2019a/Member

Ìܼ¡

²ÝÂê3¤Ë¤Ä¤¤¤Æ

º£²ó¤Î²ÝÂê¤Ï¥Ü¡¼¥ë±¿ÈÂ¥í¥Ü¥Ã¥È¤Ç¤¹¡¥

¥Ô¥ó¥Ý¥ó¶Ì¤Þ¤¿¤ÏÀĤÈÀ֤Υܡ¼¥ë¤ò±¿È¤·¤Æ¡¢½êÄê¤ÎÍÆ´ï¤ÎÃæ¤ËÆþ¤ì¤ë¡£

²ÝÂê3ÀâÌÀ¿Þ
¥Õ¥£¡¼¥ë¥É¤ÎÀâÌÀ
  • ¥Õ¥£¡¼¥ë¥É¤Ï²ÝÂê2¤Ç»ÈÍѤ·¤¿»æ¤ò»ÈÍѤ¹¤ë¡£
  • À¸¶¨¤Î¤ªÊÛÅö¤Î»Í³Ñ¤¤¥×¥éÍÆ´ï2¤Ä¤ò¤½¤ì¤¾¤ì±ßÆâ¤ËÃÖ¤­¡¢ÊÒÊý¤Ë¶Ì¤ò2¸ÄÆþ¤ì¤ë¡£
  • »Ä¤ê¤Î2¸Ä¤Î¶Ì¤Ï²ÝÂê2¤ÈƱ¤¸°ÌÃÖ¤ËÃÖ¤¯¡£¤½¤ÎºÝ¡¢¥´¥à¥¿¥¤¥ä¤ä¥×¥ì¡¼¥È¤Î¾å¤ËÃÖ¤¤¤Æ¤â¤è¤¤¡£
  • ¥×¥éÍÆ´ï¤Ë¤Ï¿§¤ò¤Ä¤±¤¿¤êʸ»ú¤äµ­¹æ¤ò½ñ¤¤¤Æ¤â¤è¤¤¡£
  • ¥×¥éÍÆ´ï¤ÏξÌ̥ơ¼¥×Åù¤Ç¥Õ¥£¡¼¥ë¥É¤Ë¸ÇÄꤷ¤Æ¤â¤è¤¤¡£
  • 2Ëç¤Î»æ¤Î¶­³¦¤Ë¤Ï¤½¤ì¤¾¤ìÉý1cm¡¢¹ç·×2cm¤Î¹õÀþ¤òÉÁ¤¤¤Æ¤â¤è¤¤¡£
´ðËܥ롼¥ë
  • ¶¥µ»»þ´Ö¤Ï¿³È½¤¬Â³¹ÔÉÔǽ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¡¢¤¢¤ë¤¤¤Ï¥ê¥¿¥¤¥¢¤¹¤ë¤Þ¤Ç¡£
  • ¿Þ¤ÎAÃÏÅÀ¤Þ¤¿¤Ï¡Ê¤ª¤è¤Ó¡ËA'ÃÏÅÀ¤«¤é¥¹¥¿¡¼¥È¤¹¤ë¡£¤¿¤À¤·ÀÜÃϤ·¤Æ¤¤¤ëÉôʬ¤Ï¤½¤ì¤¾¤ì¤ÎÎΰèÆâ¤Ë¼ý-¤Þ¤ë¤â¤Î¤È¤¹¤ë¡ÊÀþ¾å¤ÏOK¡Ë¡£¾å¶õÉôʬ¤ÏÎΰ褫¤é¤Ï¤ß½Ð¤·¤Æ¤¤¤Æ¤â¤è¤¤¡£
  • 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¡£
  • ¶¥µ»½ªÎ»¸å¡¢¥í¥Ü¥Ã¥È¤¬¡¢¥´¡¼¥ë¤Î¥×¥éÍÆ´ï¤Ë¿¨¤ì¤Æ¤¤¤Æ¤Ï¤¤¤±¤Ê¤¤¡£
  • ¶¥µ»½ªÎ»¸å¡¢¤â¤È¤â¤È¶Ì¤¬Æþ¤Ã¤Æ¤¤¤¿¥×¥éÍƴ郎¡¢¥´¡¼¥ë¤Î¥×¥éÍÆ´ï¤Ë¿¨¤ì¤Æ¤¤¤Æ¤Ï¤¤¤±¤Ê¤¤¡£

²ÝÂê3¤Ë¤Ä¤¤¤Æ¾Ü¤·¤¯¤Ï¤³¤Á¤é¤ò¤´Í÷¤¯¤À¤µ¤¤¡¥

¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ

¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎÁü¤Ï°Ê²¼¤Î¼Ì¿¿¤Î¤è¤¦¤Ç¤¹¡¥º£²ó¤Ï¡¤º£¤Þ¤Ç¤è¤ê¤âÂç·¿²½¤·¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡¥¥Ô¥ó¥Ý¥ó¶Ì¤ò4¤Ä½¦¤¤½¸¤á¤ëµ¡¹½¤ÈRIS¤ò2¤Ä¾è¤»¤¿¤³¤È¤¬Í×°ø¤Ç¤¹¡¥

¥í¥Ü¥Ã¥ÈÁ´ÂÎ1
¥í¥Ü¥Ã¥ÈÁ´ÂÎ2

¤Þ¤¿¡¤2Âæ¤ÎRIS¤ÏÄÌ¿®¤ò¹Ô¤¨¤ë¤è¤¦¤ËÀÖ³°Àþ¤òÁ÷¼õ¿®¤¹¤ë¤È¤³¤í¤ò¸þ¤«¤¤¹ç¤ï¤»¤Ë¤·¤Æ¤¤¤Þ¤¹¡¥

RIS¤Î°ÌÃÖ

¥¢¡¼¥à

¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ó¤Ç¡¤°ÜÆ°¤¹¤ë´Ö¤Ë¤¿¤á¤Æ¤ª¤­¡¤¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë¤¿¤á¤Îµ¡¹½¤Ç¤¹¡¥

¥¢¡¼¥àÁ´ÂÎ

¥·¡¼¥½¡¼Éôʬ

¥·¡¼¥½¡¼¤Î¤è¤¦¤Ë¥¢¡¼¥àÁ´ÂΤ¬¾å²¼°ÜÆ°¤¹¤ë¤¿¤á¤Îµ¡¹½¤Ç¤¹¡¥

¥·¡¼¥½¡¼1

¤³¤Î¥¢¡¼¥àÉôʬ¤Ï½Å¤¤¤Î¤Ç¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼¤ò½Ð¤¹¤¿¤á¤Ë¥®¥¢¤ò6Ëç»È¤¤¥Ñ¥ï¡¼¥¢¥Ã¥×¤ËÀ®¸ù¤·¤Þ¤·¤¿¡¥

¥·¡¼¥½¡¼¥®¥¢

¼è¤êÉÕ¤±¤¿¥®¥¢¤Ï²¼¤Î¿Þ¤Î¤è¤¦¤Ë¤Ä¤¤¤Æ¤¤¤Þ¤¹¡¥

¥®¥¢¿Þ

¥­¥ã¥Ã¥Á¥¢¡¼¥àÉôʬ

¥Ô¥ó¥Ý¥ó¶Ì¤ò¥­¥ã¥Ã¥Á¤¹¤ë¤¿¤á¤Î¥¢¡¼¥àÉôʬ¤Ç¤¹¡¥Æ°Îϸ»¤Î¥â¡¼¥¿¡¼¤¬¸å¤í¤Ë¤Ä¤¤¤Æ¤¤¤ë¤Î¤Ï¥¢¡¼¥àÁ´ÂΤΥХé¥ó¥¹¤ò¤È¤ë¤¿¤á¤Ç¤¹¡¥

¥­¥ã¥Ã¥Á¥¢¡¼¥à1

¥¢¡¼¥à³ÈÂç¿Þ

¥­¥ã¥Ã¥Á¥¢¡¼¥à2

Æ°ÎϤÎÅÁã¤ÏºÇ½é¤ÏÎØ¥´¥à¤È¥×¡¼¥ê¡¼¤ÎÁȤ߹ç¤ï¤»¤Ç¤ä¤Ã¤Æ¤¤¤Þ¤·¤¿¡¥¤³¤ì¤Ï¡¤¥â¡¼¥¿¡¼¤Î²óžÊý¸þ¤È¥¢¡¼¥à¤Î²óžÊýË¡¤¬°ìÃפ·¤Æ¤ª¤ê´Êñ¤Ëºî¤ë¤³¤È¤¬¤Ç¤­¤Þ¤·¤¿¡¥¤·¤«¤·¡¤ÎØ¥´¥à¤¬³ê¤Ã¤Æ»×¤¦¤è¤¦¤ËÆ°¤­¤Þ¤»¤ó¤Ç¤·¤¿¡¥

¥­¥ã¥Ã¥Á¥¢¡¼¥à½é¹æµ¡

¤½¤Î¤¿¤á¡¤ËÀ¤òľÀܤĤʤ°ÊýË¡¤ËÊѹ¹¤·¤Þ¤·¤¿¡¥2¤«½ê¤Ç²óž¼´¤òľ³Ñ¤Ë²óž¤µ¤»¤Æ¤¤¤Þ¤¹¡¥

ľ³Ñ¥®¥¢¥¢¡¼¥àÉô
ľ³Ñ¥®¥¢¥â¡¼¥¿¡¼Éô

¤Þ¤¿¡¤¥¢¡¼¥à¤ò¾å¤²¤ë¤Ë¤Ï¥Ñ¥ï¡¼¤¬É¬ÍפÀ¤Ã¤¿¤Î¤Ç¥®¥¢¤ÎËç¿ô¤òÁý¤ä¤·¤Þ¤·¤¿¡¥

¥â¡¼¥¿¡¼¥®¥¢

¥­¥ã¥Ã¥Á¤¹¤ëÉôʬ¤Ï¡¤¥Ô¥ó¥Ý¥ó¶Ì¤¬Æ¨¤²¤Ê¤¤¤è¤¦¤ËÆ͵¯¤¬¤Ä¤¤¤Æ¤¤¤Þ¤¹¡¥

¥¢¡¼¥àÀèü

¥Ù¥ë¥È¥³¥ó¥Ù¥¢¡¼Éôʬ

½¦¤Ã¤¿¥Ô¥ó¥Ý¥ó¶Ì¤ò¾åÉô¤Ë¾å¤²¤ëÌò³ä¤òô¤Ã¤Æ¤¤¤Þ¤¹¡¥

¥Ù¥ë¥È¥³¥ó¥Ù¥¢¡¼Á´ÂÎ

¥Ù¥ë¥È¥³¥ó¥Ù¥¢¡¼¤ÏÊÒÊý¤Î¤ß¤¬²óž¤¹¤ì¤Ð¥Ô¥ó¥Ý¥ó¶Ì¤ò±¿¤Ö¤³¤È¤¬¤Ç¤­¤ë¤Î¤Ç²óž¤¹¤ë¤Î¤ÏÊÒÊý¤Î¤ß¤Ç¤¹¡¥¤Þ¤¿¡¤²¼¤Î²èÁü¤Î¢ªÉôʬ¤¬¤¢¤ë¤³¤È¤Ë¤è¤Ã¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤ò¥³¥ó¥Ù¥¢¤Ë²¡¤·ÉÕ¤±¤ë¤³¤È¤Ç¤­¤Þ¤¹¡¥¤³¤ì¤Ç¡¤¥Ô¥ó¥Ý¥ó¶Ì¤¬¾å¤²¤ëÅÓÃæ¤Ç»ß¤Þ¤Ã¤Æ¤·¤Þ¤¦¤Î¤òËɤ®¤Þ¤·¤¿¡¥

¥Ù¥ë¥È¥³¥ó¥Ù¥¢¡¼²¡¤·ÉÕ¤±

¤³¤³¤â»×¤Ã¤¿¤è¤ê¥Ñ¥ï¡¼¤¬É¬ÍפÀ¤Ã¤¿¤Î¤Ç¥®¥¢¤ÎÁȤ߹ç¤ï¤»¤òÄ´À°¤·¤Þ¤·¤¿¡¥¥â¡¼¥¿¡¼¤Î¸ÇÄê¤Ë¤Ï¥Ó¡¼¥à¤Î·ê¤È¥×¥ì¡¼¥È¤Î·ê¤ò»È¤Ã¤Æ¸ÇÄꤷ¤Þ¤·¤¿¡¥

¥®¥¢Á° ¢ª ¥®¥¢

Àܳ1 Àܳ2 Àܳ3

¥¢¡¼¥à¤ÎÆ°¤­

¥¢¡¼¥à¤ÎÆ°¤­¥¤¥á¡¼¥¸¤Ç¤¹¡¥

¥¢¡¼¥àÆ°¤­¥­¥ã¥Ã¥Á

¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ó¤Ç¥¢¡¼¥à¤¬¾å¤¬¤Ã¤¿¸å¥­¥ã¥Ã¥Á¥¢¡¼¥à¤¬¾å¤¬¤ë¤Î¤Ï¡¤¥­¥ã¥Ã¥Á¥¢¡¼¥à¤ÎÆ͵¯¤¬¥³¥ó¥Ù¥¢¡¼¤Ë°ú¤Ã¤«¤Ã¤«¤ÆÆ°¤«¤Ê¤¯¤Ê¤ë¤³¤È¤òËɤ°¤¿¤á¤Ç¤¹¡¥

¥¢¡¼¥àÆ°¤­¥ê¥ê¡¼¥¹

­¤Þ¤ï¤ê

²ÝÂê2¤ÈƱÍͤˡ¤¥¿¥¤¥ä¤Ï3ÎؤÇÁ°¤ÎÆóÎؤ¬¶îÆ°ÎØ¡¤¸å¤í¤Î1Îؤϻ٤¨¤ë¤¿¤á¤Ë¤Ä¤¤¤Æ¤¤¤Þ¤¹¡¥Ë໤¤ò¾¯¤Ê¤¯¤¹¤ë¤¿¤á¤Ë¥Û¥¤¡¼¥ë¤À¤±¤ò¤Ä¤±¤Æ¤¤¤Þ¤¹¡¥

­²ó¤ê

΢¦

­²ó¤ê΢

¸÷¥»¥ó¥µ¡¼¤ÏÃÏÌ̤«¤é¶á¤¹¤®¤º¡¤±ó¤¹¤®¤º¤Î°ÌÃ֤ˤĤ±¤Þ¤·¤¿¡¥

¥»¥ó¥µ¡¼Á°¤«¤é

ºîÀï

¼ÖÂΤ¬½Å¤¿¤¯¡¤¥¬¥¿¥¬¥¿Íɤì¤ë¤È²õ¤ì¤Æ¤·¤Þ¤¦²ÄǽÀ­¤¬¤¢¤Ã¤¿¤Î¤Ç¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤Ç¤­¤ë¤À¤±¤·¤Ê¤¤¤è¤¦¤Ê¥ë¡¼¥È¤ò¤¯¤ß¤Þ¤·¤¿¡¥

1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç

·ÐÏ©ÀâÌÀ£±

¥¹¥¿¡¼¥È¸å2ËܤιõÀþ¤ò²£Àڤäơ¤3ËÜÌܤιõÀþ¤Î¼êÁ°¤ÇÄä»ß¤·¤Þ¤¹¡¥¤½¤³¤«¤é¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤È¤Îµ÷Î¥¤òÄ´À°¤·¡¤¥Ô¥ó¥Ý¥ó¶Ì¤ò¥­¥ã¥Ã¥Á¡¥¤½¤Î¾ì¤Ç90¡ë²óž¤·¥ê¥ê¥Ñ¥Ã¥¯¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤Þ¤¹¡¥

2¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç

·ÐÏ©ÀâÌÀ2

¥ê¥ê¥Ñ¥Ã¥¯¤ËÅö¤¿¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤Ã¤Æ¤«¤é90¡ë²óž¤·¡¤3ËܤιõÀþ¤ò²£Àڤꡤ±¦¤ØÊý¸þž´¹¤·¤Þ¤¹¡¥4ËÜÌܤιõÀþ¤ò²£Àڤ俸塤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤Ë¶á¤Å¤­¥­¥ã¥Ã¥Á¤·¤Þ¤¹¡¥

¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç

·ÐÏ©ÀâÌÀ3

¤Þ¤º90¡ë²óž¤·¤Æ¸þ¤­¤ò¹ç¤ï¤»¤Þ¤¹¡¥¤·¤«¤·¡¤¤½¤Î¤Þ¤Þ¤Ç¤Ï¥­¥ã¥Ã¥Á¥¢¡¼¥à¤¬¥ê¥ê¥Ñ¥Ã¥¯¤Ë°ú¤Ã³Ý¤«¤ê¤¦¤Þ¤¯¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ì¤Ê¤¤¤Î¤Ç¾¯¤·¸å¤í¤Ë²¼¤¬¤Ã¤Æ¤«¤é¡¤¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ß¤Þ¤¹¡¥

3¤Ä¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¤¤¤ì¤ë¤Þ¤Ç

·ÐÏ©ÀâÌÀ4

¤µ¤é¤Ë²¼¤¬¤Ã¤Æ90¡ë²óž¤·¤Þ¤¹¡¥2ËÜÌܤιõ¤¤Àþ¤Î¼êÁ°¤ÇÄä»ß¤·¤Æ¡¤¾¯¤·Á°¿Ê¤·¤Æ¥ê¥ê¥Ñ¥Ã¥¯¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤Þ¤¹¡¥

¥×¥í¥°¥é¥à

¥¢¡¼¥à¤È­¤ò2Âæ¤ÎRIS¤ò»È¤Ã¤ÆÄÌ¿®¤·¤Ê¤¬¤é¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤¿¤Î¤Ç¡¤2¤Ä¤Î¥á¥¤¥ó¥×¥í¥°¥é¥à¤¬¤¢¤ê¤Þ¤¹¡¥

¥¢¡¼¥à¤Î¥×¥í¥°¥é¥à

Àܳ

A¡§¥­¥ã¥Ã¥Á¥¢¡¼¥à

B¡§¥·¡¼¥½¡¼

C¡§¥³¥ó¥Ù¥¢¡¼

¥Þ¥¯¥í

ÄÌ¿®¤Ë»È¤¦ÃͤǤ¹¡¥

#define signal_catch 1
#define signal_release 2
#define signal_end 3

¥µ¥Ö¥ë¡¼¥Á¥ó

¥Ü¡¼¥ë¤ò°ìÅÙ¤ËÊ£¿ô¸Ä±¿¤Ù¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤ò½ñ¤­¤Þ¤·¤¿¡¥

¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥µ¥Ö¥ë¡¼¥Á¥ó

sub CATCH()
{
    ClearMessage();
    until(Message()==signal_catch);//signal_catch¤¬Á÷¤é¤ì¤ë¤Þ¤ÇÂÔµ¡
    //  ¥¢¡¼¥à¤ò²¼¤²¤ë     
    OnFwd(OUT_B);
    Wait(30);
    Off(OUT_B);
    Wait(100);
    SetPower(OUT_A,2);
    // ¤Ä¤«¤à
    OnRev(OUT_A);
    Wait(90);
    Off(OUT_A);
    Wait(100);
    //  ¾å¤²¤ë
    OnRev(OUT_B);
    Wait(50);
    Off(OUT_B);
    Wait(100);
    //  ¼ê¤ò¸µ¤ËÌ᤹
    OnFwd(OUT_A);
    Wait(90);
    Off(OUT_A);
    Wait(100);
    // ¥³¥ó¥Ù¥¢¡¼¤Ç±ü¤ØÁ÷¤ë
    OnFwd(OUT_C);
    Wait(200);
    Off(OUT_C);
    Wait(100);
    SendMessage(signal_end);//Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
}

SendMesssge(signal_end)¤Ï¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤«¤é­¤Î¥×¥í¥°¥é¥à¤òºÆ³«¤µ¤»¤ë¤¿¤á¤Î¥á¥Ã¥»¡¼¥¸¤Ç¤¹¡¥Â­¤Î¥×¥í¥°¥é¥à¤Ë¤Ïuntil(Message()==signal_end)¤¬Æþ¤Ã¤Æ¤¤¤Æ¡¤¥¢¡¼¥à¤¬Æ°¤­½ª¤ï¤Ã¤Æ¤«¤é­¤¬Æ°¤­»Ï¤á¤Þ¤¹¡¥

¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ë¥µ¥Ö¥ë¡¼¥Á¥ó

sub release()
{
    ClearMessage();
    until(Message()==signal_release);  //signal_release¤¬Á÷¤é¤ì¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡
    //  ¥¢¡¼¥à²¼¤²¤ë
    OnFwd(OUT_B);
    Wait(30);
    Off(OUT_B);
    Wait(100);
    // ¥³¥ó¥Ù¥¢¡¼¤ÇÁ°¤ØÁ÷¤ë
    OnRev(OUT_C);
    Wait(200);
    Off(OUT_C);
    Wait(100);
    //  ¥¢¡¼¥à¾å¤²¤ë
    OnRev(OUT_B);
    Wait(50);
    Off(OUT_B);
    Wait(100);
    SendMessage(signal_end);//Æ°ºî½ªÎ»¤ò­¤ÎRIS¤ËÁ÷¿®
}

¥¢¡¼¥à¤ÎÆ°¤­¤Ï¾å¤Î¥¢¥Ë¥á¡¼¥·¥ç¥ó¤ò¸«¤Æ¤¯¤À¤µ¤¤¡¥

¥á¥¤¥ó¥×¥í¥°¥é¥à

task main()
{
    ClearMessage();
    CATCH();//L'¤Ç¤Ä¤«¤à­¡
    release();//J'¤Ç¥ê¥ê¡¼¥¹­£
    CATCH();//L¤Ç¤Ä¤«¤à­¥
    CATCH();//J¤Ç¥ê¥ê¥Ñ¥Ã¥¯¤«¤é¤Ä¤«¤à­¨
    CATCH();
    ClearMessage();
    until(Message()==signal_release);//­ª 
    //  ²¼¤¬¤ë
    OnFwd(OUT_B);
    Wait(30);
    Off(OUT_B);
    Wait(100);
    // Á°¤ØÁ÷¤ë
    OnRev(OUT_C);
    Wait(200);
    Off(OUT_C);
    Wait(100);
    //  ¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë
    OnRev(OUT_BC);
    Wait(50);
    Off(OUT_BC);
    Wait(100);
    SendMessage(signal_end);
}

ºÇ¸å¤Î¡Ö²¼¤¬¤ë¡×¡ÖÁ°¤ØÁ÷¤ë¡×¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ÈƱ¤¸¤Ç¤¹¡¥¤Ç¤¹¤¬¥µ¥Ö¥ë¡¼¥Á¥ó¡Örelease¡×¤ò»È¤¦¤È¡¤¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ëÁ°¤ËÆ°ºî¤¬½ª¤ï¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡¥¤½¤ì¤òËɤ°¤¿¤á¤Ë¡¤¡Ö¾å¤¬¤ê¤Ê¤¬¤éÁ÷¤ë¡×¤òÆþ¤ì¡¤¥¢¡¼¥à¤ò¾å¤²¤ë¤Î¤ÈƱ»þ¤Ë¥³¥ó¥Ù¥¢¡¼¤âÆ°¤«¤·¤Æ¤¤¤Þ¤¹¡¥

­

­¤Î¥×¥í¥°¥é¥à¤ÏÆ°¤¯½ç½ø¤Ë±è¤Ã¤Æºî¤é¤ì¤Æ¤¤¤Þ¤¹¡¥»þ´ÖÀ©¸æ¤Ç¤Ï¥Ð¥Ã¥Æ¥ê¡¼¥ì¥Ù¥ë¤Ë¤è¤Ã¤ÆÆ°¤­¤¬ÊѤï¤ë¤Î¤Ç¡¤ÂçÉôʬ¤ò¸÷¥»¥ó¥µ¡¼¤ÇÀ©¸æ¤·¤Æ¤¤¤Þ¤¹¡¥

Àܳ

A¡§±¦¼ÖÎØ

C¡§º¸¼ÖÎØ

2¡§¸÷¥»¥ó¥µ¡¼

¥Þ¥¯¥í¡¦¥°¥í¡¼¥Ð¥ëÊÑ¿ô

¸÷¥»¥ó¥µ¡¼¤ÎÃÍ¡¤´ðËÜŪ¤ÊÆ°ºî¡¤¥á¥Ã¥»¡¼¥¸¤ÎÃͤòÄêµÁ¤·¤Þ¤¹¡¥

#define black 40
#define gray_black 44
#define gray 47
#define gray_white 50
#define white 60
#define go_ahead OnFwd(OUT_AC);
#define turn_left OnFwd(OUT_A);Off(OUT_C);
#define turn_right OnFwd(OUT_C);Off(OUT_A);
#define circling_left OnRev(OUT_C);OnFwd(OUT_A);
#define circling_right OnRev(OUT_A);OnFwd(OUT_C);
#define signal_catch 1
#define signal_release 2
#define signal_end 3

¥°¥í¡¼¥Ð¥ëÊÑ¿ô¤òÄêµÁ¤·¤Þ¤¹¡¥

int t;

¥µ¥Ö¥ë¡¼¥Á¥ó

¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ç¤¹¡¥´ðËÜŪ¤Ê»ÅÁȤߤϲÝÂê2¤ÈƱ¤¸¤Ç¤¹¡¥¾Ü¤·¤¯¤Ï²ÝÂê2¤Î¥ì¥Ý¡¼¥È¤ò¸«¤Æ¤¯¤À¤µ¤¤¡¥º£²ó¤Ï¸òº¹ÅÀ¤òǧ¼±¤¹¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç¡¤¥°¥í¡¼¥Ð¥ëÊÑ¿ôt¤Ç»ØÄꤷ¤¿»þ´Ö¤Î´ÖÆ°¤­Â³¤±¤Þ¤¹¡¥

sub follow_line()// ±¦Â¦¥È¥ì¡¼¥¹
{
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while(FastTimer(0)<t)
        {
        if(SENSOR_2<black)
            {
            circling_right;
            }
        else if(SENSOR_2<gray_black)
            {
            turn_right;
            }
        else if(SENSOR_2<gray)
            {
            go_ahead;
            }
        else if(SENSOR_2<gray_white)
            {
            turn_left;
            }
        else if(SENSOR_2<white)
            {
            circling_left;
            }
        }
    Off(OUT_AC);
    Wait(100);
}

¥á¥¤¥ó¥×¥í¥°¥é¥à

¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ï¾å¤ÎºîÀï¤Ë½ñ¤«¤ì¤Æ¤¤¤ë½ç½ø¤Ç¿Ê¤à¤è¤¦¤ËÁȤó¤Ç¤¢¤ê¤Þ¤¹¡¥

A'¤ò¥¹¥¿¡¼¥È¤·¤Æ1¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç
task main()
{
    ClearMessage();
    //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    //¹õ¤Ê¤éľ¿Ê
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);//K'ÉÕ¶á¤ËÅþã
    t=90;follow_line();//¢¨£²
    Wait(100);
    SendMessage(signal_catch);//  L'¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë­¡
    ClearMessage();
    until(Message()==signal_end);//¥¢¡¼¥à¤ÎÆ°ºî¤¬½ª¤ï¤ë¤Þ¤ÇÂÔµ¡
    //90¡ëº¸Àû²ó­¢
    circling_left;
    Wait(102);
    Off(OUT_AC);
    // ¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë­£
    SendMessage(signal_release);
    ClearMessage();
    until(Message()==signal_end);
¡¡¡¡
2¤ÄÌܤΥԥó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç
    //¸å¤í¤Ë²¼¤¬¤ë
    OnRev(OUT_AC);
    Wait(30);
    Off(OUT_AC);
    //90¡ëº¸Àû²ó­¤
    circling_left;
    Wait(102);
    Off(OUT_AC);
    //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    //¹õ¤Ê¤éľ¿Ê
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    turn_right;//±¦¤Ë²óž
    Wait(100);
    //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    //¹õ¤Ê¤éľ¿Ê
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    t=150;follow_line();//¢¨£²
    SendMessage(signal_catch);// L¤Ç¤Ä¤«¤àÌ¿Îá¤òÁ÷¤ë­¥
    ClearMessage() ;
    until(Message()==signal_end);
¥ê¥ê¥Ñ¥Ã¥¯¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë¤Þ¤Ç
    //90¡ëº¸Àû²ó­¦
    circling_left;
    Wait(102);
    Off(OUT_AC);
    //¸å¤í¤Ë²¼¤¬¤ë­§
    OnRev(OUT_AC);
    Wait(23);
    Off(OUT_AC);
    SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣱ­¨
    ClearMessage();
    until(Message()==signal_end);
    Wait(100);
    SendMessage(signal_catch);//  ¥ê¥ê¥Ñ¥Ã¥¯¤Ç¤Ä¤«¤àÌ¿Îᣲ
    ClearMessage(); 
    until(Message()==signal_end);
3¤Ä¤Î¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤Þ¤Ç
    //¸å¤í¤Ë²¼¤¬¤ë
    OnRev(OUT_AC);
    Wait(90);
    Off(OUT_AC);
    //90¡ëº¸Àû²ó­©
    circling_left;
    Wait(102);
    Off(OUT_AC);
    //Çò¤Ê¤éľ¿Ê¡¡¢¨£±
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    //¹õ¤Ê¤éľ¿Ê
    while(SENSOR_2<gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    while(SENSOR_2>gray)
          {OnFwd(OUT_AC);}
       Off(OUT_AC);
       Wait(100);
    SendMessage(signal_release);//¥Ü¡¼¥ë¤ò¥ê¥ê¥Ñ¥Ã¥¯¤ËÆþ¤ì¤ëÌ¿Îá¤òÁ÷¤ë­ª
    ClearMessage();
    until(Message()==signal_end);
    //¥ê¥ê¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¤¿¤á¤Ë¸å¤í¤Ë²¼¤¬¤ë
    OnRev(OUT_AC);
    Wait(100);
    Off(OUT_AC);
}

¥×¥í¥°¥é¥àÃæ¤Î¡»¿ô»ú¤ÏºîÀï¤Î¿Þ¤ËÂбþ¤·¤Æ¤¤¤Þ¤¹¡¥

¢¨1¡¡¤³¤Î°ìÏ¢¤ÎÆ°ºî¤Ï¡¤¥é¥¤¥ó¤Þ¤Ç¿Ê¤ß¡¤¥é¥¤¥ó¤ò±Û¤¨¡¤¤Þ¤¿¥é¥¤¥ó¤Þ¤Ç¿Ê¤à¤È¤¤¤¦Æ°ºî¤ò¤·¤Æ¤¤¤Þ¤¹¡¥¿ô¤òÄ´À°¤¹¤ë¤³¤È¤ÇǤ°Õ¤Î¹õÀþ¤Î¼êÁ°¤Þ¤¿¤Ï±ü¤Ç»ß¤Þ¤ë¤³¤È¤¬¤Ç¤­¤Þ¤¹¡¥

¢¨£²¡¡follow_line¤Î¸å¤Ë¤Ï¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¡¤90¡ë²óž¤¹¤ë¥×¥í¥°¥é¥à¤¬¤¢¤ê¤Þ¤¹¡¥¤½¤Î2¤Ä¤Ï°ÌÃÖ¤¬Àµ³Î¤Ç¤Ê¤¤¤È¤¦¤Þ¤¯µ¡Ç½¤·¤Þ¤»¤ó¡¥¤½¤Î¤¿¤á¡¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡¤¥í¥Ü¥Ã¥È¤ò¤Ç¤­¤ë¤À¤±¹õÀþ¤ÈÊ¿¹Ô¤Ë¤·¤Æ¤¤¤Þ¤¹¡¥

¤Þ¤È¤á

º£²ó¤âÍÍ¡¹¤ÊÌäÂ꤬ȯÀ¸¤·¤Þ¤·¤¿¡¥ËÜÈ֤Ǥϴ°¤Ú¤­¤È¤Ï¤¤¤«¤Ê¤¤¤â¤Î¤Î¡¤¤«¤Ê¤ê¾å¼ê¤¯Æ°¤¤¤¿¤½¤¦¤Ê¤Î¤ÇËÜÅö¤Ë¤è¤«¤Ã¤¿¤Ç¤¹¡¥


źÉÕ¥Õ¥¡¥¤¥ë: files_gear_old.jpg 234·ï [¾ÜºÙ] files_gear_new.jpg 220·ï [¾ÜºÙ] files_catch_arm_kyori.jpg 186·ï [¾ÜºÙ] files_RIS.jpg 209·ï [¾ÜºÙ] files_seesaw.jpg 109·ï [¾ÜºÙ] files_arm1.jpg 199·ï [¾ÜºÙ] files_osituke.jpg 183·ï [¾ÜºÙ] files_keiro4.JPG 187·ï [¾ÜºÙ] files_keiro3.JPG 185·ï [¾ÜºÙ] files_keiro2.JPG 115·ï [¾ÜºÙ] files_keiro1.JPG 185·ï [¾ÜºÙ] fileGIF2.gif 160·ï [¾ÜºÙ] fileGIF1.gif 184·ï [¾ÜºÙ] files_¥¹¥é¥¤¥É1.JPG 180·ï [¾ÜºÙ] files_¥¹¥é¥¤¥É3.JPG 35·ï [¾ÜºÙ] files_¥¹¥é¥¤¥É2.JPG 166·ï [¾ÜºÙ] files_ashimawari3.jpg 151·ï [¾ÜºÙ] files_ashimawari2.jpg 164·ï [¾ÜºÙ] files_ashimawari1.jpg 154·ï [¾ÜºÙ] files_zentai2.jpg 154·ï [¾ÜºÙ] files_zentai1.jpg 164·ï [¾ÜºÙ] files_syogouki.jpg 136·ï [¾ÜºÙ] files_setuzoku3.jpg 143·ï [¾ÜºÙ] files_setuzoku2.jpg 152·ï [¾ÜºÙ] files_setuzoku1.jpg 167·ï [¾ÜºÙ] files_gear_catch_arm2.jpg 141·ï [¾ÜºÙ] files_gear_catch_arm1.jpg 183·ï [¾ÜºÙ] files_conveyor.jpg 154·ï [¾ÜºÙ] files_catch_arm_motor.jpg 168·ï [¾ÜºÙ] files_catch_arm.jpg 153·ï [¾ÜºÙ] files_arm_sentan.jpg 157·ï [¾ÜºÙ] files_2019a-mission3 .png 158·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: 2019-08-14 (¿å) 16:16:57