[[2018b/Member]] Ìܼ¡ #contents *²ÝÂꣳ¤Î³µÍ× [#qcf667ae] ²ÝÂꡧ¥Ü¡¼¥ë±¿ÈÂ¥í¥Ü¥Ã¥È ¢÷ ÀĤÈÀ֤Υܡ¼¥ë¤ò±¿È¤·¤Æ¡¢¤½¤ì¤¾¤ì½êÄê¤Î350ml´Ì¤Î¾å¤Ë¾è¤»¤ë¡£ ¥í¥Ü¥³¥ó¤Î¥Õ¥£¡¼¥ë¥ÉÊ¿ÌÌ¿Þ &ref(2018b-mission3.png); ¥Õ¥£¡¼¥ë¥É¤ÎÀâÌÀ ¥Õ¥£¡¼¥ë¥É¤Ï²ÝÂê2¤Ç»ÈÍѤ·¤¿»æ¤ò»ÈÍѤ¹¤ë¡£ 350ml´Ì(Ã椬Æþ¤Ã¤Æ¤¤¤Æ¤â¶õ¤Ç¤è¤¤)¤ÏµÕ¤µ¤Þ¤Ë¤·¤Æ»È¤¤¡¢¥í¥Ü¥Ã¥È¤Î¥¹¥¿¡¼¥Èľ¸å¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ½Ð¤¿ÌܤÎÈÖ¹æ¤Î°ÌÃÖ¤ËÃÖ¤¯¡£ ¤½¤ÎÈÖ¹æ¤Î¼¡¤ÎÈÖ¹æ¤Î¤È¤³¤í¤Ë¤â¥À¥ß¡¼¤Î´Ì¤òÃÖ¤¯¤³¤È¤¬¤Ç¤¤ë¡£¤¿¤À¤·6¤ÎÌܤ¬½Ð¤¿¾ì¹ç¤Ï6¤Î°ÌÃÖ¡¡¤È25cm°Ê¾åÎ¥¤ì¤Æ¤¤¤Ê¤¤¾ì½ê¤Ê¤é¤É¤³¤ËÃÖ¤¤¤Æ¤â¤è¤¤¤â¤Î¤È¤¹¤ë¡£µ÷Î¥¤Ï´Ì¤È´Ì¤Î¤â¤Ã¤È¤â¶á¤¤Éôʬ¤Ç¬¤ë¡£ ¶õ¤´Ì¤Ë¤Ï¿§¤ò¤Ä¤±¤¿¤êʸ»ú¤äµ¹æ¤ò½ñ¤¤¤Æ¤â¤è¤¤¡£¤¢¤ë¤¤¤Ï¼þ°Ï¤Ë»æ¤òÄ¥¤Ã¤Æ¤â¤è¤¤¡£ ÀÖ¤ÈÀĤΥܡ¼¥ë¤Ï¡¢¿Þ¤Î¤è¤¦¤Ë½êÄê¤Î¾ì½ê¤ËÃÖ¤¤¤Æ¤ª¤¯¡£¤½¤ÎºÝ¡¢¥¥Ã¥È¤Ë´Þ¤Þ¤ì¤Ê¤¤¾®¤µ¤ÊÎØ¥´¥à¤ò»ÈÍѤ¹¤ë¤â¤Î¤È¤¹¤ë¡£ ¥ë¡¼¥ë ´ðËܥ롼¥ë ¶¥µ»»þ´Ö¤Ï¿³È½¤¬Â³¹ÔÉÔǽ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¡¢¤¢¤ë¤¤¤Ï¥ê¥¿¥¤¥¢¤¹¤ë¤Þ¤Ç¡£ ¿Þ¤ÎXÃÏÅÀ¤Þ¤¿¤Ï¡Ê¤ª¤è¤Ó¡ËYÃÏÅÀ¤«¤é¥¹¥¿¡¼¥È¤¹¤ë¡£¤¿¤À¤·ÀÜÃϤ·¤Æ¤¤¤ëÉôʬ¤Ï¤½¤ì¤¾¤ì¤ÎÎΰèÆâ¤Ë¡¡¼ý¤Þ¤ë¤â¤Î¤È¤¹¤ë¡ÊÀþ¾å¤ÏOK¡Ë¡£¾å¶õÉôʬ¤ÏÎΰ褫¤é¤Ï¤ß½Ð¤·¤Æ¤¤¤Æ¤â¤è¤¤¡£ ÀÖ¤¤¥Ü¡¼¥ë¤ò¿Þ¤Î¥Ô¥ó¥¯¤Î¤¤¤º¤ì¤«¤ËÃÖ¤¤¤¿´Ì¤Ë¡¢ÀĤ¤¥Ü¡¼¥ë¤ò¿Þ¤Î¿å¿§¤Î¤¤¤º¤ì¤«¤ËÃÖ¤¤¤¿´Ì¤Ë¡¢¤½¤ì¤¾¤ì¾è¤»¤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¡£ ´ðËÜÆÀÅÀ¤Î·×»»ÊýË¡ ¥Ü¡¼¥ë¤ò°ì¤Ä¾è¤»¤ì¤Ð¤½¤ì¤¾¤ì10ÅÀ¡¢Æó¤Ä¤È¤â¾è¤»¤ì¤Ð¥Ü¡¼¥Ê¥¹ÅÀ¤È¤·¤Æ¤µ¤é¤Ë10ÅÀ¡£ ¥À¥ß¡¼¤Î´Ì¤òÀßÃÖ¤·¤¿¾å¤Ç¡¢Àµ¤·¤¤´Ì¤Ë¾è¤»¤ì¤Ð¡¢¤½¤ì¤¾¤ì¤µ¤é¤Ë6ÅÀ²ÃÅÀ¤¹¤ë¡£ ¥Ü¡¼¥ë¤òÌÜŪ¤Î´Ì¤ËÅö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ì¤Ð¡¢¤½¤ì¤¾¤ì4ÅÀ¡£ ¥Ü¡¼¥ë¤òƱ¤¸ÎΰèÆâ¤Î´Ö°ã¤Ã¤¿´Ì¤Ë¾è¤»¤¿¾ì¹ç¤Ï¡¢¤½¤ì¤¾¤ì6ÅÀ¡£ ¥Ü¡¼¥ë¤òƱ¤¸ÎΰèÆâ¤Î´Ö°ã¤Ã¤¿´Ì¤ËÅö¤Æ¤¿¾ì¹ç¤Ï¡¢¤½¤ì¤¾¤ì2ÅÀ¡£ ¥Ü¡¼¥ë¤ò°ã¤¦ÎΰèÆâ¤Î´Ì¤Ë¾è¤»¤¿¾ì¹ç¤Ï¡¢¤½¤ì¤¾¤ì2ÅÀ¡£ ¥Ü¡¼¥ë¤ò°ã¤¦ÎΰèÆâ¤Î´Ì¤ËÅö¤Æ¤¿¾ì¹ç¤Ï¡¢0ÅÀ¡£ ÌÜŪ¤Î´Ì¤ò¤â¤È¤Î°ÌÃÖ¡Êľ·Â7cm¤Î±ß¡Ë¤«¤é¾¯¤·½Ð¤·¤Æ¤·¤Þ¤Ã¤¿¾ì¹ç¤Ï1ÅÀ¸ºÅÀ¡¢È¾Ê¬°Ê¾å½Ð¤·¤Æ¤·¡¡¤Þ¤Ã¤¿¾ì¹ç¤Ï2ÅÀ¤Þ¤¿¤Ï¼èÆÀ¤·¤¿ÆÀÅÀ¤ÎȾʬ¤Î¤¤¤º¤ì¤«¾¯¤Ê¤¤¤Û¤¦¤ò¸ºÅÀ¡¢¤½¤Î´Ì¤ò´°Á´¤Ë¤À¤·¤Æ¤·¡¡¤Þ¤Ã¤¿¤È¤¤ÏÅÀ¿ô¤òȾʬ¤Ë¤¹¤ë¡£ ¥À¥ß¡¼¤Î´Ì¤¬¤â¤È¤Î°ÌÃÖ¤«¤é°ÜÆ°¤·¤Æ¤â¸ºÅÀ¤Ï¤·¤Ê¤¤¡£ µ»½ÑÅÀ¤Î·×»»ÊýË¡ °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¡§ ¡¦¥Ü¡¼¥ëõ¤·¼è¤ê¤Ë¤¤¤¯¤Þ¤Ç¤ÎÆ°ºî (3ÅÀ) ¡¦¥Ü¡¼¥ëÄϤàÆ°ºî (3ÅÀ) ¡¦¥Ü¡¼¥ë¤ò±¿¤ÖÆ°ºî (2ÅÀ) ¡¦¥Ü¡¼¥ë¤ò´Ì¤ËÃÖ¤¯Æ°ºî (2ÅÀ) ¡¦2Âæ¤ÎNXT¡¢EV3¤ÎÏ¢·È¤ÎÎɤµ(2ÅÀ) ¡¦¼«Î©·¿¤Î¥í¥Ü¥Ã¥È¤È¤·¤Æ¤Î·Á¤äÆ°ºî¤ÎÈþ¤·¤µ¡¢»Â¿·¤µ(2ÅÀ) ¡¦¤½¤Î¾ (3ÅÀ) *¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#m6bb6146] ***¥Ï¥ó¥ÉÉôʬ¤Î¹½Â¤ [#r68fdc4a] &ref(Inkedimage1(3)_LI.jpg); ²ÝÂê2¤È¤Ï°ã¤¤¥Ü¡¼¥ë¤ò½¦¤¦¤È¤³¤í¤«¤é¥¹¥¿¡¼¥È¤¹¤ë¤Î¤Ç¡¤¥®¥¢¤Ç³«¤±ÊĤá¤ò¹Ô¤¦¥Ï¥ó¥ÉÉôʬ¤òÀ½ºî¡¥ ***¥Ï¥ó¥ÉÉôʬ¤Î³«¤±ÊĤá¤Î°Ù¤Î¥®¥¢Éôʬ [#wbd83842] &ref(image2(2).jpeg); ¥â¡¼¥¿¡¼A¤«¤é¥¢¡¼¥à¤òÅÁ¤ï¤Ã¤Æ¤¤¿²óž¤Ï°Ê²¼¤Î¤è¤¦¤ËÊÑ´¹¤µ¤ì¥Ï¥ó¥ÉÉôʬ¤ËÅÁ¤ï¤ë¡¥ &ref(image1 (15)_LI.jpg); ´Ì¤Î¹â¤µ¤Þ¤Ç¥¢¡¼¥à¤ò¤¢¤²¤Ê¤±¤ì¤Ð¤Ê¤é̵¤¤¤¿¤á¤È¤Æ¤âÂ礤ʤâ¤Î¤Ë¤Ê¤Ã¤¿¡¥¤³¤Î¥®¥¢¤Ç¥Ï¥ó¥ÉÉôʬ¤ËÎϤò¤Ä¤¿¤¨¤Æ¡¤¥Ï¥ó¥É¤Î³«¤±ÊĤá¤ò¹Ô¤¦¡¥ ***¾å¤ÎÆó¤Ä¤ò¹çÂΤ·¤¿¤â¤Î [#hf1f248d] &ref(image3(1).jpeg); ¤«¤Ê¤ê½ÅÎ̤Τ¢¤ëµ¡¹½¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡¥¸Ä¿ÍŪ¤Ë¤Ï¸«¤¿Ìܤ¬¤«¤Ê¤ê¥«¥Ã¥³¤¤¤¤¤Î¤Çµ¤¤ËÆþ¤Ã¤Æ¤Ï¤¤¤ë¤Î¤À¤¬¡¤¤ä¤Ï¤ê¤Ç¤¤ë¤À¤±·ÚÎ̲½¤Ë¶Ð¤·¤à¤³¤È¤â½ÅÍפÀ¤È¼Â´¶¤·¤¿¡¥ ***Ķ²»ÇÈ¥»¥ó¥µ [#q340c516] &ref(image2 (6)_LI.jpg); Æ󤫽ê¤ËÀßÃÖ¡¥¥¢¡¼¥à¤ËÉÕ¤¤¤Æ¤¤¤ë¤â¤Î¤Ï´Ì¤ò¸«¤Ä¤±¤ë¤â¤Î¤Ç¡¤¥«¥é¡¼¥»¥ó¥µ¤Î²£¤Ë¤Ä¤¤¤Æ¤¤¤ë¤â¤Î¤ÏÀÖ¤¤¥Ü¡¼¥ë¤òõ¤¹¤¿¤á¤Ë¼è¤êÉÕ¤±¤¿¡¥¥«¥é¡¼¥»¥ó¥µ²£¤Î¤â¤Î¤Ï¥¢¡¼¥à¤òµó¤²¤Ê¤±¤ì¤Ðµ¡Ç½¤·¤Ê¤¤¤Î¤Ç¡¤É¬¤º¥Ü¡¼¥ë¤òõ¤¹ºÝ¤Ï¥¢¡¼¥à¤¬¾å¤¬¤Ã¤Æ¤¤¤ë¤è¤¦¥×¥í¥°¥é¥à¤¹¤ëɬÍפ¬¤¢¤Ã¤¿¡¥¥Ï¥ó¥ÉÉôʬ¤¬¾å¤¬¤ë¤È²¼¿Þ¤Î¤è¤¦¤ÊÍøÅÀ¤¬¤¢¤ë¡¥ &ref(pa-nn.jpg); ***¥«¥é¡¼¥»¥ó¥µ [#a4548907] &ref(image1 (5).jpeg); µ¡ÂÎÉôʬ¤ÎÁ°Êý¤ËÀßÃÖ¡¥µ¡ÂΤζ᤯¤ËÀßÃÖ¤¹¤ë¤³¤È¤Ë¤è¤ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÀºÅÙ¤ò¾¯¤·¤Ç¤â¾å¤²¤ë¡¥ ***¤½¤Î¾¹©É×Éôʬ [#cda26c7b] &ref(image1 (10)_LI.jpg); Èó¾ï¤Ë½ÅÎ̤Τ¢¤ë¥¢¡¼¥àÉôʬ¤ËÂѤ¨¤ë¤¿¤á¤Î¹©Éפ½¤Î£±¡¥ ľÀܥ⡼¥¿¡¼¤Ç¥¿¥¤¥ä¤ò²ó¤¹¤ÈÈó¾ï¤ËÂ礤ÊÉé²Ù¤¬¤«¤«¤Ã¤Æ¤·¤Þ¤¦¡¥¤Ç¤¢¤ë¤«¤é¥®¥¢¤ò´Ö¤Ë¶´¤à¤³¤È¤Ë¤è¤êµ¡ÂΤνФ»¤ë®ÅÙ¤ÏÃÙ¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¦¤¬¥â¡¼¥¿¡¼¤Ë¤«¤«¤ëÉé²Ù¤òÂçÉý¤Ë¸º¤é¤·¤¿. ¼Ì¿¿¤Ç¤Ï¸«¤¨¤Å¤é¤¤¤Î¤Ç²¼¤Ë¿Þ¤òÍÑ°Õ¤·¤¿¡¥ &ref(£ç£ç.jpg); ¢¬²£¤«¤é¸«¤¿¿Þ &ref(ã.jpg); ¢¬¾å¤«¤é¸«¤¿¿Þ &ref(image2 (5)_LI.jpg); ¾ï¤Ë½ÅÎ̤Τ¢¤ë¥¢¡¼¥àÉôʬ¤ËÂѤ¨¤ë¤¿¤á¤Î¹©Éפ½¤Î£²¡¥ »õ¼Ö¤ò³ú¤Þ¤»¤ë¤Èξ¥¿¥¤¥ä¤Î´Ö¤¬¶õ¤¤¤Æ¤·¤Þ¤¦¡¥¤½¤³¤Ç¥í¥Ü¥Ã¥È¤ò°ÂÄꤵ¤»¤ë¤¿¤áµ¡ÂΤÎÃæ¿´Éô¤ËÂ礤ʥ¿¥¤¥ä£²¤Ä¤ò¼è¤êÉÕ¤±¤¿¡¥ ***Á´ÂÎÁü [#q7902aea] &ref(image2 (6).jpeg); ¥«¥Ã¥³¤¤¤¤¡¦¡¦¡¦¤Î¤À¤¬¡¤¤ä¤Ï¤ê½ÅÎ̤âÂ礤µ¤âʪÀ¨¤¤Â礤¯Àû²ó¤ä²óž¤·¤¿ºÝ¤Ë´Ì¤ä¥Ü¡¼¥ë¤ò¿á¤Èô¤Ð¤¹¤³¤È¤¬Â¿È¯¡¥¤½¤ì¤Ë¤è¤ê¥×¥í¥°¥é¥à¤Ë¹©Éפò¶Å¤é¤¹É¬Í×À¤¬Áý¤¨¤Æ¤·¤Þ¤Ã¤¿¡¥µ¡ÂΤηÚÎ̲½¤Î°ÎÂ礵¤ò¤·¤ë¤³¤È¤¬½ÐÍ褿¡¥ *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#r513be7f] &ref(kids¥×¥ì¥¼¥ó¥Æ¡¼¥·¥ç¥ó.jpg); º£²ó¤ÏÀÄ¢ª²«¢ªÀÖ¿§¤Î½çÈ֤ǰÜÆ°¤·¤Æ¤¤¤¯¡¥³Æ¥»¥ó¥µ¡¼¤ÏS1¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¤¿¤á¤Î¥«¥é¡¼¥»¥ó¥µ¡¤S2¤Ï´Ì¤òõ¤¹¤¿¤á¤ÎĶ²»ÇÈ¥»¥ó¥µ¤ÇS3¤Ï¥Ü¡¼¥ë¤òõ¤¹¤¿¤á¤ÎĶ²»ÇÈ¥»¥ó¥µ¤Ç¤Ç¤¢¤ë¡¥ **¥¢¡¼¥àÉôʬ¤Î¥×¥í¥°¥é¥à [#l7b9c53b] ¥â¡¼¥¿¡¼A¢ª¥Ï¥ó¥ÉÉôʬ¤ò³«ÊĤ¹¤ë¤¿¤á¤Î¥â¡¼¥¿¡¼ ¥â¡¼¥¿¡¼BC¢ª¥¢¡¼¥àÉôʬ¤Î¾å¤²²¼¤²¤ò¤¹¤ë¤¿¤á¤Î¥â¡¼¥¿¡¼ ***¥¢¡¼¥à¤òµó¤²¤ë¥×¥í¥°¥é¥à [#ne0831ee] task main(){ RotateMotor(OUT_BC,-40,90);//BC¤ò£´£°¤Î¥Ñ¥ï¡¼¤Ç£¹£°ÅÙ²óž } ***¥¢¡¼¥à¤ò²¼¤²¤ë [#ebe84960] task main(){ RotateMotor(OUT_BC,10,90);//BC¤ò£±£°¤Î¥Ñ¥ï¡¼¤Ç£¹£°ÅÙ²óž Wait(300); Off(OUT_BC); ResetTachoCount(OUT_BC);//³ÑÅ٥ꥻ¥Ã¥È } ***¥Ü¡¼¥ë¤òÄϤà [#m53a2d5f] task main(){ RotateMotor(OUT_A,-30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥ Wait(300); RotateMotor(OUT_BC,-40,15);//BC¤ò£´£°¤Î¥Ñ¥ï¡¼¤Ç£±£µÅÙ²óž¡¥¥Ï¥ó¥ÉÉôʬ¤¬ÃÏÌ̤Ȼ¤¤ì¤Ê¤¤¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡¥ Off(OUT_ABC); } ***¥Ü¡¼¥ë¤òÊü¤¹ [#de1aa89a] task main(){ RotateMotor(OUT_A,30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥ } **µ¡ÂÎÉôʬ¤Î¥×¥í¥°¥é¥à [#u00bdfff] ¥â¡¼¥¿¡¼B¤Ïº¸¤Î¼ÖÎؤǡ¤¥â¡¼¥¿C±¦¤Î¼ÖÎØ¡¥ ¥»¥ó¥µS1¤Ï¸÷¥»¥ó¥µ¤Ç¡¤ ¤Þ¤¿¡¤Bluetooth¤òÄ̤·¤Æ¥¢¡¼¥à¤ò¾å¤²²¼¤²¤ò¹Ô¤Ã¤Æ¤¤¤ë¡¥ ¤Þ¤¿¡¤º£²ó¤Ï¥é¥¤¥ó¤ò¥È¥ì¡¼¥¹¤¹¤ëºÝ¤Ë¥é¥¤¥ó¤Î±¦º¸¤òside_select¤Ç»ØÄꤹ¤ì¤Ð¤É¤Á¤é¤Ç¤â¥È¥ì¡¼¥¹¤¬¤Ç¤¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡¥Î㤨¤Ð¡¤side_select="left"¤Î»þ¡¤side_flag¤¬¡¾1¤È¤Ê¤êside_flag¤ò²óž³ÑÅ٤ˤ«¤±¤ë¤¿¤á¡¤¥µ¡¼¥Á¤¹¤ë¤È¤³¤í¤Î²óžÊý¸þ¤¬±¦²ó¤ê¤«¤éº¸¼þ¤ê¤Ë¤Ê¤ê´Ì¤ÎÊý¸þ¤ò¸þ¤¯¤È¤³¤í¤âƱÍͤËȿž¤Ç¤¤ë¤È¤¤¤Ã¤¿¤è¤¦¤Ë¤·¤Æ¡¤¾ì¹ç¤Ë¤è¤Ã¤Æ²óžÊý¸þ¤òÊÑ´¹¤Ç¤¤ë¤è¤¦¤Ë¤·¤¿¡¥ ²¼¤ÎÄêµÁ°ìÍ÷¤Î²¼Êý¤Ë¤¢¤ë¥¿¥¤¥ä¤Îľ·Â¤ä¥®¥¢Èæ¤Ï¡¤ (¥¿¥¤¥äľ·Â/Á°Îش֤ε÷Î¥*¥®¥¢Èæ)*¥¿¥¤¥ä¤Î²óž³ÑÅÙ=¥í¥Ü¥Ã¥È¤ÎÀû²ó³ÑÅÙ ¤È¤¤¤¦·×»»¼°¤òº£²ó¤ÏÍѤ¤¤Æ¤¤¤ë¤«¤éɬÍפȤʤäƤ¤¤ë¡¥ ***¥Þ¥¯¥í¤ÎÀâÌÀ [#r5d7b0b2] #define conn 1 //Bluetooth¤Î¥¹¥ì¡¼¥ÖÈÖ¹æ #define fw Off(OUT_BC);OnFwd(OUT_BC,30); // BC¤ò£³£°¤ÎÎϤÇÆ°¤«¤·Ä¾¿Ê #define lt Off(OUT_BC);OnFwd(OUT_B,35); // B¤Î¤ß£³£µ¤ÎÎϤÇÆ°¤«¤·º¸²ó #define rt Off(OUT_BC);OnFwd(OUT_C,35); // C¤Î¤ß£³£µ¤ÎÎϤÇÆ°¤«¤·±¦²ó #define rrt Off(OUT_BC);OnFwd(OUT_C,20);OnFwd(OUT_B,-60); // C¤ò£²£µ¡¤B¤òÈ¿ÂÐÊý¸þ¤Ë£¶£°¤ÎÎϤÇÆ°¤«¤·±¦Àû²ó #define llt Off(OUT_BC);OnFwd(OUT_B,20);OnFwd(OUT_C,-60); // B¤ò£²£µ¡¤C¤òÈ¿ÂÐÊý¸þ¤Ë£¶£°¤ÎÎϤÇÆ°¤«¤·±¦Àû²óº¸Àû²ó #define wait_sec Off(OUT_BC);Wait(1000); //°ì»þÄä»ß #define mini_go Off(OUT_BC);OnFwd(OUT_BC,30);Wait(1500);Off(OUT_BC); //¾¯¤·Ä¾¿Ê #define def_arm_up until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥¢¡¼¥à¤ò¾å¤²¤ë RemoteStartProgram(conn,"arm_up.rxe");\ Wait(4000); #define def_arm_down until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥¢¡¼¥à¤ò²¼¤²¤ë RemoteStartProgram(conn,"arm_down.rxe");\ Wait(4000); #define def_hand_open until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥Ü¡¼¥ë¤òÊü¤¹ RemoteStartProgram(conn,"hand_open.rxe");\ Wait(4000); #define def_hand_close until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥Ü¡¼¥ë¤òÄϤà RemoteStartProgram(conn,"hand_close.rxe");\ Wait(4000); const float tire_diameter = 5.75; //¥¿¥¤¥ä¤Îľ·Â const float tire_axis = 17.7; //¥¿¥¤¥ä´Ö¤Îµ÷Î¥ const int gear_ratio = 6; //¥®¥¢Èæ const float pi=3.14159; //±ß¼þΨ const int en=360; //±ß 360ÅÙ ***¥Ü¡¼¥ë¤ò¾è¤»¤ë¥×¥í¥°¥é¥à [#fc43759d] void search_throw(string side_select,float rotate_angle){ SetSensorLowspeed(S2); int d_min=1000,d_gosa=11,side_flag=0;//µ÷Î¥¤ÎºÇ¾®ÃͤÈÀ¸¤¸¤ë¸íº¹¤òÄêµÁ¡¥ long ang_min=0,angle=0,d_angle=0;//ºÇ¾®ÃͤޤǤΥ¿¥¤¥ä¤Î²óž³Ñ if (side_select=="right"){ side_flag=1; }else if(side_select=="left"){ side_flag=-1; } ResetTachoCount(OUT_BC); OnFwdSync(OUT_BC,30,100*side_flag); while(((tire_diameter/(tire_axis*gear_ratio))*MotorTachoCount(OUT_C)*side_flag) <=rotate_angle){ //(¥¿¥¤¥äľ·Â/Á°Îش֤ε÷Î¥*¥®¥¢Èæ)*¥¿¥¤¥ä¤Î²óž³ÑÅÙ=¥í¥Ü¥Ã¥È¤ÎÀû²ó³ÑÅÙ if(d_min>SensorUS(S2)){ d_min=SensorUS(S2); angle=MotorTachoCount(OUT_C)//µ÷Î¥¤ÎºÇ¾®ÃͤòµÏ¿¤·¤¿ÃÏÅÀ¤òµÏ¿¤·¡¤¥»¥ó¥µ¡¼¤ËÄêµÁ¤·¤¿µ÷Î¥¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡¥ } } ang_min=MotorTachoCount(OUT_C)-angle;//µ÷Î¥¤ÎºÇ¾®Ãͤò¹¹¿·¤·¤¿ÃÏÅÀ¤òµÏ¿¡¥ Off(OUT_BC); Wait(1000);//°ìö»ß¤Þ¤Ã¤Æ¸íº¹¤ò½Ð¤Ë¤¯¤¯¤¹¤ë¡¥ ResetTachoCount(OUT_BC);//¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò½é´ü²½ RotateMotorEx(OUT_BC, 40, ang_min, -100*side_flag, true, true);//µÏ¿¤·¤¿ÃÏÅÀ¤Þ¤ÇÌá¤êʪÂΤÎÊý¤ò¸þ¤¯ Off(OUT_BC); ResetTachoCount(OUT_BC);//¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò½é´ü²½ if(7<SensorUS(S2)){ OnFwd(OUT_BC,40); while(7<SensorUS(S2) || 40>(pi*tire_diameter*MotorTachoCount(OUT_C))/en*gear_ratio){ d_angle=MotorTachoCount(OUT_C); } Off(OUT_BC); RotateMotor(OUT_BC,30,en*2*gear_ratio/(pi*tire_diameter));//´Ì¤Ë¸þ¤«¤Ã¤Æ¶á¤Å¤¯ } def_arm_up;//ageru¡¡¡¡¡¡//¥¢¡¼¥à¤òµó¤²¤ë RotateMotor(OUT_BC,30,en*d_gosa*gear_ratio/(pi*tire_diameter));¡¡¡¡//ÃúÅÙ¥¢¡¼¥à¤ò²¼¤²¤¿»þ¤Ë¥Ü¡¼¥ë¤¬´Ì¤Ë¾è¤ë°ÌÃ֤ޤǾ¯¤·Á°¿Ê¡¥ Wait(700);//¾¯¤·Ää»ß def_hand_open;//hanasu¡¡¡¡¡¡//¥¢¡¼¥à¤òÎ¥¤¹¡¥ RotateMotor(OUT_BC,-30,en*d_gosa*gear_ratio/(pi*tire_diameter)+d_angle);//¥¢¡¼¥à¤ò²¼¤²¤Æ¤âÊ¿µ¤¤Ê°ÌÃ֤ޤDz¼¤¬¤ë¡¥ def_arm_down;//sageru¡¡¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë¡¥ ResetTachoCount(OUT_BC);/¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò½é´ü²½ RotateMotorEx(OUT_BC, 40, angle, -100*side_flag, true, true);//¸µ¤Î¸þ¤¤ØÌ᤹ Off(OUT_BC);//Ää»ß¡¥ } ***¸òº¹ÅÀȽÃÇ»þ¤Ë»ß¤Þ¤ë¤«¿Ê¤à¤«¤Î¾ò·ïʬ¤± [#v5c3aba7] ¤³¤Î´Ø¿ô¤Ïµ¡ÂΤ¬¸òº¹ÅÀȽÃǤ·¤¿ºÝ»ß¤Þ¤ë¤«Ä¾¿Ê¤¹¤ë¤«¤òÁªÂò¤Ç¤¤ë¤è¤¦¤ËºîÀ®¤·¤¿¤â¤Î¤Ç¤¢¤ë¡¥blk_select!¤¬1¤Î»þÄä»ß¤·¤Æ¡¤0¤Î»þ¿Ê¤à¤è¤¦¤Ë¥×¥í¥°¥é¥à¤µ¤ì¤Æ¤¤¤ë¡¥ void blk_selection(int blk_select){ if(blk_select!=1){ wait_sec;//Ää»ß } if(blk_select!=0){ mini_go;//¾¯¤·¿Ê¤à } } ***¥é¥¤¥ó¥È¥ì¡¼¥¹¥×¥í¥°¥é¥à [#wd759a75] &ref(image1 (14).jpeg); ¾å¤Î¼Ì¿¿¤Î¿Þ¤Î¤è¤¦¤Ê¸¶Íý¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¤¤¤ë¡¥ ¥»¥ó¥µ¤ÎÃͤ¬40̤Ëþ¤Çº¸²ó¤ê¡¤40¤«¤é50¤Çľ¿Ê¡¤¤½¤ì°Ê¾å¤Ç±¦²ó¤¹¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤·¤Æ¤¤¤ë¡¥Æ°ºî³«»Ï»þ´Ö¤Ç¤¢¤ëstart_t¤òÄêµÁ¤¹¤ë¤³¤È¤Ë¤è¤êt1-start_t¤¬Æ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ë»þ´Ö¤È¤Ê¤ê¡¤¤³¤Á¤é¤¬»ØÄꤷ¤¿t_min´Ö¤À¤±Æ°¤«¤¹¤³¤È¤¬²Äǽ¤Ç¤¢¤ë¡¥t1¤ÏÆ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ë´Ö¾ï¤Ë¹¹¿·¤¬Æþ¤ë¤Î¤Çt1¤Ïµ¡ÂΤ¬Àû²ó¤ä²óž¤ò¤·¤Æ¤¤¤ë¤½¤Î½Ö´Ö¤Ç¤¢¤ê¡¤t0¤ÏÇòor¹õ¤ÎõÃΤ·»Ï¤á¤¿»þ´Ö¤òµÏ¿¤·¤Æ¤¤¤ë¤«¤é¡¤t1-t0¤Ï¥»¥ó¥µ¡¼¤¬Çòor¹õ¤òϢ³¤ÇõÃΤ·Â³¤±¤¿»þ´Ö¤Ç¤¢¤ë¡¥¤³¤Î»þ´Ö¤¬°ìÄê¿ôĶ¤¨¤¿¤éÀû²ó¤¹¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤·¤Æ¤¤¤ë¡¥ #ref(image1 (20).jpeg); ¸òº¹ÅÀ¤Î¸«¶Ë¤áÊý¤Ï¸òº¹ÅÀ¤Ë¥í¥Ü¤¬¿ÊÆþ¤·¤¿ºÝ¥«¥é¡¼¥»¥ó¥µ¤¬¹õ¤òõÃΤ¹¤ë»þ´Ö¤¬Ä¹¤¯¤Ê¤ë¡¥¸Î¤Ë¾å¤Î¿Þ¤Ë¤â¤¢¤ë¤è¤¦¤Ë°ìÄê»þ´Ö¡Êbw_time¡Ë¤òt1-t0(¶Ê¤¬¤ëorÀû²ó»þ´Ö)¤¬Ä¶¤¨¤¿¾ì¹ç¸òº¹ÅÀ¤À¤ÈȽÃǤ·¤Æ¤¤¤ë¡¥ ¤Þ¤¿¡¤¤½¤Î¾¤Î´Ø¿ô¤È¤·¤Æ¤Ïinvert_info¡¤sensor_switch¤Èblk_cnt¤¬²¼¤Î¥×¥í¥°¥é¥à¤Ë»È¤ï¤ì¤Æ¤ª¤ê, invert_info¤Ëoff¤ò»ØÄꤷ¤¿¾ì¹ç¤Ï²¿¤â¹Ô¤ï¤ºº¸¤Î¶Ìܤò¥È¥ì¡¼¥¹¤·¤Æ¡¤on¤ò»ØÄꤷ¤¿¾ì¹ç¤Ï¸÷¥»¥ó¥µ¤ÎÃͤòȿž¤µ¤»¤ë¤³¤È¤Ç±¦¤Î¶Ìܤò¥È¥ì¡¼¥¹¤·¤Æ¡¤sensor_switch¤Ëon¤ò»ØÄꤹ¤ë¤È¡¢S3¤ËÀܳ¤µ¤ì¤¿Ä¶²»ÇÈ¥»¥ó¥µ¤¬16Ñ°ÊÆâ¤Î¾ã³²Êª(¥Ü¡¼¥ë)¤òȯ¸«¤·¤¿»þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤¹¤ë¡£off¤ò»ØÄꤷ¤¿¾ì¹ç¤Ï¤¿¤È¤¨S3¤ÎĶ²»ÇÈ¥»¥ó¥µ¤¬¾ã³²Êª¤òȯ¸«¤·¤Æ¤â²¿¤â¤·¤Ê¤¤.blk_cnt¤ÏÃͤË1¤ò»ØÄꤹ¤ë¤È¸òº¹ÅÀȽÃǤò¤·¤¿ºÝÄä»ß¤·¥é¥¤¥ó¥È¥ì¡¼¥¹½ªÎ»¡£0¤ò»ØÄꤷ¤¿»þ¤Ï¸òº¹ÅÀ¤òľ¿Ê¤·¤ÆÄ̤ê²á¤®¤¿¸å¥é¥¤¥ó¥È¥ì¡¼¥¹½ªÎ»¡£-1¤ò»ØÄꤷ¤¿»þ¤Ï²¿¤â¤·¤Ê¤¤¡¥ void follow_line(int bw_time,long min_t,int blk_cnt,string invert_info,string sensor_switch){ SetSensorLowspeed(S3);//Ķ²»ÇÈ¥»¥ó¥µÄêµÁ int bb_cnt; int B_cnt=0; long t0,t1,start_t; // t0,t1,start_t »þ´ÖÊÑ¿ô¤ÎÄêµÁ SetSensorLight(S1); //¡¡¸÷¥»¥ó¥µÄêµÁ t1=CurrentTick(); //¡¡Æ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ë½Ö´Ö t0=CurrentTick(); //¡¡Çòor¹õ¤ÎõÃΤ·»Ï¤á¤¿»þ´Ö start_t=CurrentTick(); // Æ°ºî³«»Ï»þ´Ö int right_var; // ¸÷¥»¥ó¥µÃÍÍÑÊÑ¿ô while(t1-start_t<min_t || min_t<0){ if(sensor_switch=="on"){ if(SensorUS(S3)<16){ //¥Ü¡¼¥ë¤òÄϤá¤ëµ÷Î¥¤Ë¤Ê¤Ã¤¿¤é»ß¤Þ¤ë¡¥ break; } } /*----------------¢·«¤êÊÖ¤·¢-----------------*/ right_var = SENSOR_1; // ¸÷¥»¥ó¥µÃÍÂåÆþ if(invert_info=="on"){ // ¥é¥¤¥ó¤Î±¦¤«º¸¤« "off"¤Çº¸,"on"¤Ç±¦ right_var = right_var*(-1)+91;} if (right_var>50){ /*********±¦²ó¤ê¢********/ if (t1-t0>bw_time){ //¡¡±¦²ó¤Çbw_time[ms]°Ê¾å¤Î¤È¤±¦Àû²ó if (blk_cnt>=0 && blk_cnt<=2 && invert_info=="on"){ blk_selection(blk_cnt); break; }else{ rrt;} }else{ //¡¡±¦²ó rt;} /**********ľ¿Ê¢********/ }else if (right_var>40){ fw; t0=CurrentTick(); //¡¡¥«¡¼¥Ö½é´ü»þ´Ö¤Î¹¹¿· /*********º¸²ó¤ê¢*******/ }else{ if (t1-t0>bw_time){ //¡¡º¸²ó¤Ç bw_time[ms] °Ê¾å¤Î¤È¤º¸Àû²ó if (blk_cnt>=0 && blk_cnt<=2 && invert_info!="on") { blk_selection(blk_cnt); break; }else{ llt;} }else{ //¡¡º¸²ó lt;}} t1=CurrentTick(); //·Ð²á»þ´Ö /*----------------¢¬·«¤êÊÖ¤·¢¬-----------------*/ }Off(OUT_BC); } ***¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#rfc40b2a] task main(){ // -Y- string invert_str="off"; int b_tyokusin=10,r_back=22; //Àĥܡ¼¥ë¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à follow_line(1200, -1,1,invert_str,"off");//E¤Þ¤Ç¹Ô¤¯ follow_line(800, -1,0,invert_str,"off");//I¤Þ¤Ç¹Ô¤¯ def_hand_close;//¥Ü¡¼¥ë¤ò¤Ä¤«¤à ResetTachoCount(OUT_BC);//¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò¥ê¥»¥Ã¥È RotateMotor(OUT_BC,30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));//°ÌÃÖÄ´À° Off(OUT_BC);//Ää»ß search_throw("right",55.0);//Àĥܡ¼¥ë¤ò¾è¤»¤ë¡¥ Wait(2000); RotateMotor(OUT_BC,-30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));//°ÌÃÖÄ´À° Off(OUT_BC);//Ää»ß //ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤà¥×¥í¥°¥é¥à def_arm_up;//¥¢¡¼¥à¤ò¤¢¤²¤ë RotateMotor(OUT_BC,-30,en*r_back*gear_ratio/(pi*tire_diameter)); follow_line(600,1200000,-1,invert_str,"on");//F¤ò²á¤®¤Æ¤¹¤°¤Î¥«¡¼¥Ö¤Þ¤Ç¹Ô¤¯¡¥ RotateMotor(OUT_BC,-30,en*3*gear_ratio/(pi*tire_diameter));¡¡//3¥»¥ó¥Á²¼¤¬¤ê¥Ü¡¼¥ë¤òÄϤá¤ë°ÌÃ֤˰ÜÆ°¡¥ def_arm_down;//¥¢¡¼¥à¤ò²¼¤²¤ë def_hand_close;//¥Ü¡¼¥ë¤òÄϤà search_throw("left",270);//À֥ܡ¼¥ë¤ò´Ì¤Ë¾è¤»¤ë¡¥ Wait(1000);Off(OUT_BC);//Ää»ß } **È¿¾Ê [#fe363569] &ref(S__21643268.jpg); ²æ¡¹¤ÎÈɤÏN1N2¤Ç¤¢¤ê¡¤¾å¤Î¼Ì¿¿¤«¤é¤ï¤«¤ëÄ̤ê²æ¡¹¤ÎÈɤϷë²Ì¤È¤·¤Æ¤Ï»°°Ì¤Ç¤¢¤Ã¤¿¤¬¡¤´ðËÜÅÀ¤Ï¼è¤ë¤³¤È¤¬½ÐÍè̵¤«¤Ã¤¿¡¥¥Ü¡¼¥ë¤òÎ¥¤¹¤³¤È¤¬½ÐÍè¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¦¤È¤¤¤¦¥È¥é¥Ö¥ë¤¬µ¯¤¤Æ¤·¤Þ¤Ã¤¿¤Î¤È¡¤´Ì¤Ë¸þ¤«¤Ã¤Æµ¡ÂΤ¬°ÜÆ°¤¹¤ëºÝ¤Ë´Ì¤«¤é¥º¥ì¤Æ¤·¤Þ¤Ã¤¿°Ù¤Ç¤¢¤ë¡¥ÀèÀ¸¤«¤é夤¤¿¥¢¥É¥Ð¥¤¥¹¤ÇĶ²»ÇÈ¥»¥ó¥µ¤Ç´Ì¤òõ¤¹Æ°ºî¤òÆóÃʳ¬¤Ë¤¹¤ë¤³¤È¤Ç¸íº¹¤ò¸º¤é¤¹¤È¤¤¤¦ÊýË¡¤¬¤¢¤Ã¤¿¤Èʹ¤¤È¤Æ¤â»²¹Í¤Ë¤Ê¤Ã¤¿¡¥µ¡ÂκîÀ®¤Î»þ´Ö¤ò¤«¤±¤¹¤®¤Æ¤·¤Þ¤Ã¤¿´¶¤¸¤ÏÈݤá¤Ê¤¤¤¬¡¤¤½¤ì¤Ç¤âµ¡ÂΤνÐÍè¤Ï¸«¤¿ÌÜÀǽ¶¦¤ËÁÇÀ²¤é¤·¤¤¤â¤Î¤À¤È¼«Éé¤Ç¤¤ë¤â¤Î¤Ë»Å¾å¤²¤ë¤³¤È¤¬½ÐÍ褿¤È»×¤¦¡¥¤½¤Î¤ª¤«¤²¤«¤é¤«Â¾¤ÎÈɤ«¤é¤Îɾ²Á¤¬¹â¤«¤Ã¤¿¤Î¤ÏÈó¾ï¤Ë´î¤Ð¤·¤¤¤³¤È¤À¤Ã¤¿¡¥ º£²ó¼ºÇÔ¤·¤Æ¤·¤Þ¤Ã¤¿¸¶°ø¤ÏÁ°½Ò¤ÎÄ̤êĶ²»ÇÈ¥»¥ó¥µ¤Ç´Ì¤òõ¤¹Æ°ºî¤òÀºÌ©¤Ë½ÐÍ褺¤Ë´Ì¤Î°ÌÃ֤ˤè¤Ã¤Æ¤Ï¸íº¹¤¬Â礤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤³¤È¡¤¥Ü¡¼¥ë¤òÄϤàºÝ¤Î¥Ï¥ó¥ÉÉôʬ¤Î³ÑÅ٤λØÄê¥ß¥¹¤È¤¦¤¬µó¤²¤é¤ì¤ë¡¥¤³¤ì¤é¤ò²þÁ±¤¹¤ë¤¿¤á¤Ë¤Ï´Ì¤òõ¤¹Æ°ºî¤òÆóÃʳ¬¤Ç¹Ô¤¤¡¤¥Ï¥ó¥ÉÉôʬ¤Ï¥Ü¡¼¥ë¤òÄϤàÁ°¤Ë¥×¥í¥°¥é¥à¤Ç¥Ï¥ó¥ÉÉôʬ¤ò¸Â³¦¤Þ¤Ç³«¤¤¤Æ¤ª¤¯Åù¤Î¹©Éפ¬É¬ÍפǤ¢¤Ã¤¿¤È¹Í¤¨¤¿¡¥²ù¤·¤¤·ë²Ì¤Ë½ª¤ï¤Ã¤¿¤¬¤È¤Æ¤âÊÙ¶¯¤Ë¤Ê¤Ã¤¿¹ÖµÁ¤Ç¤¢¤Ã¤¿¡¥