Ìܼ¡

½ñÆ»¥í¥Ü¥Ã¥È

¡Ö³Æ¼«¤Î½Ð¿ÈÃϤޤ¿¤Ï»á̾¤ÎÃæ¤Î°ìʸ»ú(7²è°Ê¾å)¤òA4ÍÑ»æ¤ÎÃæ¤Ë½ñ¤¯¡×¥í¥Ü¥Ã¥È¤òÀ½ºî¤·¤¿¡£

´°À®¤·¤¿»ú

(º¸:Îý½¬»þ¡¢»æ¤ò¸ÇÄꤷ¤¿¤È¤­) (±¦:ȯɽ»þ¡¢»æ¤ò·Ú¤¯²¡¤µ¤¨¤¿¤È¤­)

270*360,¹â(¸ÇÄê) 270*360,¹â(ËÜÈÖ)

¥í¥Ü¥Ã¥ÈËÜÂÎ

½é´ü¥í¥Ü¥Ã¥È¤Î¸å¤í¤Ë¥Ú¥ó¤ò¤Ä¤±¤¿¹½Â¤¡£¥Ú¥ó¤ÏÎØ¥´¥à¤Ç¸ÇÄꤷ¤Æ¤¢¤ë¡£

¥â¡¼¥¿A¤Ï¥Ú¥ó¤ò»ý¤Ä¥¢¡¼¥à¤Ë¡¢¥â¡¼¥¿B¤Ï±¦¤Î¥¿¥¤¥ä¤Ë¡¢¥â¡¼¥¿C¤Ïº¸¤Î¥¿¥¤¥ä¤Ë¼è¤êÉÕ¤±¤¿¡£

¥Ú¥ó¤Î°ÌÃ֤ϡ¢¥â¡¼¥¿BC¤ÎÃæ´Ö¤È°ìľÀþ¾å¤Ë¤¢¤ë¡£¤³¤ì¤¬¸å¡¹Ìò¤ËΩ¤Ã¤¿¡£

360*270,½ñÆ»¥í¥Ü¥Ã¥ÈÀµÌÌ

¥×¥í¥°¥é¥à

¥µ¡¼¥Ü¥â¡¼¥¿¤È¡¢²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô¤ò»È¤Ã¤Æ¡¢¡Ö°ÜÆ°µ÷Î¥¡×¤ä¡ÖÊý¸þÊÑ´¹¤¹¤ë³ÑÅ١פò°ú¿ô¤Ë¤È¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¤òºî¤Ã¤¿¡£¤½¤ì¤é¤òÍѤ¤¤Æ¥í¥Ü¥Ã¥È¤ò°ÜÆ°¤µ¤»¤ë¤¿¤á¡¢¥â¡¼¥¿¤ò²ó¤¹Éÿô¤Ï¹Í¤¨¤Ê¤¯¤ÆÎɤ¯¤Ê¤Ã¤¿¡£¥â¡¼¥¿¤Î²óž³ÑÅÙ¤ò»ØÄꤷ¤ÆÆ°¤«¤¹¤Î¤Ç¡¢ÅÅÃӤλÄÎ̤ˤè¤ëÆ°¤­¤ÎÊѲ½¤âÍÞ¤¨¤é¤ì¤¿(¤¢¤ëÄøÅÙ)

¥á¥¤¥ó´Ø¿ô°Ê³°¤Î¥×¥í¥°¥é¥à

¥Þ¥¯¥í¤ÎÄêµÁ

Êý¸þÊÑ´¹»þ¤Î¥¹¥Ô¡¼¥É¤Ï¡¢¥¿¥¤¥ä¤ÎË໤¤ò¸º¤é¤¹¤³¤È¤Ð¤«¤ê¹Í¤¨¤¿·ë²Ì¡¢100¤Ë¤Ê¤Ã¤¿(¤»¤¶¤ë¤òÆÀ¤Ê¤«¤Ã¤¿)¡£¤³¤Î¤»¤¤¤Ç»æ¤ò¤ª¤µ¤¨¤Ê¤±¤ì¤Ð»ú¤¬½ñ¤±¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£

#define SPEED 30       //Á°Å¾¸åž»þ¤Î¥¹¥Ô¡¼¥É
#define WRITE_SPEED 20 //»ú¤ò½ñ¤¯¤È¤­¤Î¥¹¥Ô¡¼¥É
#define TURN_SPEED 100 //Êý¸þÊÑ´¹»þ¤Î¥¹¥Ô¡¼¥É
#define PUT_ANGLE 91   //¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ë»þ¡¢¥â¡¼¥¿¤¬²óž¤¹¤ë³ÑÅÙ

¥Ú¥ó¤Î¾å¤²²¼¤²¤ò¹Ô¤¦¥Þ¥¯¥í¡Ödown¡×¤È¡Öup¡×¡£¥Ú¥ó¤òÆóÃʳ¬¤Ëʬ¤±¤Æ²¼¤í¤¹¡£°ìÃʳ¬ÌÜ(down1)¤Ç¡Ö»Ä¤ê20ÅÙ¤ÇÀÜÃϤ¹¤ë¡×³ÑÅÙ¤Þ¤ÇÁÇÁ᤯²¼¤í¤·¡¢ÆóÃʳ¬ÌÜ(down2)¤Ç¡Ö»Ä¤ê¤Î20Å١פæ¤Ã¤¯¤ê²¼¤í¤¹¡£¾å¤²¤ë¤È¤­(up)¤Ï¡¢ÁÇÁ᤯¡¢°ìµ¤¤Ë°ìÃʳ¬¤Ç¡£

#define down1() RotateMotor(OUT_A,-30,PUT_ANGLE-20) 
//¥Ú¥ó¤òÁÇÁ᤯²¼¤²¤ë(ÃÏÌ̤ˤϤĤ±¤Ê¤¤)

#define down2() RotateMotor(OUT_A,-5,20)
//¥Ú¥ó¤ò¤æ¤Ã¤¯¤êÃÏÌ̤ˤĤ±¤ë

#define up() RotateMotor(OUT_A,70,PUT_ANGLE); 
//¥Ú¥ó¤ò¾å¤²¤ë

ʸ»ú¤ÎÇÜΨ¤òÀßÄꤹ¤ë¤¿¤á¤ÎÊÑ¿ô¡Ömagni¡×

¡Ömagni¡ß°ÜÆ°µ÷Î¥¡×°ÜÆ°¤¹¤ë¡¢¤È¥×¥í¥°¥é¥à¤¹¤ë¤³¤È¤Ç¡¢¹¥¤­¤ÊÂ礭¤µ¤Çʸ»ú¤ò½ñ¤±¤ë¤è¤¦¤Ë¤¹¤ë¡£

°ÜÆ°¤Ë¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤ò»È¤Ã¤Æ¤¤¤ë¤¿¤á¡¢magni¤ò¤¢¤Á¤³¤Á¤Ë¤Ä¤±¤ëɬÍפÏ̵¤¯¡¢3¤Ä¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤±¤ë¤À¤±¤ÇºÑ¤ó¤À¡£

float magni=1.0;          //ÇÜΨ¤òÀßÄê  Îã:magni=2.0 ¢ª ʸ»ú¤ÎÂ礭¤µ¤¬2.0ÇÜ

270*360,ʸ»ú¤òmagniÇÜ ¢«Ê¸»ú¤ÎÇÜΨ¤ò0.5¢ª1.0¢ª1.5¢ª2.0¢ª2.5¤Ë¤·¤¿»þ¤ÎÂ礭¤µ¤ÎÈæ³Ó

¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô¡ÖGetAngle_d¡×¡ÖGetAngle_s¡×

¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë¤¿¤á¤Ë»È¤¦ÊÑ¿ô

float pen_to_center=17.0; //²óž¤ÎÃæ¿´(º¸±¦¤Î¥¿¥¤¥ä¤ÎÃæ´Ö)¤«¤é¥Ú¥ó¤Þ¤Ç¤Îµ÷Î¥
float diameter=5.45;	     //¥¿¥¤¥ä¤Îľ·Â(cm)
float pi=3.1415;          //±ß¼þΨ
float tire_ang;	     //¥¿¥¤¥ä¤Î²óž¤¹¤ë³ÑÅÙ(ÊÖ¤êÃÍÍÑ)

¡ÖGetAngle_d¡×... ¿Ê¤ß¤¿¤¤µ÷Î¥(cm)¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô¡Êhttp://yakushi.shinshu-u.ac.jp/robotics-jr/robotics-jr-2013.pdf¤Î31¥Ú¡¼¥¸¤Î¥×¥í¥°¥é¥à¤ò»²¹Í¤Ë¤·¤Þ¤·¤¿¡Ë

float GetAngle_d(float distance) {
        //¿Ê¤ß¤¿¤¤µ÷Î¥(cm)¡Ödistance¡×¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô

	tire_ang=(distance)/(diameter*pi)*360.0;  //³ÑÅÙ¤ò·×»»¤¹¤ë	
	return tire_ang;	                     //³ÑÅÙ¤òÊÖ¤¹(float·¿)
}

¡ÖGetAngle_s¡×... Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô(http://yakushi.shinshu-u.ac.jp/robotics-jr/robotics-jr-2013.pdf¤Î31¥Ú¡¼¥¸¤Ë¤¢¤ëÎý½¬ÌäÂê62¤ò»²¹Í¤Ë¤·¤Þ¤·¤¿)

float GetAngle_s(float spin_ang) {
	//Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¡Öspin_ang¡×¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô

	const float spin_dia=11.4;
	//¥í¥Ü¥Ã¥È¤¬¤½¤Î¾ì¤Ç1¼þ²óž¤·¤¿»þ¤Ë¡¢¥¿¥¤¥ä¤¬ÃÏÌ̤ËÉÁ¤¯±ß¤Îľ·Âspin_dia(cm)
	//spin_dia...º¸±¦¤Î¥¿¥¤¥ä¤Î´Ö³Ö

 	tire_ang=(spin_dia*spin_ang)/(diameter);
	//Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¤¹¤ë³ÑÅÙ¤ò·×»»¤¹¤ë
        //ÌóʬÁ°¤Î¼°¤Ï tire_ang=(spin_dia*pi*(spin_ang/360.0)*360.0)/(diameter*pi)
				                   
	return tire_ang;	//³ÑÅÙ¤òÊÖ¤¹(float·¿)
} 

¥í¥Ü¥Ã¥È¤òÁ°¸å¤ËÆ°¤«¤¹¥µ¥Ö¥ë¡¼¥Á¥ó¡Öforward¡×¡Öreverse¡×

¡¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öforward¡×...»ØÄꤷ¤¿µ÷Î¥(cm)¤À¤±Á°Å¾¤¹¤ë

sub forward(float fwd){
	RotateMotorEx(OUT_BC,SPEED,GetAngle_d(fwd)*magni,0,true,true);
	//fwd(cm)*magni(ÇÜΨ)Á°Å¾  
}

¡¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öreverse¡×...»ØÄꤷ¤¿µ÷Î¥(cm)¤À¤±¸åž¤¹¤ë

sub reverse(float rev) {
	RotateMotorEx(OUT_BC,-SPEED,GetAngle_d(rev)*magni,0,true,true);
	//rev(cm)*magni(ÇÜΨ)¸åž
}

GetAngle_d¤òÍѤ¤¤ë¤³¤È¤Ç¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¡Öforward¡×¡Öreverse¡×¤Ï¡ÖÁ°Å¾¸åž¤¹¤ëµ÷Î¥(cm)¡×¤ò¤½¤Î¤Þ¤Þ°ú¿ô¤Ë¤È¤ë¤³¤È¤¬¤Ç¤­¤ë¡£

»ÈÍÑÎã:3.0cm¿Ê¤ß¤¿¤¤¤È¤­ ¢ª¡¡forward(3.0)

5.0cm²¼¤¬¤ê¤¿¤¤¤È¤­¡¡¢ª¡¡reverse(5.0)

¥í¥Ü¥Ã¥È¤ò²óž¤µ¤»¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡Öturn¡×

¡¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öturn¡×...»ØÄꤷ¤¿³ÑÅÙ¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë

sub turn(float tn,int pl_mi) {	
	//tn(ÅÙ)Êý¸þÊÑ´¹

°ú¿ôpl_mi¤Ï¡¢¥í¥Ü¥Ã¥È¤¬±¦²óž¤¹¤ë¤«º¸²óž¤¹¤ë¤«¤ò·è¤á¤ë¡£

	/*pl_mi=1 ¢ª ±¦¤Þ¤ï¤ê¤Ë²óž
	  pl_mi=-1 ¢ª º¸¤Þ¤ï¤ê¤Ë²óž*/

º¸±¦¤Î¥¿¥¤¥ä¤òµÕ¸þ¤­¤Ë²ó¤¹¤³¤È¤Ç¡¢¤½¤Î¾ì¤Ç²óž¤¹¤ë¡£

	RotateMotorEx(OUT_BC,TURN_SPEED,GetAngle_s(tn),100*pl_mi,true,true);
	//º¸±¦¤Î¥¿¥¤¥ä¤ÎµÕ¸þ¤­¤Ë²ó¤¹¤³¤È¤ÇÊý¸þÊÑ´¹
	Off(OUT_BC);
	Wait(100);
}

GetAngle_s¤òÍѤ¤¤ë¤³¤È¤Ç¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¡Öturn¡×¤Ï¡Ö²óž¤¹¤ë³ÑÅ١פò¤½¤Î¤Þ¤Þ°ú¿ô¤Ë¤È¤ë¤³¤È¤¬¤Ç¤­¤ë¡£

»ÈÍÑÎã:90ÅÙ±¦²óž¤µ¤»¤¿¤¤¤È¤­¡¡¢ª¡¡turn(90,1);

¥Ú¥ó¤Î°ÌÃÖ¤òÊѤ¨¤º¤ËÊý¸þÊÑ´¹¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡Öspin_re¡×

¥µ¥Ö¥ë¡¼¥Á¥ó¡Öspin_re¡×... ¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÊѤ¨¤ë¤¬¡¢¥Ú¥ó¤Î°ÌÃÖ¤ÏÊѤ¨¤Ê¤¤

°ú¿ôpl_mi¤Ï¡¢¥í¥Ü¥Ã¥È¤¬±¦²óž¤¹¤ë¤«º¸²óž¤¹¤ë¤«¤ò·è¤á¤ë¡£

°ú¿ôspin_ang¤Ï¡¢Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¤ò·è¤á¤ë¡£

sub spin_re(float spin_ang,int pl_mi) { 
	//¡Ö¥Ú¥ó¤òÃæ¿´¤Ë¡¢spin_angÅٲ󞤹¤ë¡×(¤È¤­¤ÈƱ¤¸·ë²Ì¤Ë¤Ê¤ë)´Ø¿ô
	/*±¦¤Ë²óž¤¹¤ë¤È¤­...pl_mi=1
	  º¸¤Ë²óž¤¹¤ë¤È¤­...pl_mi=-1*/	

¡Ö¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë»þ¤ËÀ¸¤¸¤ë¸íº¹¡×¤ò½¤Àµ¤¹¤ë¤¿¤á¤Î¡Ögosa1¡×¡Ögosa2¡×

	float gosa1=0;	//±¦¤Ë²óž¤¹¤ë¤È¤­¤Î¸íº¹¡Ögosa1¡×
	float gosa2=0;	//º¸¤Ë²óž¤¹¤ë¤È¤­¤Î¸íº¹¡Ögosa2¡×
	if (pl_mi>0) {	//pl_mi>0(±¦¤Ø¤ÎÊý¸þÊÑ´¹¤Î¤È¤­)
		gosa1=0.5;	//±¦¤Ø²óž¤¹¤ë¤È¤­¤Î¸íº¹¤ò½¤Àµ¤¹¤ë
	}
	else {			//º¸¤Ø¤ÎÊý¸þÊÑ´¹¤Î¤È¤­
		gosa2=0.5;	//º¸¤Ø²óž¤¹¤ë¤È¤­¤Î¸íº¹¤ò½¤Àµ¤¹¤ë
	}

¼ÂºÝ¤ËÊý¸þÊÑ´¹¤¹¤ëÆ°ºî

       RotateMotorEx(OUT_BC,-50,GetAngle_d(pen_to_center-gosa1),0,true,true);	
 	//pen_to_center-gosa1(cm)¸åž(gosa¤Ï²óž¤Î»þ¤Î¥º¥ì¤òÄ´À᤹¤ë¤¿¤á)
 	turn(spin_ang,pl_mi);	//spin_ang(ÅÙ)²óž
	RotateMotorEx(OUT_BC,20,GetAngle_d(pen_to_center-gosa2-gosa1),0,true,true);
	//pen_to_center-gosa2-gosa1(cm)Á°Å¾
}

¡¦Êý¸þÊÑ´¹¤Î¤È¤­¡¢¥í¥Ü¥Ã¥È¤Ï¤½¤Î¾ì¤Ç²óž¤¹¤ë¤Î¤Ç¡¢º¸±¦¤Î¥¿¥¤¥ä¤Î´Ö¤Ë²óž¤ÎÃæ¿´¤¬¤¢¤ë¡£

¡¦²óž¤ÎÃæ¿´¤Ç¤Ï¡¢¤¤¤¯¤é²óž¤·¤Æ¤â°ÌÃÖ¤¬ÊѤï¤é¤Ê¤¤¡£

¢ª¥Ú¥ó¤òÆ°¤«¤µ¤º¤Ë¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÊѤ¨¤¿¤¤¤Ê¤é¤Ð

­¡¡Ö²óž¤ÎÃæ¿´(º£²ó¤Ïº¸±¦¤Î¥¿¥¤¥ä¤ÎÃæ´Ö)¡×¤ò¡Ö¥Ú¥ó¤Î°ÌÃ֡פޤǰÜÆ°¤µ¤»¤ë

­¢¥í¥Ü¥Ã¥È¤ò»ØÄê¤Î³ÑÅٲ󞤵¤»¤ë

­£¥Ú¥ó¤ò¡¢­¡¤Î¡Ö¥Ú¥ó¤Î°ÌÃ֡פޤǰÜÆ°¤µ¤»¤ë

¤È¤¹¤ì¤Ð¤è¤¤

­¡¡Á­£¤ò¹Ô¤¦¤È¡¢¡Ö¥Ú¥ó¤òÃæ¿´¤Ë»ØÄê¤Î³ÑÅٲ󞤵¤»¤¿¡×¤È¤­¤ÈƱ¤¸·ë²Ì¤¬ÆÀ¤é¤ì¤ë¡£

»ÈÍÑÎã:¥Ú¥ó¤òÃæ¿´¤Ë±¦¤Ë90ÅÙÊý¸þÊÑ´¹ ¢ª spin_re(90,1);

¡Öspin_re¡×¤ÎÀâÌÀ¤Ï¡¢¾¯¤·Ê¬¤«¤ê¤Å¤é¤¤¤È»×¤ï¤ì¤ë¡£¤Ê¤Î¤Ç¡ÖÊý¸þÊÑ´¹¤ÎÆ°ºî¤ò¾Ü¤·¤¯¡×¤Î¹àÌܤǡ¢¼Ì¿¿¤È¤È¤â¤ËÀâÌÀ¤¹¤ë¡£

»ú¤ò½ñ¤¯¤È¤­¤Ë»È¤¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öwrite¡×

¥µ¥Ö¥ë¡¼¥Á¥ó¡Öwrite¡×... ¥Ú¥ó¤¬ÃÏÌ̤ˤĤ¤¤¿¾õÂ֤ǡ¢¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤ë¤³¤È¤Ç»ú¤ò½ñ¤¯

¥Ú¥ó¤òÆóÃʳ¬¤Ëʬ¤±¤Æ²¼¤í¤¹¤Î¤¬ÆÃħ¡£°ìÃʳ¬ÌÜ(down1)¤Ç¤Ï¡Ö¤¢¤È20ÅÙ¤ÇÀÜÃϤ¹¤ë³ÑÅ١פޤÇÁÇÁ᤯²¼¤í¤·¡¢¤½¤³¤Ç0.1ÉÃÄä»ß¤¹¤ë¡£ÆóÃʳ¬ÌÜ(down2)¤Ç¤Ï¡¢¡Ö»Ä¤ê¤Î20Å١פÀ¤±¤æ¤Ã¤¯¤ê¥Ú¥ó¤ò²¼¤í¤¹¡£¥Ú¥ó¤¬ÀÜÃϤ¹¤ë¤È¤­¤ËȯÀ¸¤¹¤ëÎϤϡ¢ÆóÃʳ¬ÌܤΡÖ20ÅÙʬ¤æ¤Ã¤¯¤ê²¼¤í¤·¤¿¡×¤È¤­¤ÎÎϤÀ¤±¤Ê¤Î¤Ç¡¢¥Ú¥ó¤Ï°ÂÄꤷ¤¿ÀÜÃϤ¬²Äǽ¡£

¥Ú¥óÀÜÃϸ塢»ØÄꤵ¤ì¤¿µ÷Î¥¤À¤±¿Ê¤à(¤³¤Î¤È¤­»ú¤ò½ñ¤¯)¡£¤½¤Î¸å¡¢¥Ú¥ó¤ò¾å¤²¤ë¡£¤³¤Î¤È¤­¡¢¥Ú¥ó¤òÁÇÁ᤯¡¢°ìµ¤¤Ë(°ìÃʳ¬¤Ç)¾å¤²¤ë¤³¤È¤Ç¡¢ÌµÂ̤ʥ¤¥ó¥¯¤¬»æ¤ËÉÕ¤¯¤Î¤òËɤ°¡£

sub write(float kaku) //¥Ú¥ó¤ÇÀþ¤ò°ú¤¯
{
	down1();	//¥Ú¥ó¤òÁÇÁ᤯²¼¤²¤ë(ÃÏÌ̤ˤϤĤ±¤Ê¤¤)
	Wait(100);
	down2();	//¥Ú¥ó¤ò¤æ¤Ã¤¯¤êÃÏÌ̤ˤĤ±¤ë
	Wait(10);
	RotateMotorEx(OUT_BC,WRITE_SPEED,GetAngle_d(kaku)*magni,0,true,true);
			//WRITE_SPEED¤Î®¤µ¤Çkaku(cm)¿Ê¤à ¢ª kaku(cm)¤ÎÀþ¤ò½ñ¤¯
	up();		//¥Ú¥ó¤ò¾å¤²¤ë
}

»ÈÍÑÎã:6.0cm¤ÎÀþ¤ò°ú¤­¤¿¤¤¤È¤­ ¢ª write(6.0);

¡Ö¸ý¡×¤ò½ñ¤¯¤¿¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¡Ökuti¡×

¡Ö¹â¡×¤Ç¤Ï¡Ö¸ý¡×¤ò2²ó½ñ¤¯¤Î¤Ç¡¢°ì±þ¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤·¤¿¡£

sub kuti(float tate, float yoko) //¸ý¤Î»ú¤ò½ñ¤¯
	//¸ý¤Î½Ä¤ÎŤµ(tate)¤È¡¢²£¤ÎŤµ(yoko)¤ò°ú¿ô¤Ë¤È¤ë
{
	write(tate);		//tate(cm)½ñ¤¯
	spin_re(90.0,-1);    //¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
	write(yoko);	       //yoko(cm)½ñ¤¯
	spin_re(90.0,-1);	//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
	write(tate);         // ¢­¤³¤³¤«¤é¾å¤Î·«¤êÊÖ¤·(repeat¤ò»È¤Ã¤¿¤é¸íº¹¤¬½Ð¤¿)
	spin_re(90.0,-1);
	write(yoko);
	spin_re(90.0,-1);
}

»ÈÍÑÎã:½Ä¤ÎŤµ5.0cm¡¢²£¤ÎŤµ10.0cm¤Î¡Ö¸ý¡×¤ò½ñ¤­¤¿¤¤¤È¤­ ¢ª kuti(5.0,10.0);

Êý¸þÊÑ´¹¤ÎÆ°ºî¤ò¾Ü¤·¤¯

¥µ¥Ö¥ë¡¼¥Á¥ó¡Öspin_re¡×¤ò»È¤Ã¤¿¤È¤­¡¢¥í¥Ü¥Ã¥È¤¬¼ÂºÝ¤Ë¤É¤Î¤è¤¦¤ÊÆ°ºî¤ò¤¹¤ë¤Î¤«¤ÎÀâÌÀ

º£²ó¤Ï¡Ö90ÅÙº¸²óž¤ÎÊý¸þÊÑ´¹¤ò¤¹¤ë¡×¤È¤­¤òÎã¤ËÀâÌÀ¤¹¤ë¡£

¡Öspin_re¡×¤Ï¡¢¥í¥Ü¥Ã¥È¤ò²óž¤µ¤»¤Ä¤Ä¡¢¥Ú¥ó¤Î°ÌÃÖ¤òºÇ½é¤ÈƱ¤¸¤Ë¤¹¤ë¤Î¤¬ÌÜŪ

(º¸¼Ì¿¿:²óž¤ÎÃæ¿´¤Î°ÌÃÖ¡¢¥â¡¼¥¿B¤È¥â¡¼¥¿C¤Î´Ö¤Ë¤¢¤ë)

(±¦¼Ì¿¿:¥Ú¥ó¤Î½é´ü°ÌÃÖ)

360*480,²óž¤ÎÃæ¿´ 360*480,¥Ú¥ó¤Î½é´ü°ÌÃÖ

­¡¡Ö²óž¤ÎÃæ¿´¡×¤È¡Ö¥Ú¥ó¤Î°ÌÃ֡פε÷Υʬ¤À¤±¸åž¤¹¤ë

²óž¤ÎÃæ¿´¤ò¡¢ºÇ½é¥Ú¥ó¤Î¤¢¤Ã¤¿°ÌÃ֤ޤǻý¤Ã¤Æ¤¤¤¯¡£

¤³¤Î¤È¤­¼Â¹Ô¤µ¤ì¤¿¥×¥í¥°¥é¥à¢­¢­

	RotateMotorEx(OUT_BC,-50,GetAngle_d(pen_to_center-gosa1),0,true,true);	
	//pen_to_center-gosa1(cm)¸åž(gosa¤Ï²óž¤Î»þ¤Î¥º¥ì¤ò½¤Àµ¤¹¤ë¤¿¤á)
360*480,¸åÂà

­¢¥í¥Ü¥Ã¥È¤ò»ØÄê¤Î³ÑÅٲ󞤵¤»¤ë

¼ÂºÝ¤ËÊý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙʬ¡¢²óž¤µ¤»¤ë¡£

¤³¤Î¤È¤­¼Â¹Ô¤µ¤ì¤¿¥×¥í¥°¥é¥à¢­¢­

	turn(spin_ang,pl_mi);	//spin_ang(ÅÙ)²óž

360*480,¸åÂà»þ¤Î¥Ú¥ó¤Î°ÌÃÖ ²óž¢ª¢ª 360*480,²óž

­£¡Ö²óž¤ÎÃæ¿´¡×¤È¡Ö¥Ú¥ó¤Î°ÌÃ֡פε÷Υʬ¤À¤±Á°Å¾¤¹¤ë

¥Ú¥ó¤ò¸µ¤Î°ÌÃÖ¤ËÌ᤹¤¿¤á¡¢­¡¤Ç²¼¤¬¤Ã¤¿Ê¬¤Îµ÷Î¥¤ò¿Ê¤à¡£

¤³¤Î¤È¤­¤Î¥Ú¥ó¤Î°ÌÃ֤ϡ¢ºÇ½é¤Î¥Ú¥ó¤Î°ÌÃÖ¤ÈƱ¤¸¡£

¤³¤Î¤È¤­¼Â¹Ô¤µ¤ì¤¿¥×¥í¥°¥é¥à¢­¢­

	RotateMotorEx(OUT_BC,20,GetAngle_d(pen_to_center-gosa2-gosa1),0,true,true);
	//pen_to_center-gosa2-gosa1(cm)Á°Å¾(gosa¤Ï²óž¤Î»þ¤Î¥º¥ì¤ò½¤Àµ¤¹¤ë¤¿¤á)

­¤·ë²Ì

¡Ö¥Ú¥ó¤òÃæ¿´¤Ë¤·¤Æ¡¢»ØÄê¤Î³ÑÅٲ󞤵¤»¤¿¤È¤­¡×¤ÈƱ¤¸·ë²Ì¤¬ÆÀ¤é¤ì¤ë¡£

270*360,·ë²Ì

¥á¥¤¥ó´Ø¿ô(¼ÂºÝ¤Ë»ú¤ò½ñ¤¯¥×¥í¥°¥é¥à)

task main() 
{
	up();             //¥Ú¥ó¤òÃÏÌ̤ˤĤ±¤¿¤Þ¤Þ¥¹¥¿¡¼¥È
	write(1.0);       //£±²èÌÜ(¡Öе¡×¤Î¡Ö|¡×¤ÎÉôʬ)
			     //£²²èÌܤΰÌÃÖ(¡Öе¡×¤Î¡Ö¡½¡×¤ÎÉôʬ)¤Þ¤Ç°ÜÆ°
	spin_re(90.0,-1);	 	//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
	reverse(2.0);	   	 	//2.0(cm)¸åž
	write(4.0);	    //£²²èÌÜ(¡Öе¡×¤Î¡Ö¡½¡×¤ÎÉôʬ)
			     //£³²èÌܡʸý¤ÎÉôʬ¡Ë¤Þ¤Ç°ÜÆ°
	reverse(3.0);    		 //3.0(cm)¸åž
	spin_re(90.0,1); 		 //¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙ±¦²óž
	forward(0.5);     		 //0.5(cm)Á°Å¾
	kuti(1.0, 2.25);   //¡Ö¸ý¡×¤Î»ú¤ò½ñ¤¯(£´¡¤£µ¡¤£¶²èÌÜ)
			      //£·²èÌÜ¡Ê¡Ö¹â¡×¤Îº¸²¼¤Î¡Ö|¡×¤ÎÉôʬ¡Ë¤Þ¤Ç°ÜÆ°
	forward(1.5);     		//1.5(cm)Á°Å¾
	spin_re(90.0,-1); 		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
	reverse(1.25);    		//1.25(cm)¸åž
	spin_re(90.0,1);  	 	//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙ±¦²óž
	write(3.0);        //£·²èÌÜ¡Ê¡Ö¹â¡×¤Îº¸²¼¤Î¡Ö|¡×¤ÎÉôʬ)
		       	      //£¸²èÌÜ(¿¿¤óÃæ¤òÄ̤ë¡Ö°ì¡×¤ÎÉôʬ)¤Þ¤Ç°ÜÆ°
	reverse(3.0);	    		//3.0(cm)¸åž
	spin_re(90.0,-1);		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
	write(4.75);       //£¸²èÌÜ(¿¿¤óÃæ¤òÄ̤ë¡Ö°ì¡×¤ÎÉôʬ)
		              //£¹²èÌÜ(±¦²¼¤Î¡Ö|¡×¤ÎÉôʬ)¤Þ¤Ç°ÜÆ°
	spin_re(90.0,1); 		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙ±¦²óž
	write(3.0);        //£¹²èÌÜ(±¦²¼¤Î¡Ö|¡×¤ÎÉôʬ)
	spin_re(90.0,1);   //¥í¥Ü¥Ã¥È¤Î¸þ¤­¤ò£·²èÌܤΡ֡¼¡×¤ÈÊ¿¹Ô¤Ë¤¹¤ë
			      //ºÇ¸å¤Î¡Ö¸ý¡×¤ÎÉôʬ¤Þ¤Ç°ÜÆ°
	forward(3.5);    		//3.5(cm)Á°Å¾
	spin_re(90.0,-1);		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
	reverse(2.5);   		//2.5(cm)¸åž
 	kuti(1.0, 2.25);   //ºÇ¸å¤Î¡Ö¸ý¡×¤ò½ñ¤¯
		
}

¹©É×ÅÀ

¡¦¥µ¡¼¥Ü¥â¡¼¥¿¤ä¡¢²óž³ÑÅÙ¤ò·×»»¤¹¤ë´Ø¿ô¤ò»È¤Ã¤¿¤³¤È¤Ç¡¢¡Öx¥»¥ó¥Á¿Ê¤à¡×¡Öy¥»¥ó¥Á²¼¤¬¤ë¡×¡ÖzÅÙ¸þ¤­¤òÊѤ¨¤ë¡×¤Î¤è¤¦¤ËŤµ¤ä³ÑÅÙ¤ò»ØÄꤷ¤Æ¥í¥Ü¥Ã¥È¤òÆ°¤«¤»¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¡£¥µ¥Ö¥ë¡¼¥Á¥ó¤Î°ú¿ô¤Ë¿Ê¤àµ÷Î¥¤ä²óž¤¹¤ë³ÑÅÙ¤¬½ñ¤¤¤Æ¤¢¤ë¤Î¤Ç¡¢¥×¥í¥°¥é¥à¤ò¸«¤ì¤Ð¡¢¥í¥Ü¥Ã¥È¤¬¤É¤ó¤ÊÆ°¤­¤ò¤·¤Æ¤¤¤ë¤Î¤«¤¬¤ï¤«¤ë¡£

¡¦Ê¸»ú¤ÎÇÜΨ¤òÀßÄê¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¡£¤½¤Î¤ª¤«¤²¤Ç¡¢Ê¸»ú¤¬»æ¤«¤é¤Ï¤ß½Ð¤ë¿´ÇÛ¤¬¾Ã¤¨¤¿¡£

È¿¾ÊÅÀ

¡¦»æ¤ò¤ª¤µ¤¨¤Ê¤¤¤È»ú¤¬½ñ¤±¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¥¿¥¤¥ä¤ÎË໤¤ò¸º¤é¤¹¤¿¤á¤È¤Ï¤¤¤¨¡¢²óž¥¹¥Ô¡¼¥É100%¤ÏήÀФˤä¤ê²á¤®¤À¤Ã¤¿¡£

¡¦¥×¥í¥°¥é¥à¤¬¤«¤Ê¤êŤ¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£É¬Íװʾå¤Ë¥µ¥Ö¥ë¡¼¥Á¥ó¤ò»È¤Ã¤Æ¤¤¤ë¤Î¤Ç¡¢¥µ¥Ö¥ë¡¼¥Á¥óƱ»Î¤ò¤Þ¤È¤á¤¿¤ê¤·¤Æ¡¢¿ô¤ò¸º¤é¤¹¤Ù¤­¤À¤Ã¤¿(Æäˡ¢¡Öturn¡×¤È¡Öspin_re¡×¤Ï¡¢¤Þ¤È¤á¤Æ¤ª¤¯¤Ù¤­¤À¤Ã¤¿)

¡¦¥í¥Ü¥Ã¥ÈÀ½ºî¤Ç¤ÏÁ´¤¯¹×¸¥¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¼¡²ó¤«¤é¤Ï¹×¸¥¤Ç¤­¤ë¤è¤¦¤Ë´èÄ¥¤ê¤¿¤¤¡£


źÉÕ¥Õ¥¡¥¤¥ë: fileIMG_1085.JPG 226·ï [¾ÜºÙ] fileIMG_1095.JPG 220·ï [¾ÜºÙ] fileIMG_1171.JPG 203·ï [¾ÜºÙ] fileIMG_1057.JPG 195·ï [¾ÜºÙ] fileIMG_1056.JPG 201·ï [¾ÜºÙ] fileIMG_1089.JPG 195·ï [¾ÜºÙ] fileIMG_1078.JPG 207·ï [¾ÜºÙ] fileIMG_1086.JPG 221·ï [¾ÜºÙ] fileIMG_1082.JPG 206·ï [¾ÜºÙ] fileIMG_1060.JPG 218·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: 2015-11-27 (¶â) 16:05:09