2018b/Member

²ÝÂê3¡§¥Ü¡¼¥ë±¿ÈÂ¥í¥Ü¥Ã¥È

ÀĤÈÀ֤Υܡ¼¥ë¤ò±¿È¤·¤Æ¡¢¤½¤ì¤¾¤ì½êÄê¤Î350ml´Ì¤Î¾å¤Ë¾è¤»¤ë¡£

¥Õ¥£¡¼¥ë¥ÉÀâÌÀ

7.png

¥ë¡¼¥ë

°Ê²¼¤ÎÆ°ºî¤ÎÀºÅÙ¡¦¥¹¥Ô¡¼¥É¡¦³Î¼ÂÀ­¤Ê¤É¤ò´Þ¤á¤¿µ»½ÑŪ¤Ê¹©Éפä·Ý½ÑÀ­¤Ë¤Ä¤¤¤Æ¾¤ÎÁ´¤Æ¤Î¥Á¡¼¥à(5¥Á¡¼¥à)¤¬20ÅÀËþÅÀ¤ÇºÎÅÀ¤·¡¢¤½¤ÎÊ¿¶ÑÅÀ¤òµá¤á¤ë¡£ ÆÀÅÀ¤ÎÌܰ¡§

¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ

Á´ÂÎÁü

IMG_E5087.JPG
pindome.png

ÀâÌÀ(¹©Éפ·¤¿ÅÀ¤äÈ¿¾ÊÅÀ¤Ê¤É)

¼ÖÂΤÏÁ°¸å¤ËŤ¯¡¢»²¹Í½ñ¤Î¥µ¥ó¥×¥ë¤Î·Á¤«¤é¤¢¤Þ¤ê¤«¤±Î¥¤ì¤Ê¤¤¤è¤¦¤ËÀ½ºî¤·¤¿¡£¤½¤ì¤Ë¤è¤ê¾ï¤Ë°ÂÄꤷ¤¿Áö¤ê¤¬¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¡£¤Þ¤¿¡¢¥¢¡¼¥à¤ä³Æ¥»¥ó¥µ¡¢¼ÖÂΤÎÆ°¤­¤ò¼ÙË⤷¤Ê¤¤¤è¤¦¤Ë¥³¡¼¥É¤ò;¤Ã¤¿¥Ñ¡¼¥Ä¤Ç«¤Í¤é¤ì¤ë¤è¤¦¤Ë¤·¤¿¡£

¥Þ¥¹¥¿¡¼Â¦¡§¼ÖÎØ¡¢³Æ¥»¥ó¥µ¡¼

IMG_E5087.JPG
IMG_E5082.JPG
IMG_E5085.JPG

ÀâÌÀ(¹©Éפ·¤¿ÅÀ¤äÈ¿¾ÊÅÀ¤Ê¤É)

¥â¡¼¥¿¤ò²óž¤µ¤»¤ÆÆ°¤«¤¹¥¿¥¤¥ä£²¤Ä¤È¤½¤Î¸åÊý¤Ë¼ÖÂΤΥХé¥ó¥¹¤òÊݤÁ¤Ê¤¬¤é¼ÖÂΤÎÆ°¤­¤Ë¹ç¤ï¤»¤ÆÆ°¤¯¾®¤µ¤Ê¥¿¥¤¥ä1¤Ä¤Î¹ç·×3¤Ä¤Î¥¿¥¤¥ä¤ÇÁö¤ë¡¢»²¹Í»ñÎÁ¤Î¥µ¥ó¥×¥ë¤ÈƱ¤¸·Á¤ËÀ½ºî¤·¤¿¡£¥µ¥ó¥×¥ë¤ÈƱ¤¸·Á¤Ç¤¢¤ë¤³¤È¤ÇÆ°¤­¤Ë°ÂÄê´¶¤¬¤¢¤ë¡£ ¤Þ¤¿Á°Êý¤Ë¸÷¥»¥ó¥µ¡¼¤ò2¤Ä¼è¤êÉÕ¤±¤ë¤³¤È¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹ ¤ä¸òº¹ÅÀȽÃǤò¤è¤ê´Êñ¤ËÀµ³Î¤Ë½ÐÍè¤ë¤è¤¦¤ËÀ½ºî¤·¤¿¡£¤·¤«¤·¤Ê¤¬¤é²ÝÂê1.2¤ÇÍѤ¤¤¿¸÷¥»¥ó¥µ¡¼1¤Ä¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ ¤Î¥×¥í¥°¥é¥à¤ò²ÝÂê3¤Ç¤â±þÍѤǤ­¤ë¤Î¤Ç¤Ï¤Ê¤¤¤«¤È¤¤¤¦°Æ¤¬¥Á¡¼¥à¤Ç½Ð¤Æ¡¢·ë¶É±¦Â¦¤Î¸÷¥»¥ó¥µ¡¼¤Ï¸÷¤ë¾þ¤ê¤È¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£ ¼ÖÂθåÊý¤Î¥¢¡¼¥à¤Î²¼¡¢¥¢¡¼¥à¤ÎÆ°¤­¤ò¼ÙË⤷¤Ê¤¤¥®¥ê¥®¥ê¤Î¤È¤³¤í¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¡¢¥Ü¡¼¥ë¤ä´Ì¤ò¤Ç¤­¤ë¸Â¤êÀµ³Î¤Ëõº÷¤·¶á¤Å¤±¤ë¤è¤¦¤Ë¤·¤¿¡£¤·¤«¤·¤Ê¤¬¤éĶ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤ¬¼ÂºÝ¤ËÄ구¤Ç¬¤Ã¤¿ÃͤȰۤʤäƤª¤ê¡¢Ä´À°¤¹¤ë¤Î¤¬ÂçÊѤÀ¤Ã¤¿¡£

¥¹¥ì¡¼¥Ö¦¡§¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤Æ¡¢´Ì¤ËÃÖ¤¯¥¢¡¼¥à

arm.png

ÀâÌÀ(¹©Éפ·¤¿ÅÀ¤äÈ¿¾ÊÅÀ¤Ê¤É)

¿Í´Ö¤¬¥Ü¡¼¥ë¤ò½¦¤¤¾å¤²¤ëÆ°¤­¤ò¥â¥Ç¥ë¤È¤·¤Æ¥â¡¼¥¿£²¤Ä¤ò¡¢¥Ü¡¼¥ë¤ò¤Ä¤«¤ß´Ì¤Ë¾è¤»¤ë(¼ê)¤È¼ê¤ò¾å²¼¤ËÆ°¤«¤¹(ÏÓ)¤È¤½¤ì¤¾¤ìÌò³ä¤òʬ¤±¤Æ¥×¥í¥°¥é¥à¤ò´Êñ¤Ëºî¤ì¤ë¤è¤¦¤Ë¹½À®¤·¤¿¡£¼ÖÂΤνſ´¤Î°ÌÃÖ¤ä¥Ð¥é¥ó¥¹¡¢¥¢¡¼¥à¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤ÏƱ¤¸Êý¸þ¤Ë¤Ä¤±¤¿¤¤¤Ê¤É¤ÎÍýͳ¤«¤é¥¢¡¼¥à¤Ï¼ÖÂΤθåÊý¤Ë¼è¤êÉÕ¤±¤¿¤¬¡¢¥Ü¡¼¥ë¤ò½¦¤¦»þ¤ä¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç»ý¤Á¾å¤²¤¿¸å¤Ê¤É¤Ë180Åٲ󞤹¤ë¼ê´Ö¤¬Áý¤¨¤Æ¤·¤Þ¤Ã¤¿¡£

¼«Ê¬¤Î¥Á¡¼¥à¤¬¹Í¤¨¤¿¥³¡¼¥¹¼è¤ê

7_LI (2).jpg

­¡¥Þ¥¹¥¿¡¼Â¦¡§ÀÖ¤¤¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤Ç¤­¤ë°ÌÃ֤˰ÜÆ°¤·SIGNALA¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®

­¢¥¹¥ì¡¼¥Ö¦¡§SIGNALA¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤·SIGNALE¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿®

­£¥Þ¥¹¥¿¡¼Â¦¡§SIGNALE¤ò¼õ¿®¤·¤¿¤é¸åÂà¡¢²óž¤·¤ÆÃÏÅÀG¤ò²á¤®¤¿¤¢¤¿¤ê¤ÇÄä»ß

­¤¥Þ¥¹¥¿¡¼Â¦¡§¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¡£ºÇ½é¤ÎµÞ¥«¡¼¥Ö¤Ç¤¢¤¨¤ÆÂ礭¤¯²ó¤ë¤³¤È¤ÇÃÏÅÀF¤Þ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¡£ÃÏÅÀE¤ÇÄä»ß

­¥¥Þ¥¹¥¿¡¼Â¦¡§´Ì¤ò¥µ¡¼¥Á¤¹¤ë¡£¤³¤Î»þÀĤ¤¥Ü¡¼¥ë¤Þ¤Ç¥µ¡¼¥Á¤·¤Ê¤¤¤è¤¦¤Ë¡¢²óž¤ò¹Ô¤¦»þ´Ö¤ËÃí°Õ¡£

­¦¥Þ¥¹¥¿¡¼Â¦¡§´Ì¤ËÀܶᤷŬÅö¤Ê°ÌÃÖ¤ËÅþÃ夷¤¿¤é¡¢SIGNALB¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®

­§¥¹¥ì¡¼¥Ö¦¡§SIGNALB¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤Ë¾è¤»¡¢¥¢¡¼¥à¤ò¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤¤è¤¦¤Ë¾å¤²¤Æ¤«¤éSIGNALF¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿®

­¨¥Þ¥¹¥¿¡¼Â¦¡§ÃÏÅÀEÉÕ¶á¤Þ¤ÇÌá¤êÀĤ¤¥Ü¡¼¥ë¤ò¥µ¡¼¥Á¡£¸«¤Ä¤±¤¿¤é¥­¥ã¥Ã¥Á¤Ç¤­¤ë°ÌÃÖ¤Þ¤ÇÀܶᤷSIGNALC¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®

­©¥¹¥ì¡¼¥Ö¦¡§SIGNALC¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤·SIGNALG¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿®

­ª¥Þ¥¹¥¿¡¼Â¦¡§ÀĤ¤¥Ü¡¼¥ë¤ò¾è¤»¤ë´Ì¤òõ¤¹¤Î¤ËÍ­Íø¤Ê°ÌÃÖ(ÃÏÅÀKÉÕ¶á)¤Þ¤Ç°ÜÆ°¤·´Ì¤ò¥µ¡¼¥Á¡£È¯¸«¤·Àܶᤷ¤¿¤éSIGNALD¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®

­«¥¹¥ì¡¼¥Ö¦¡§SIGNALD¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤Ë¾è¤»¤ÆÄä»ß

¥×¥í¥°¥é¥ß¥ó¥°

¥Þ¥¹¥¿¡¼Â¦¡Ê¼ÖÎØ¡¢³Æ¥»¥ó¥µ¡¼¡Ë

ÄêµÁ¤ä¥Þ¥¯¥í

#define CONN 1

#define SIGNALA 11

#define SIGNALB 12

#define SIGNALC 13

#define SIGNALD 14

#define SIGNALE 15

#define SIGNALF 16

#define SIGNALG 17 //¥á¥Ã¥»¡¼¥¸¤Ë¤Ä¤¤¤Æ¤ÏÁ´ÂΤÎή¤ì¤ÇÀâÌÀ¤·¤Þ¤¹

#define THRESHOLD 57

#define SPEED 50

#define speed 40

#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);

#define leftleft OnRL(speed,0);¡¡¡¡¡¡¡¡//¤­¤Ä¤¤¥«¡¼¥Ö¤ÎÉôʬ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¤ò¤¹¤ë¤¿¤áÀû²ó¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿

#define left OnRL(speed,0);

#define straight OnRL(SPEED,SPEED);

#define right OnRL(0,speed+5);

#define rightright OnRL(-speed,speed+5);

#define MOVE_TIME_1 3000

#define MOVE_TIME_2 22500

#define MOVE_TIME_3 2000

#define zenshin OnFwd(OUT_B,speed);OnFwd(OUT_C,speed+6);

#define koutai OnRev(OUT_B,speed-10);OnRev(OUT_C,speed-4);¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤Î±Æ¶Á¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤Î¶¯¤µ¤òÊѤ¨¤Æ¤¢¤ë

#define teishi Off(OUT_BC);

#define kaiten_R1 OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);

#define kaiten_R2 OnFwd(OUT_B,speed);OnRev(OUT_C,speed);

#define kaiten_L1 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);

#define kaiten_L2 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);

#define kaiten_time_R1 2500¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Ë¤Ïû¤¹¤®¤¿ºÇ¾®Ãͤò¸«¤Ä¤±¤ë¤¿¤á¤Ë²óž¤¹¤ë»þ´Ö

#define kaiten_time_L1 1500

#define KAITEN RotateMotorEx(OUT_BC,50,400,100,true,false);¡¡¡¡¡¡//180¡ë²óž

#define go_forward OnRL(SPEED,SPEED);

#define STEP 1

#define yasumi Off(OUT_BC);Wait(500);

¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ä¥¤¥ó¥é¥¤¥ó´Ø¿ô

sub serch_R1()¡¡¡¡¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹ {

SetSensorLowspeed(S4);
long t10,t11;
int L=1000;
t10=CurrentTick();
while(CurrentTick()-t10<=kaiten_time_R1){
 kaiten_R1;
 if(SensorUS(S4)<L)
 {
  L=SensorUS(S4);
  t11=CurrentTick()-t10;
 }
}
kaiten_L1;
Wait(kaiten_time_R1-t11+100);¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+100
Off(OUT_BC);
Wait(500);
}

inline sub serch_R2(int l)¡¡¡¡¡¡£ì£ã£í°Ê²¼¤Îµ÷Î¥¤Î¤â¤Î¤ò¸«¤Ä¤±¤¿¤é»ß¤Þ¤ë {

SetSensorLowspeed(S4);
kaiten_R1
until(SensorUS(S4)<=l);
Off(OUT_BC);
}

sub serch_L()¡¡¡¡¡¡¡¡»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹ {

SetSensorLowspeed(S4);
long t12,t13;
int L=1000;
t12=CurrentTick();
while(CurrentTick()-t12<=kaiten_time_L1){
 kaiten_L1;
 if(SensorUS(S4)<L)
 {
  L=SensorUS(S4);
  t13=CurrentTick()-t12;
 }
}
kaiten_R1;
Wait(kaiten_time_L1-t13+80);¡¡¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+80
Off(OUT_BC);
Wait(500);
}

inline void sekkin(int d)¡¡¡¡¡¡ÌÜɸ¤ËÀ᤹ܶ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à {

SetSensorLowspeed(S4);
while(SensorUS(S4)>=d){
koutai;
}
teishi;

} sub LT_R()¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹ {

  SetSensorLight(S3);
  long t0=CurrentTick();
  while(CurrentTick()-t0<=MOVE_TIME_2){
   if(SENSOR_3<THRESHOLD-10){
   rightright;
  }else if(SENSOR_3<THRESHOLD-7){
   right;
  }else if(SENSOR_3<THRESHOLD+2){
   straight;
  }else if(SENSOR_3<THRESHOLD+3){
   left;
  }else{
   leftleft;
  }
  Wait(STEP);
 }
}

¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à

task main() {

SetSensorLight(S2);
SetSensorLight(S3);
SetSensorLowspeed(S4);
OnRev(OUT_BC,30);
Wait(500);
teishi;        //½é´ü°ÌÃÖ¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤¹¤ë¾ì½ê¤Þ¤Ç¤ÎÈùÄ´À°
int msg;
SendRemoteNumber(CONN,MAILBOX1,SIGNALA);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç¤â¤é¤¦
while(true){
 ReceiveRemoteNumber(MAILBOX1,true,msg);
 if(msg==SIGNALE){
  koutai;
  Wait(MOVE_TIME_1);¡¡¡¡
  KAITEN;¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂष¤Æ180¡ë²óž¤¹¤ë¡£¸òº¹ÅÀ¤ò±Û¤¨¤¿¤¢¤¿¤ê¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
  teishi;
  yasumi;
  LT_R();¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï
  teishi;¡¡¡¡¡¡¡¡//ÁÛÄê¤Ç¤ÏÂçÂÎÃÏÅÀE¤ËÅþÃ夷¤¿¤¢¤¿¤ê¤ÇÄä»ß
  serch_R1();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
  teishi;
  sekkin(15);¡¡¡¡¡¡//15­Ñ¤Îµ÷Î¥¤Þ¤ÇÀܶá
  koutai;
  Wait(1000);¡¡¡¡¡¡//ÈùÄ´À°¡¡¡¡¡¡
  teishi;
  SendRemoteNumber(CONN,MAILBOX1,SIGNALB);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
 }
 if(msg==SIGNALF){
 zenshin;¡¡¡¡¡¡¡¡¡¡¡¡
 Wait(MOVE_TIME_3);¡¡¡¡¡¡¡¡¡¡//ÂçÂÎÃÏÅÀE¤ËÌá¤ë(¿¾¯¤º¤ì¤Æ¤¤¤Æ¤âÌäÂê¤Ê¤·)
 kaiten_R1;
 Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò»¡ÃΤ¹¤ëÁ°¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤¿´Ì¤ò¸«¤Ä¤±¤Ê¤¤¤è¤¦¤Ë¾¯¤·²óž
 yasumi;
 serch_R2(25);¡¡¡¡¡¡¡¡//25­Ñ°ÊÆâ¤Ë²¿¤«¤ò¸«¤Ä¤±¤¿¤éÄä»ß
 yasumi;
 zenshin;
 Wait(500);¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬¶á¤¹¤®¤¿¤È¤­¤Î¤¿¤á¤Ë¾¯¤·Î¥¤ì¤ë
 sekkin(10);
 koutai;
 Wait(200);         //ÀĤ¤¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤Ç¤­¤ë°ÌÃ֤ޤdzÎǧ¡¡¡¡¡¡¡¡
 yasumi;
 SendRemoteNumber(CONN,MAILBOX1,SIGNALC);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤·¤Æ¤â¤é¤¦
 }
 if(msg==SIGNALG){
  koutai;
  Wait(2000);¡¡¡¡//ÌÜɸ¤Ë¾¯¤·¶á¤Å¤¯¡¡¡¡¡¡
  kaiten_R1;¡¡
  Wait(500);¡¡¡¡//²¾¤ËÀĦ¤Î´Ì¤¬­¢¤À¤Ã¤¿¾ì¹ç¥µ¡¼¥ÁÈϰϤˤʤ¤¾ì¹ç¤¬¤¢¤ë¤Î¤Ç¾¯¤·²óž
  serch_L();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
  teishi;
  sekkin(15);¡¡¡¡¡¡//15­Ñ¤Îµ÷Î¥¤Þ¤ÇÀܶá
  teishi;
  koutai;¡¡¡¡
  Wait(1000);¡¡¡¡¡¡¡¡//ÈùÄ´À°
  SendRemoteNumber(CONN,MAILBOX1,SIGNALD);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
  teishi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß
 }
}

}

¥¹¥ì¡¼¥Ö¦¡Ê¥¢¡¼¥à¡Ë

ÄêµÁ¤ä¥Þ¥¯¥í#define POWER 50

#define Power 25

#define power 15

#define time 300

#define Time 600

#define TIME 1000

#define hand_catch OnRev(OUT_B,POWER);Wait(Time);Off(OUT_B);¡¡¡¡//¥Ü¡¼¥ë¤ò¤Ä¤«¤à

#define arm_Up OnFwd(OUT_C,POWER);Wait(TIME);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾å¤²¤ë

#define hand_release OnFwd(OUT_B,power);Wait(TIME);Off(OUT_B);¡¡¡¡¡¡//¼ê¤òÎ¥¤¹

#define arm_Down OnRev(OUT_C,POWER);Wait(Time+200);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò²¼¤²¤ë

#define arm_up OnFwd(OUT_C,POWER);Wait(Time);Off(OUT_C);¡¡¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±¾å¤²¤ë

#define arm_down OnRev(OUT_C,Power);Wait(Time);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±²¼¤²¤ë

#define yasumi Off(OUT_BC);Wait(500);

#define SIGNALA 11

#define SIGNALB 12

#define SIGNALC 13

#define SIGNALD 14

#define SIGNALE 15

#define SIGNALF 16

#define SIGNALG 17

¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ä¥¤¥ó¥é¥¤¥ó´Ø¿ô

sub ball_catch()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë {

Wait(Time);
arm_Down;
hand_catch;
arm_Up;
Off(OUT_BC);
}

sub ball_release()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯ {

Wait(Time);
arm_down;
yasumi;
hand_release;
arm_up;
Off(OUT_BC);
}

¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à

task main() {

int msg;
while(true){
 ReceiveRemoteNumber(MAILBOX1,true,msg);

 if(msg==SIGNALA){
 ball_catch();
 Off(OUT_BC);
 SendResponseNumber(MAILBOX1,SIGNALE);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
 }
 if(msg==SIGNALB){
 yasumi;
 ball_release();
 yasumi;
 SendResponseNumber(MAILBOX1,SIGNALF);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤¿¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
 }
 if(msg==SIGNALC){
 ball_catch();
 Off(OUT_BC);
 SendResponseNumber(MAILBOX1,SIGNALG);¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
 }
 if(msg==SIGNALD){
 yasumi;
 ball_release();
 yasumi;¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ÆÄä»ß
 }
} 

}

¼ÖÂΤä¥×¥í¥°¥é¥à¤Ë´Ø¤¹¤ëÈ¿¾ÊÅÀ¤ä²þÁ±ÅÀ

¼ÖÂΤˤĤ¤¤Æ¤Ï¤ä¤Ï¤ê½Å¤µ¤Ë¤è¤Ã¤Æ²ÝÂê¤ò¤³¤Ê¤¹¤Î¤ËÂ礭¤Ê»Ù¾ã¤ò¤­¤¿¤·¤¿¤È´¶¤¸¤Æ¤¤¤ë¡£¤½¤Î²þÁ±°Æ¤È¤·¤ÆN1N2¥°¥ë¡¼¥×¤ÎÍѤ¤¤Æ¤¤¤¿¥â¡¼¥¿¤ËľÀÜ¥¿¥¤¥ä¤ò¼è¤êÉÕ¤±¤º»õ¼Ö¤ò²ð¤·¤Æ¥¿¥¤¥ä¤ò²óž¤µ¤»¤ë¤È¤¤¤¦¼êË¡¤Ï¤È¤Æ¤âÁϺîŪ¤Ç¤è¤¤¤È»×¤Ã¤¿¡£¤Þ¤¿¼«Ê¬¤Ç»×¤¤¤Ä¤¤¤¿°Æ¤È¤·¤Æ¤ÏNXT¤ÎÇÛÃ֤ˤĤ¤¤Æ¤â¤¦¾¯¤·¸å¤í´ó¤ê¤ËÀßÃÖ¤¹¤ë¡¢²Äǽ¤Ç¤¢¤Ã¤¿¤Ê¤é¤ÐNXT¤È¥¢¡¼¥à¤Î°ÌÃÖ¤òÆþ¤ìÂؤ¨¤ë¤Ê¤É¤Î¹©Éפ¬¤Ç¤­¤ì¤Ð½Å¤µ¤ÏÊѤï¤é¤º¤È¤â¥¿¥¤¥ä¤Ë¤«¤«¤ëÉéô¤¬·Ú¸º¤·¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«¡£ ¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥¹¥à¡¼¥º¤µ¤Ë¤è¤Ã¤Æ´Ì¤òõ¤¹Æ°ºî¤Î»ÏÅÀ¤¬ÊѤï¤Ã¤Æ´Ì¤ò¸«¤Ä¤±¤é¤ì¤ë¤È¤³¤í¤Þ¤Ç²óž¤·¤Ê¤¤¡¢µÕ¤Ë²óž¤·¤¹¤®¤ÆÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤È´Ö°ã¤¨¤ë¤Ê¤É¤Î¥ß¥¹¤¬Â¿¤«¤Ã¤¿¡£²þÁ±°Æ¤È¤·¤Æ¤ÏÀè¤Ë°ìÅ٥ܡ¼¥ë¤ò¸«¤Ä¤±¤ë¤³¤È¤Ç²óž¤Î»ÏÅÀ¤òÅý°ì¤¹¤ë¤Ê¤É¤Î¹©Éפ¬¤¢¤Ã¤¿¤È¹Í¤¨¤¿¡£¤Þ¤¿¼¡¤Ë¥ß¥¹¤Î¿¤«¤Ã¤¿´Ì¤ò¸«¤Ä¤±¤Æ¤â¤¦¤Þ¤¯¶á¤Å¤±¤Ê¤¤¤È¤¤¤¦¥ß¥¹¤Ë¤Ä¤¤¤Æ¤Ï¼«Ê¬¤Ï¥í¥Ü¥Ã¥È¤Îº¸±¦¥Ð¥é¥ó¥¹¤Ë¤è¤ë¤â¤Î¤Ç¤¢¤ë¤È¹Í¤¨¤Æ¤¤¤ë¤¿¤á¥í¥Ü¥Ã¥È¤Î²þÁ±¤Ë¤è¤êÀ®¸ùΨ¤Ï¾å¤¬¤ë¤â¤Î¤È¹Í¤¨¤Æ¤¤¤ë¡£µ©¤Ëµ¯¤³¤Ã¤¿´Ì¤ò¸«¤Ä¤±¤é¤ì¤ººÇ¾®Ãͤ¬¹¹¿·¤µ¤ì¤Ê¤¤ÉÔ¶ñ¹ç¤Ë´Ø¤·¤Æ¤Ï¥í¥Ü¥³¥óÅöÆü¤Ë¥¢¥É¥Ð¥¤¥¹¤·¤Æ¤¤¤¿¤À¤¤¤¿Ä̤ê°ì»þÄä»ß¤ò¸ò¤¨¤¿²óž¤òrepeat¤Ê¤É¤ò»È¤Ã¤Æ¹Ô¤¦¤³¤È¤Ç´Ì¤ò»¡ÃΤ¹¤ë;͵¤¬À¸¤Þ¤ì¤¿¤Î¤Ç¤Ï¤Ê¤¤¤À¤í¤¦¤«¡£

´¶ÁÛ

´ðËÜÅÀ¤¬0ÅÀ¤Ç½ª¤ï¤Ã¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤Ï¤«¤Ê¤ê»ÄÇ°¤À¤¬¡¢·Ý½ÑÅÀ¤È¤·¤Æ10.8ÅÀ¤ò³ÍÆÀ¤·Áí¹ç4°Ì¤Ë¤Ê¤ì¤¿¤³¤È¤Ï¤È¤Æ¤â´ò¤·¤¯´¶¤¸¤¿¡£¥Æ¥¹¥È´ü´Ö¤Ç¥Á¡¼¥à¤Î¥á¥ó¥Ð¡¼´Ö¤ÎÅԹ礬¹ç¤ï¤ºÉÑÈˤ˽¸¤Þ¤ë¤³¤È¤Ï¤Ç¤­¤Ê¤«¤Ã¤¿¤¬¡¢¤¢¤é¤«¤¸¤á¼¡¤Î½¸¹ç¤Þ¤Ç¤Ë¤ª¸ß¤¤¤Ë¤ä¤ë¤³¤È¤ò·è¤á¡¢»þ´Ö¤¬¸Â¤é¤ì¤ëÃæ¡¢¸úΨ¤è¤¯¿Ê¤á¤ë¤³¤È¤¬¤Ç¤­¤¿ÅÀ¤Ï¤È¤Æ¤â¤è¤«¤Ã¤¿¡£

»ä¤ÏÁ¡°Ý³ØÉô µ¡³£¡¦¥í¥Ü¥Ã¥È³Ø²Ê¤Ê¤Î¤Ç¤³¤ÎÀ躣²ó¤Î¥¼¥ß¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥ß¥ó¥°¤Î¼ø¶È¤¬¤¢¤ë¤«¤È¤Ï»×¤¤¤Þ¤¹¤¬¡¢¥×¥í¥°¥é¥ß¥ó¥°¤ÎÃμ±¤ä¤µ¤Þ¤¶¤Þ¤Ê²ÝÂê¤ËÂФ¹¤ë¥¢¥×¥í¡¼¥Á¤Î»ÅÊý¡¢ºî¶È¤ò¤è¤ê¸úΨŪ¤Ë¹Ô¤¦¤Ë¤Ï¤É¤¦¤·¤¿¤éÎɤ¤¤«¤Ê¤É¤ò¤¢¤é¤«¤¸¤á¸å´ü¤ÎȾǯ´Ö¤òÄ̤·¤Æ³Ø¤Ö¤³¤È¤¬½ÐÍ褿¤Î¤Ï¤«¤Ê¤ê¾­Íè¤Î¤¿¤á¤Ë¤Ê¤Ã¤¿¤È´¶¤¸¤Æ¤¤¤ë¡£¤³¤ì¤«¤é¤â¼«Ê¬¤ÎÀìÌç¤ò¤è¤ê¿¼¤¯³Ø¤Ó¡¢À¤¤ÎÃæ¤ÎÌò¤ËΩ¤Ä¥í¥Ü¥Ã¥È¤ò³«È¯¤·¤¿¤¤¤È¤¤¤¦¼«Ê¬¤ÎÌ´¤Ë¸þ¤«¤Ã¤ÆÅØÎϤ·Â³¤±¤Æ¤¤¤­¤¿¤¤¡£


źÉÕ¥Õ¥¡¥¤¥ë: fileIMG_E5082.JPG 211·ï [¾ÜºÙ] fileIMG_E5085.JPG 163·ï [¾ÜºÙ] fileIMG_E5087.JPG 163·ï [¾ÜºÙ] fileIMG_5096.MOV 67·ï [¾ÜºÙ] file7_LI (2).jpg 213·ï [¾ÜºÙ] filepindome.png 174·ï [¾ÜºÙ] filearm.png 155·ï [¾ÜºÙ] file7_LI.jpg 65·ï [¾ÜºÙ] file7.png 146·ï [¾ÜºÙ] fileIMG_4977.PNG 63·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: 2019-02-27 (¿å) 18:49:25