*¥á¥ó¥Ð¡¼¾Ò²ð [#f73dc71c] -²Ö²¬²ÂÂÀ¡¡¹©³ØÉôµ¡³£¥·¥¹¥Æ¥à¹©³Ø²Ê¡¡ -»ÔÀîÂçµ³¡¡Á¡°Ý³ØÉôµ¡³£¥í¥Ü¥Ã¥È³Ø·Ï¡¡ *²ÝÂê [#icc3e4e6] [ÌÜɸ] -¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¥´¡¼¥ë¤òÌܻؤ¹¡£ -¥³¡¼¥¹¤ÎÅÓÃæ¤Ë¤¢¤ë¶õ¤´Ì¤òÄϤßÌÜɸ¤Î°ÌÃ֤˱¿¤Ö¡£ [¿Þ] http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2013a%2FMission1&src=robotics-2013a-mission1.jpg *¥í¥Ü¥Ã¥È¾Ò²ð [#of9c4bdd] -¶ËÎϻȤ¦¥Ñ¡¼¥Ä¤ò¸º¤é¤·¤Æ¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÝ¤Î¸÷¥»¥ó¥µ¡¼¤Î»Ù¾ã¤Ë¤Ê¤é¤Ê¤¤¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£ -»õ¼Ö¤òÍøÍѤ·¤Æ¥â¡¼¥¿¡¼¤Î²óžÊýË¡¤òÊѹ¹¤·¤Þ¤·¤¿¡£ºÇ½é¤Ï¥â¡¼¥¿¡¼¤ò²£¤Ë¤·¤Æ»È¤Ã¤Æ¤¤¤¿¤¬¡¢½ÄÊý¸þ¤Ç»È¤¦¤³¤È¤Ç¡¢¥¢¡¼¥à¤ò¼è¤êÉÕ¤±¤ä¤¹¤¯¤Ê¤Ã¤¿¡£¢¨¼Ì¿¿1.2 &ref(2013a/Member/free/Mission1/3.JPG,480¡ß640,¼Ì¿¿1); -¥¢¡¼¥àÉôʬ¤Ï´Ì¤Ë¹ç¤¦¤è¤¦¤ËÀ߷פ·¤¿¤¬¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë´Ì¤òÎ¥¤·¤Æ¤·¤Þ¤Ã¤¿¤ê¡¢¾¯¤·¤Ç¤â´Ì¤È¤Îµ÷Î¥¤¬¹ç¤ï¤Ê¤¤¤È¾å¼ê¤¯¶´¤á¤Ê¤¤¤È¤¤¤¦»öÂ֤ˤʤäƤ·¤Þ¤Ã¤¿¤Î¤Ç¡¢¥¢¡¼¥à¤òÆóËܤˤ¹¤ë¤Ê¤É¤Î¹©Éפ¬É¬ÍפÀ¤Ã¤¿¡£ &ref(2013a/Member/free/Mission1/2.JPG,640¡ß480,¼Ì¿¿2); *¥×¥í¥°¥é¥à¤Î³µÍ×(È¿»þ·×¼þ¤ê) [#v9ba94d7] ¡¥¹¥¿¡¼¥È¤«¤é7.5Éø塢¥¢¡¼¥à¤òÊĤ¸¤Æ´Ì¤òÄϤࡣ ¢¤½¤Î¤Þ¤Þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¡¢26Éøå¥È¥ì¡¼¥¹¤¹¤ë°ÌÃÖ¤ÎÊѹ¹ £36ÉøåºÆ¤Ó°ÌÃÖ¤ÎÊѹ¹ ¤¤â¤·55Éøå°Ê¹ß¤Ë¸òº¹ÅÀ¤Ë¤Ö¤Ä¤«¤Ã¤¿¾ì¹ç¡¢¸þ¤¤ò180Åٲ󞤷¤¿¸å´Ì¤òÃÖ¤¯¡£ ¥¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤è¤ê¥´¡¼¥ë¤Ø¸þ¤«¤¦¡£ *¥×¥í¥°¥é¥à [#t51bb992] #define white1 39 #define white2 45 #define black1 60 #define black2 65 #define go_forward OnFwd(OUT_BC,40) #define turn_left2 OnFwd(OUT_C,40);Off(OUT_B) #define turn_left1 OnFwd(OUT_C,40);OnRev(OUT_B,30) #define turn_right2 OnFwd(OUT_B,40);Off(OUT_C) #define turn_right1 OnFwd(OUT_B,40);OnRev(OUT_C,20) #define STEP 1 #define nMAX 180 #define short_break Off(OUT_BC);Wait(1000); task main () { SetSensorLight(S3); int nOnline=0; long t0 = CurrentTick(); int n=0; while (CurrentTick()-t0 <= 7500) { /¥¹¥¿¡¼¥È¤«¤é7.5Éäޤǥ饤¥ó¥È¥ì¡¼¥¹ if (SENSOR_3 < white1) { turn_left1; } else if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } Wait(STEP); } OnFwd(OUT_A,50);Wait(800);Off(OUT_A);¡¡/¡¡7.5ÉäË㤷¤¿¤é¥¢¡¼¥à¤Ç´Ì¤òÄϤà while (CurrentTick()-t0 <= 26000) {¡¡¡¡/ ¥¹¥¿¡¼¥È¤«¤é26Éäˤʤë¤Þ¤ÇºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹ while(nOnline < nMAX && CurrentTick()-t0 <= 26000) { if (SENSOR_3 < white1) { turn_left1; nOnline++; } else { if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } nOnline=0; } Wait(STEP); } turn_right2;Wait(nMAX*STEP); OnFwd(OUT_BC,30);Wait(200);¡¡¡¡/ 0.2ÉäÀ¤±Á°¿Ê¤¹¤ë»ö¤Ë¤è¤ê¥È¥ì¡¼¥¹¤¹¤ëÀþ¤Îº¸±¦¤Îȿž(¢¨) nOnline=0;¡¡¡¡¡¡/¡¡¥«¥¦¥ó¥¿¡¼¤Î¥ê¥»¥Ã¥È }turn_right1;Wait(100); &ref(2013a/Member/free/Mission1/6.jpg,819¡ß460,¼Ì¿¿3); (¢¨)¤Ë¤Ä¤¤¤Æ ¾å¤Î¿Þ¤Ï²«¿§¤ÎÀþ¤¬¥í¥Ü¥Ã¥È¤Îµ°ÀפǤ¢¤ë¡£ ¾å¤Î¥×¥í¥°¥é¥à¤Ç¤ÏÀÖ¤¤´Ý¤Ç°Ï¤Þ¤ì¤¿ÊÕ¤ê¤ËÍ褿»þ¤Ë¼Ð¤á¤ËÁ°¿Ê¤µ¤»¤ë¤³¤È¤Ë¤è¤Ã¤Æ Àþ¤Î±¦Â¦¤òÄ̤äƤ¤¤¿¥í¥Ü¥Ã¥È¤òÀþ¤Îº¸Â¦¤Ë°ÜÆ°¤µ¤»¤ë¡£ ¤½¤¦¤¹¤ë»ö¤Ç¸òº¹ÅÀ¤òÅϤëºÝ¤Ë±Ô³Ñ¤Ê¸òº¹ÅÀ¤òÄ̤ë»ö¤¬¤Ç¤¤ë¡£ ¤Þ¤¿¡¢Àִݤ¬£²¤Ä¤¢¤ë¤Î¤Ï¡¢¤³¤Î¸å¤Î¥×¥í¥°¥é¥à¤Ë¤â¤³¤ÎÆ°ºî¤¬¹Ô¤ï¤ì¤ë¤«¤é¤Ç¤¢¤ë¡£ ¤½¤Î²Õ½ê¤ò(¢¨2)¤È¤¹¤ë while (CurrentTick()-t0 <= 36000) { / ¥¹¥¿¡¼¥È¤«¤é36Éøå¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹ while(nOnline < nMAX && CurrentTick()-t0 <= 36000) {¡¡/36É÷Ф俾ì¹ç¼¡¤Î¥×¥í¥°¥é¥à¤Ë°Ü¤ë if (SENSOR_3 < white1) { turn_right1; nOnline++; } else { if (SENSOR_3 < white2) { turn_right2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_left2; } else { turn_left1; } nOnline=0; } Wait(STEP); } turn_left2;Wait(nMAX*STEP); OnFwd(OUT_BC,30);Wait(200);¡¡/Á°¿Ê¤µ¤»¤ë¤³¤È¤Ë¤è¤ê¥È¥ì¡¼¥¹¤¹¤ëÀþ¤Îȿž(¢¨2) nOnline=0; }turn_left1;Wait(200); while (n<2) { while(nOnline < nMAX && n<2) { /¤â¤·£²²óÌܤθòº¹ÅÀ¤ò´¶ÃΤ·¤¿¾ì¹ç¸å¤í¤Ë²¼¤¬¤ëÆ°ºî¤ò¹Ô¤¦ if (SENSOR_3 < white1) { turn_left1; nOnline++; } else { if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } nOnline=0; } Wait(STEP); } turn_right2;Wait(nMAX*STEP); OnRev(OUT_BC,30);Wait(200); /¸å¤í¤Ë²¼¤¬¤ë nOnline=0;n++; } OnRev(OUT_BC,50);Wait(500);OnFwd(OUT_C,50);OnRev(OUT_B,50);Wait(300); OnFwd(OUT_C,50);OnRev(OUT_B,50);until(SENSOR_3 < 50);¡¡¡¡/ ¾å¤Î2¹Ô¤Ë¤è¤Ã¤Æ¥í¥Ü¥Ã¥È¤ÏU¥¿¡¼¥ó¤¹¤ë long t1 = CurrentTick();¡¡/ ㊟¤³¤³¤«¤ét0¤«¤ét1¤Î¥¿¥¤¥Þ¡¼¤ËÀÚ¤êÂؤ¨ while (CurrentTick()-t1 <= 1800) { if (SENSOR_3 < white1) { turn_right1; } else if (SENSOR_3 < white2) { turn_right2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_left2; } else { turn_left1; } Wait(STEP); } turn_left1;Wait(270);Off(OUT_BC);OnRev(OUT_A,50);Wait(300);Off(OUT_A); OnRev(OUT_BC,50);Wait(600);OnFwd(OUT_B,50);OnRev(OUT_C,50);Wait(300); OnFwd(OUT_B,50);OnRev(OUT_C,50);until(SENSOR_3 < 50); long t2 = CurrentTick();¡¡¡¡/ ¾å¤Î£³¹Ô¤Î¥×¥í¥°¥é¥à¤Ë¤è¤Ã¤ÆU¥¿¡¼¥ó¤ò¤·¤¿¥í¥Ü¥Ã¥È¤¬Äê°ÌÃ֤ޤǿʤߴ̤òÃÖ¤¤¤Æu¥¿¡¼¥ó¤¹¤ë ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡/ ㊟¤³¤³¤«¤é¤Ït1¤«¤ét2¤Ë¥¿¥¤¥Þ¡¼¤òÊѹ¹ while (CurrentTick()-t2 <= 3900) { if (SENSOR_3 < white1) { turn_left1; } else if (SENSOR_3 < white2) { turn_left2; } else if (SENSOR_3 < black1) { go_forward; } else if (SENSOR_3 < black2) { turn_right2; } else { turn_right1; } Wait(STEP); } Off(OUT_BC);¡¡/¥´¡¼¥ë¤·¤¿¤¿¤á¥×¥í¥°¥é¥à¤Î½ªÎ» } *´¶ÁÛ [#o11c00ca] ¡¦º£²ó¤Î²ÝÂê¤òÄ̤¸¤Æ¡¢ºÇ½é¤Ï¾å¼ê¤¯¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Ê¤«¤Ã¤¿¤¿¤á¡¢¥Ñ¥ï¡¼¤òÍî¤È¤·¤ÆÆ°¤«¤¹¤³¤È¤ÇÀµ³Î¤Ê¥È¥ì¡¼¥¹¤¬¤Ç¤¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¡£ ¡¦È¯É½¤ÎºÝ¤Ë¤Ï¡¢º£¤Þ¤Ç¾å¼ê¤¯¤¤¤Ã¤Æ¤¤¤¿¤Î¤Ë¡¢ËÜÈ֤Ǥϵޤ˼ºÇÔ¤·¤Æ¤·¤Þ¤¤¡¢¥¿¥¤¥Þ¡¼¤Ç¤ÎÁàºî¤ÎÆñ¤·¤µ¤ò¼Â´¶¤·¤¿¡£ ¡¦¸òº¹ÅÀ¤Ç¤Î¼ºÇÔ¤¬Â¿¤«¤Ã¤¿¤¿¤á¡¢¤â¤¦¾¯¤·²þÎɤ¹¤Ù¤¤Ç¤¢¤Ã¤¿¡£