×¤¬¹õ¤À¤Ã¤¿»þ¡¡
OnFwdSync(OUT_BC,speed,0);¡¡ //¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¡¡
until(SensorUS(S3) <= 18);
Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
Wait(100);
RemoteStartProgram(1,"z_slave-2.rxe");¡¡¡¡//»Òµ¡¤ÈÄÌ¿®

¥³¥Ã¥×¤¬¹õ¤Î¾ì¹ç¤Ë¤Ï1¤Ë±¿¤Ö¤Î¤ÇÁ°¿Ê¤µ¤»¡¢¥×¥í¥°¥é¥à¡Öz_slave-2.rxe¡×¤ò»Òµ¡¤Ë¼Â¹Ô¤µ¤»¤Þ¤¹¡£

¤³¤ì¤Ï¥³¥Ã¥×¤ò»ý¤Ã¤¿¥¢¡¼¥à¤ò²¼¤²¤Æ¥³¥Ã¥×¤ò½Å¤Í¤ëÆ°ºî¤Ç¤¹¡£

while(msg != 12){               //12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò»Òµ¡¤«¤é¼õ¤±¼è¤Ã¤¿¤é
ReceiveRemoteNumber(MAILBOX1,true,msg);  //MAILBOX1¤ò¶õ¤Ë¤¹¤ë¡¡
}
PlaySound(SOUND_CLICK);¡¡¡¡¡¡//¥Ô¥Ã¤È¤¤¤¦²»¤¬ÌĤë
}else if(SENSOR_4 < B){        //¥³¥Ã¥×¤¬Ã㿧¤Î»þ
OnFwdSync(OUT_BC,speed,0);¡¡¡¡//2ÉÃÁ°¿Ê¡¡
Wait(2000);
PlaySound(SOUND_CLICK);¡¡¡¡  //¥Ô¥Ã¤È²»¤¬ÌĤë
Off(OUT_BC);                 //0.5ÉÃÄä»ß
Wait(500);
OnFwd(OUT_B,speed);¡¡¡¡¡¡¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤Çº¸Àû²ó
OnRev(OUT_C,speed);
until(SensorUS(S3) < 18);
PlaySound(SOUND_CLICK);¡¡¡¡//µ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤ롡
Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
Wait(100);
RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿®¡¢¥³¥Ã¥×¤ò½Å¤Í¤ë 

Ã㿧¤Î¥³¥Ã¥×¤Î¾ì¹ç¤Ïº¸Àû²ó¤·¤Æ½Å¤Í¤ë¥³¥Ã¥×¤òõ¤·¤Þ¤¹¡£

while(msg != 12){              //»Òµ¡¤«¤é12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤Ã¤¿¤é
ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡//MAILBOX1¤ò¶õ¤Ë¤¹¤ë
}
PlaySound(SOUND_CLICK);¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë
}else{                     //¤½¤ì°Ê³°¡Ê¥³¥Ã¥×¤¬Çò¡Ë¤Î¤È¤­
OnFwdSync(OUT_BC,speed,0);¡¡//6ÉÃÁ°¿Ê
Wait(6000);
OnFwd(OUT_B,speed);¡¡¡¡¡¡¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬30¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÀû²ó
OnRev(OUT_C,speed);
until(SensorUS(S3) < 30);
PlaySound(SOUND_CLICK);¡¡¡¡//30¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
Wait(100);
OnFwdSync(OUT_BC,speed,0);¡¡//¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬18¥»¥ó¥Á¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê¡¡
until(SensorUS(S3) <= 18);¡¡//18¥»¥ó¥Á¤Ë¤Ê¤Ã¤¿¤é¥Ô¥Ã¤È²»¤¬ÌĤë
Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
Wait(100);
RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿®
Off(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.1ÉÃÄä»ß
Wait(100);
RemoteStartProgram(1,"z_slave-2.rxe");¡¡//»Òµ¡¤ÈÄÌ¿®
while(msg != 12){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
ReceiveRemoteNumber(MAILBOX1,true,msg);
}
PlaySound(SOUND_CLICK);
}
}

¥³¥Ã¥×¤¬Çò¤¤¾ì¹ç¡¢¿Þ¤Î¥³¥Ã¥×3¤ò¤Ä¤«¤à¤¿¤á¤Ë¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤Þ¤¹¡£

¥³¥Ã¥×¤Ë¶á¤Å¤¤¤¿¸å¤ÎÆ°ºî¤ÏA.B¤ÈƱ¤¸¤Ç¤¹¡£

¥¹¥é¡¼¥Ö¡Ê»Òµ¡¡Ë¤Î¥×¥í¥°¥é¥à

task main()
{ 
PlaySound(SOUND_CLICK);            //¥Ô¥Ã¤È²»¤¬ÌĤë
OnFwd(OUT_A,70);                  //2.8ÉÃ¥¢¡¼¥à¤ò²¼¤²¤ë
Wait(2800);
Off(OUT_A);¡¡
OnRev(OUT_C,20);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//0.8Éäǥ³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî
Wait(800);
Off(OUT_C);
OnRev(OUT_A,60);¡¡¡¡¡¡¡¡¡¡//2.8ÉÃ¥¢¡¼¥à¤ò¾å¤²¤ë
Wait(2800);
Off(OUT_A);
SendResponseNumber(MAILBOX1,11);¡¡//¿Æµ¡¤Ë11¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë
Wait(1000);
PlaySound(SOUND_CLICK);¡¡¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë
}

¤³¤ì¤Ï¥³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî¤Ç¤¹¡£

task main()
{
PlaySound(SOUND_CLICK);     //¥Ô¥Ã¤È²»¤¬ÌĤë
OnFwd(OUT_A,60);¡¡¡¡¡¡¡¡¡¡¡¡//0.9ÉÃ¥¢¡¼¥à¤ò²¼¤²¤ë
Wait(900);
Off(OUT_A);¡¡
OnFwd(OUT_C,20);¡¡¡¡¡¡¡¡¡¡//0.7Éäǥ³¥Ã¥×¤ò¥¢¡¼¥à¤«¤éÎ¥¤¹
Wait(700);
Off(OUT_C);
OnRev(OUT_A,80);¡¡¡¡¡¡¡¡//1.8ÉÃ¥¢¡¼¥à¤ò¾å¤²¤ë
Wait(1800);
Off(OUT_A);
SendResponseNumber(MAILBOX1,12);¡¡//¿Æµ¡¤Ë12¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë
Wait(1000);
PlaySound(SOUND_CLICK);¡¡¡¡//¥Ô¥Ã¤È²»¤¬ÌĤë
}

¤³¤ì¤Ï¥³¥Ã¥×¤ò½Å¤Í¤ëÆ°ºî¤Ç¤¹¡£

È¿¾Ê

²ÝÂꣲ¤Ç¤Ï4¿Í¥°¥ë¡¼¥×¤Ç¤Î¼è¤êÁȤߤÀ¤Ã¤¿¤Î¤Ç¤¹¤¬¡¢1¿Í¤Î¿Í¤ËÉéô¤ò¤«¤Ö¤»¤Æ¤·¤Þ¤¤

¼«Ê¬¤¬¹×¸¥¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤¬Â礭¤ÊÈ¿¾ÊÅÀ¤Ç¤¹¡£´üËö»î¸³¤Î´ü´Ö¤ËÆþ¤ëÁ°¤Ë4¿ÍÁ´°÷¤ÇÌäÂêÅÀ¤ò

À°Íý¤·¡¢°ì¿Í¤Ò¤È¤ê¤ÎÌò³ä¤òÌÀ³Î¤Ë¤·¤Æ¤ª¤¯¤Ù¤­¤À¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£

¥í¥Ü¥Ã¥ÈËÜÂΤκîÀ®¤È²ÝÂê¤ò¤³¤Ê¤¹¤¿¤á¤Î²þÎɤϤä¤Ã¤Æ¤¤¤Æ¤È¤Æ¤â³Ú¤·¤«¤Ã¤¿¤Ç¤¹¡£

¥×¥í¥°¥é¥ß¥ó¥°¤ÎÌ̤Ǥϼ«Ê¬¤ÏÉÔ´°Á´Ç³¾Æ¤Ç¤·¤¿¤¬¡¢Íèǯ°Ê¹ß¤ÎÊÙ¶¯¤Ë¤â¤³¤Î¹ÖºÂ¤Ç³Ø¤ó¤À¤³¤È¤Ï

³è¤«¤»¤ë¤Î¤Ç¤Ï¤Ê¤¤¤«¤È»×¤¤¤Þ¤¹¡£

ÂçÊѤʤ³¤È¤â¿¤«¤Ã¤¿¤Ç¤¹¤¬¡¢Á´ÂΤȤ·¤Æ¤È¤Æ¤âÎɤ¤·Ð¸³¤Ë¤Ê¤Ã¤¿¥¼¥ß¤Ç¤·¤¿¡£


źÉÕ¥Õ¥¡¥¤¥ë: filelight sensor.JPG 259·ï [¾ÜºÙ] filesensor.JPG 212·ï [¾ÜºÙ] filecatch.JPG 261·ï [¾ÜºÙ] filearm.JPG 250·ï [¾ÜºÙ] filerobot all.JPG 238·ï [¾ÜºÙ] file2014a-mission2.png 247·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: 2014-08-18 (·î) 00:24:01