Ìܼ¡
*Ìܼ¡ [#s1ecb3d6]
#contents

*¥á¥ó¥Ð¡¼¾Ò²ð [#zb14c85c]
*(1)¥á¥ó¥Ð¡¼¾Ò²ð [#zb14c85c]
¡¡¥Õ¥ß¡¢¥Ò¥³¡¢¥À¥¤¡¢¥è¥·

*²ÝÂꡧ¥Ü¡¼¥ë±¿ÈÂ¥í¥Ü¥Ã¥È [#e5f41605]
*(2)²ÝÂꡧ¥Ü¡¼¥ë±¿ÈÂ¥í¥Ü¥Ã¥È [#e5f41605]

**¶¥µ»¤ÎÌÜŪ [#d13046f7]
-¥Æ¥Ë¥¹¥Ü¡¼¥ë£³¸Ä¤ò½êÄê¤Î°ÌÃÖ¤«¤é½êÄê¤Î°ÌÃ֤ޤDZ¿¤Ö

**¶¥µ»¥³¡¼¥¹ [#kf643941]
http://yakushi.shinshu-u.ac.jp/robotics/?plugin=attach&refer=2007b%2F%A5%ED%A5%DC%A5%B3%A5%F3&openfile=robocon2007b.png

**´ðËܥ롼¥ë [#r0fa1845]

-¥Æ¥Ë¥¹¥Ü¡¼¥ë¤ò¤¹¤Ù¤Æ±¿¤Ó½ª¤ï¤Ã¤¿»þÅÀ¡¢¿³È½¤Ë¤è¤Ã¤Æ³¹ÔÉÔǽ¤È¤ß¤Ê¤µ¤ì¤¿»þÅÀ¡¢¤Þ¤¿¤Ï¶¥µ»¼Ô¤¬¥ê¥¿¥¤¥¢¤òÀë¸À¤·¤¿»þÅÀ¤Ç¶¥µ»½ªÎ»¤È¤Ê¤ë¡£

-¥¹¥¿¡¼¥È»þ¤Ë¤Ï°ìÉô¤Ç¤â±ß¤ä¾ã³²¤Î¾å¤ª¤è¤Ó¤½¤Î¾å¶õ¤Ë¤¢¤Ã¤Æ¤Ï¤¤¤±¤Ê¤¤¡£

-¥¹¥¿¡¼¥È»þ¤Î¥í¥Ü¥Ã¥È¤Î¿ô¤Ï£³¸Ä¤òĶ¤¨¤Æ¤Ï¤¤¤±¤Ê¤¤¡Ê¥¹¥¿¡¼¥È¸å¤Ë¤¤¤¯¤Ä¤ËʬÎö¤·¤Æ¤â¤«¤Þ¤ï¤Ê¤¤¡Ë¡£

-¶¥µ»³«»Ï£µÉðÊÆâ¤Ë¥¹¥¿¡¼¥È¥Ü¥¿¥ó¤ò²¡¤¹¡£

-¶¥µ»½ªÎ»¤Þ¤Ç±ó³ÖÁàºî¤·¤¿¤ê¥í¥Ü¥Ã¥È¤Ë¿¨¤ì¤¿¤ê¤·¤Æ¤Ï¤¤¤±¤Ê¤¤¡£

-¤¦¤Þ¤¯¤¤¤«¤Ê¤¯¤Ê¤Ã¤¿¤È¤­£±ÅÙ¤À¤±ºÆ¥¹¥¿¡¼¥È¤Ç¤­¤ë¡£

-¶¥µ»½ªÎ»»þÅÀ¤Ç±¿¤Ó½ª¤ï¤Ã¤¿¥Ü¡¼¥ë¤Ë¥í¥Ü¥Ã¥È¤¬¿¨¤ì¤Æ¤¤¤Æ¤Ï¤¤¤±¤Ê¤¤¡£

**ÆÀÅÀ [#yf61334b]
***´ðËÜÆÀÅÀ [#y9a301b2]
-¥Ü¡¼¥ë¤ò1¸Ä±¿¤Ö¤È4ÅÀ
-¥Ü¡¼¥ë¤ò2¸Ä±¿¤Ö¤È8ÅÀ
-¥Ü¡¼¥ë¤ò3¸Ä±¿¤Ö¤È16ÅÀ

±¿¤Ó½ª¤ï¤Ã¤¿¤¢¤È¥í¥Ü¥Ã¥È¤¬¥Ü¡¼¥ë¤Ë¿¨¤ì¤Æ¤¤¤¿¾ì¹ç¤Ë¤Ï¡¢(±¿¤ó¤À¥Ü¡¼¥ë¤Î¹ç·×¿ô)¡ß(-2ÅÀ)

***µ»½ÑÆÀÅÀ [#s868f9f6]
°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¥ë¤ò½¸¤á¤ëÆ°ºî (4ÅÀ)
-¥Ü¡¼¥ë¤ò±¿¤ÖÆ°ºî (4ÅÀ)
-2Âæ°Ê¾å¤Î¥í¥Ü¥Ã¥È¡¢¤¢¤ë¤¤¤ÏñÂΤΥí¥Ü¥Ã¥È¤Î¾ì¹ç¤Ï2Âæ¤ÎRCX¤ÎÏ¢·È¤ÎÎɤµ(4ÅÀ)
-¼«Î©·¿¤Î¥í¥Ü¥Ã¥È¤È¤·¤Æ¤Î·Á¤äÆ°ºî¤ÎÈþ¤·¤µ¡¢»Â¿·¤µ(4ÅÀ)
-¤½¤Î¾ (4ÅÀ)

***¥¿¥¤¥àÆÀÅÀ [#k58f48b4]
Ê¿¶Ñ¥¿¥¤¥à¤Î¤â¤Ã¤È¤â®¤¤¥Á¡¼¥à¤«¤é½ç¤Ë¡¢4ÅÀ¡¢3ÅÀ¡¢2ÅÀ¡¢1ÅÀ¡¢0ÅÀ¤È¤¹¤ë¡£ ¤¿¤À¤·Ê¿¶Ñ¥¿¥¤¥à¤Ï°Ê²¼¤Î¤è¤¦¤Ë·×»»¤¹¤ë
-¥Ü¡¼¥ë1¸Ä±¿¤ó¤À¾ì¹ç¤Ë¤Ï¡¢¥¹¥¿¡¼¥È»þ¤«¤é±¿¤Ó½ª¤ï¤ë¤Þ¤Ç¤Î»þ´Ö
-¥Ü¡¼¥ë2¸Ä±¿¤ó¤À¾ì¹ç¤Ë¤Ï¡¢¥¹¥¿¡¼¥È»þ¤«¤é±¿¤Ó½ª¤ï¤ë¤Þ¤Ç¤Î»þ´Ö¤ò3¤Ç³ä¤Ã¤¿ÃÍ
-¥Ü¡¼¥ë3¸Ä±¿¤ó¤À¾ì¹ç¤Ë¤Ï¡¢¥¹¥¿¡¼¥È»þ¤«¤é±¿¤Ó½ª¤ï¤ë¤Þ¤Ç¤Î»þ´Ö¤ò5¤Ç³ä¤Ã¤¿ÃÍ


*Àïά [#u7aaa796]
*(3)Àïά [#u7aaa796]

¥í¥Ü¥³¥ó¤Ë¤ª¤¤¤Æ¡¢Àïά¤Ï¥í¥Ü¥Ã¥È¤ÎÀ©ºî¤ä¥×¥í¥°¥é¥à¤Ê¤É¤ÎÁ´¤Æ¤Î´ðÁäȤʤëÂç»ö¤Ê¤³¤È¤Ç¤¹¡£A3¥Á¡¼¥à¤Ç¤Ï¡¢²ÝÂê¤òãÀ®¤¹¤ë¤¿¤á¤Ë°Ê²¼¤Î3¤Ä¤ÎÀïά¤ò¹Í¤¨¤Þ¤·¤¿¡£
**Àïά1 [#kc5490cd]
-¥Ü¡¼¥ë¤ò½¦¤¤¡¢¶¶¤ò¿­¤Ð¤·¤ÆľÀÜ¥´¡¼¥ë¤ËÆþ¤ì¤ë¥í¥Ü¥Ã¥È¤È¡¢¶¶¤òž¤¬¤Ã¤Æ¤­¤¿¥Ü¡¼¥ë¤¬¥´¡¼¥ë¤ÎÏȤ«¤é½Ð¤Ê¤¤¤è¤¦¤Ë¼õ¤±»ß¤á¤ë¥í¥Ü¥Ã¥È¤Î2Âæ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö°Æ¡£ºÇ½é¤Ë¹Í¤¨¡¢¥í¥Ü¥Ã¥È¤âÅÓÃæ¤Þ¤ÇÀ©ºî¤·¤Þ¤·¤¿¤¬¡¢·¹¼Ð¤·¤¿¶¶¤òž¤¬¤ë¹â¤µ¤Þ¤Ç¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ë¤Î¤¬º¤Æñ¤ÇÃÇÇ°¤·¤Þ¤·¤¿¡£
**Àïά2 [#g11bcc7d]
-ÏȤ«¤é¥Ü¡¼¥ë¤ò²¡¤·½Ð¤¹¥í¥Ü¥Ã¥È¤È¡¢¤½¤Î¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤Þ¤Ç»ý¤Ã¤Æ¤¤¤¯¥í¥Ü¥Ã¥È2Âæ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö°Æ¡£¥Ü¡¼¥ë¤¬±¿ÈÂ¥í¥Ü¥Ã¥È¤Î¿ÊÏ©¾å¤Ë3¤Äʤ֤¿¤áÎɤ¤°Æ¤Ë»×¤¨¤Þ¤·¤¿¤¬¡¢²¡¤·½Ð¤·¥í¥Ü¥Ã¥È¤Î¥Ü¡¼¥ë¤ÎÀßÃÖ°ÌÃÖ¤¬ÉÔÀµ³Î¤Ê¤³¤È¤È¡¢1¤Ä1¤Ä¤Î¥Ü¡¼¥ë¤Ç±¿ÈÂ¥í¥Ü¥Ã¥È¤¬»ý¤Á¾å¤²¤ë°ÌÃÖ¤¬ÊѤï¤ë¤¿¤á¥×¥í¥°¥é¥à¤¬ÌÌÅݤˤʤë¤È¤¤¤¦¤³¤È¤ÇÃÇÇ°¤·¤Þ¤·¤¿¡£
**Àïά3 [#jd82b45a]
-ÏȤ«¤é¥Ü¡¼¥ë¤ò²¡¤·½Ð¤¹¥í¥Ü¥Ã¥È¤È¡¢¤½¤Î¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤Þ¤Ç»ý¤Ã¤Æ¤¤¤¯¥í¥Ü¥Ã¥È¤È¡¢²¡¤·½Ð¤µ¤ì¤¿¥Ü¡¼¥ë¤ò±¿ÈÂ¥í¥Ü¥Ã¥È¤Î¿ÊÏ©¾å¤Þ¤Ç±¿¤Ö¥í¥Ü¥Ã¥È¤Î3Âæ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö°Æ¡£Àïά2¤ÎÌäÂêÅÀ¤ò°ìµó¤Ë²ò·è¤Ç¤­¡¢ºÇ½ªÅª¤Ë¤³¤Î°Æ¤òºÎÍѤ·¤Þ¤·¤¿¡£


*¥í¥Ü¥Ã¥È [#gab5be88]
*(4)¥í¥Ü¥Ã¥È [#gab5be88]

**A£³TEAM'S ROBOT---ROVO(¥í¥ô¥©¡Ë¡¡¡¡[#naf651b8]
¡¡º£²óÂç²ñ¤Î¥í¥Ü¥³¥ó¤Ç¤ÏÍ£°ì£³Âæ¤Î¥í¥Ü¥Ã¥È¤Ç¶¥µ»¤ò¹Ô¤Ê¤Ã¤¿¡£
**A£³ TEAM'S ROBOT---ROVO(¥í¥ô¥©¡Ë¡¡¡¡[#naf651b8]
-º£²óÂç²ñ¤Î¥í¥Ü¥³¥ó¤Ç¤ÏÍ£°ì£³Âæ¤Î¥í¥Ü¥Ã¥È¤Ç¶¥µ»¤ò¹Ô¤Ê¤¤¤Þ¤·¤¿¡£

¡¡¥Ð¥é¥Ð¥é¤Î£³Âæ¤Î¥í¥Ü¥Ã¥È¤¬¤­¤á¤é¤ì¤¿Ìò³ä¤Ç¥Ü¡¼¥ë¤ò±¿¤ó¤Ç¤¤¤¯¡££³Âå¤È¤â¥·¥ó¥×¥ë¤Ê¹½Â¤¤Ê¤¬¤é¾¤Î¥Á¡¼¥à¤Ë¤Ï¤Ê¤¤»Â¿·¤Ê¥í¥Ü¥Ã¥È¤À¡£
-¥Ð¥é¥Ð¥é¤Î£³Âæ¤Î¥í¥Ü¥Ã¥È¤¬¤­¤á¤é¤ì¤¿Ìò³ä¤ÇÎϤò¹ç¤ï¤»¤Æ¥Ü¡¼¥ë¤ò±¿¤ó¤Ç¤¤¤­¤Þ¤¹¡££³Âå¤È¤â¥·¥ó¥×¥ë¤Ê¹½Â¤¤Ê¤¬¤é¾¤Î¥Á¡¼¥à¤Ë¤Ï¤Ê¤¤»Â¿·¤Ê¥í¥Ü¥Ã¥È¤Ç¤¹¡£

-³Æ¥í¥Ü¥Ã¥È¤ÎÆ°¤­¤òÀâÌÀ¤·¤Þ¤¹¡£¥í¥ô¥©½é¹æµ¡¤Ï¥Ü¡¼¥ë¤òÏȤ«¤é²¡¤·½Ð¤·Êɤ˲¡¤·ÉÕ¤±¤ë»ö¤Ç¡¢¥Ü¡¼¥ë¤ò°ìÎó¤Î¤¹¤ë¥í¥Ü¥Ã¥È¤Ç¤¹¡£¥í¥ô¥©Æõ¹æµ¡¤Ï¥Ü¡¼¥ë¤ò·ê¤ÎÌܤÎÁ°¤Î¥é¥¤¥ó¾å¤Þ¤Ç±¿¤Ö¥í¥Ü¥Ã¥È¡¢¥í¥ô¥©»²¹æµ¡¤Ï¥´¡¼¥ë¤Þ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö¥í¥Ü¥Ã¥È¤Ç¤¹¡£

¡¡³Æ¥í¥Ü¥Ã¥È¤ÎÆ°¤­¤òÀâÌÀ¤¹¤ë¡£¥í¥ô¥©½é¹æµ¡¤Ï¥Ü¡¼¥ë¤òÏȤ«¤é²¡¤·½Ð¤·Êɤ˲¡¤·ÉÕ¤±¤ë»ö¤Ç¡¢¥Ü¡¼¥ë¤ò°ìÎó¤Î¤¹¤ë¥í¥Ü¥Ã¥È¡£¥í¥ô¥©Æõ¹æµ¡¤Ï¥Ü¡¼¥ë¤ò·ê¤ÎÌܤÎÁ°¤Î¥é¥¤¥ó¾å¤Þ¤Ç±¿¤Ö¥í¥Ü¥Ã¥È¡¢¥í¥ô¥©»²¹æµ¡¤Ï¥´¡¼¥ë¤Þ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö¥í¥Ü¥Ã¥È¤Ç¤¹¡£
-¤Á¤Ê¤ß¤Ë¥ê¥Ï¡¼¥µ¥ë¤Ç¤ÏÈó¸ø¼°¤Ê¤¬¤é£³¸Ä¤¹¤Ù¤Æ¤Î¥Ü¡¼¥ë¤ò±¿¤Ó¤Þ¤·¤¿¡£


¤Á¤Ê¤ß¤ËÈó¸ø¼°¤Ê¤¬¤é£³¸Ä¤¹¤Ù¤Æ¤Î¥Ü¡¼¥ë¤ò±¿¤Ù¤¿Í£°ì¤Î¥Á¡¼¥à¡£

**¥í¥ô¥©½é¹æµ¡ [#taeebcbf]
***Á´ÂÎ [#sd1a2441]
***ÆÃħ [#id1e2ad7]
¡¡Ä¹¤¤¼ÖÉý¤¬ÆÃħ¤Î¥í¥Ü¥Ã¥È¡£¤½¤ÎµðÂΤˤè¤ê¥Ü¡¼¥ë¤ò°ìÎó¤ËÊɺݤËʤ٤ëÌò³ä¤ò»ý¤Ä¡£Æ°¤­¤ÏÁ°¿Ê¸åÂà¤Î¤ß¡¢²ÄÆ°»þ´Ö¤Ï¥¹¥¿¡¼¥È³«»Ï£¸Éô֤ÈÈó¾ï¤Ëû¤¤¤¬¤½¤ÎÌò³ä¤ÏÂ礭¤¤¡£
***³°´Ñ [#id1e2ad7]
-Á´ÂÎ

Ť¤¼ÖÉý¤¬ÆÃħ¤Î¥í¥Ü¥Ã¥È¡£¤½¤ÎµðÂΤˤè¤ê¥Ü¡¼¥ë¤ò°ìÎó¤ËÊɺݤËʤ٤ëÌò³ä¤ò»ý¤Ä¡£»îºîµ¡¤Ï¥­¥ã¥¿¥Ô¥é´Ö¤¬Èó¾ï¤Ë¶¹¤¯ÏȤξå¤Ë¾è¤ê¤¢¤¬¤Ã¤Æ¤·¤Þ¤¦¤³¤È¤â¤¢¤Ã¤¿¤¬¡¢¹­¤¯¤·¤¿¤³¤È¤Ë¤è¤ê³Î¼Â¤Ë¥Ü¡¼¥ë¤ò±¿¤ÖÆ°¤­¤ò²Äǽ¤Ë¤·¤¿¡£Æ°¤­¤ÏÁ°¿Ê¸åÂà¤Î¤ß¡¢²ÄÆ°»þ´Ö¤Ï¥¹¥¿¡¼¥È³«»Ï£¸Éô֤ÈÈó¾ï¤Ëû¤¤¤¬¤½¤ÎÌò³ä¤ÏÂ礭¤¤¡£

**¥í¥ô¥©Æõ¹æµ¡ [#c41246c7]
***Á´ÂÎ [#gfde7ab5]
***³°´Ñ [#gfde7ab5]
***ÆÃħ [#g2c14cd3]
¡¡¥í¥ô¥©½é¹æµ¡¤È¤ÏÀµÈ¿ÂФǡ¢½ÄĹ¼ÖÉý¤Î¶¹¤¤¥Õ¥©¥ë¥à¤Î¥í¥Ü¥Ã¥È¡£¥í¥ô¥©½é¹æµ¡¤Ë¤è¤Ã¤ÆÊɤˤª¤·¤Ä¤±¤é¤ì¤¿¥Ü¡¼¥ë¤ò°ìÎó¤Ë¡¢¥é¥¤¥ó¾å¤Î·ê¤ÎÁ°¤Þ¤Çʤ٤롣½é¹æµ¡¡¢Æõ¹æµ¡¤ÎÀ©ºî¼Ô¤Ï¥Õ¥ß¡¢¤È¥Ò¥³¡£
-Á´ÂÎ

**¥í¥ô¥©»²¹æµ¡ [#kb6b91f2]
***Á´ÂÎ [#kf27e83f]
¥í¥ô¥©½é¹æµ¡¤È¤ÏÀµÈ¿ÂФǡ¢½ÄĹ¼ÖÉý¤Î¶¹¤¤¥Õ¥©¥ë¥à¤Î¥í¥Ü¥Ã¥È¡£¥í¥ô¥©½é¹æµ¡¤Ë¤è¤Ã¤ÆÊɤˤª¤·¤Ä¤±¤é¤ì¤¿¥Ü¡¼¥ë¤ò°ìÎó¤Ë¡¢¥é¥¤¥ó¾å¤Î·ê¤ÎÁ°¤Þ¤Çʤ٤롣³«È¯»þ´ü¤¬½é¹æµ¡¡¢Æõ¹æµ¡¤ÎÀ©ºî¼Ô¤Ï¥Õ¥ß¡¢¤È¥Ò¥³¡£

**¥í¥ô¥©Îí¹æµ¡ [#kb6b91f2]
***³°´Ñ [#kf27e83f]

***ÆÃħ [#a606f301]
-Á´ÂÎ

¾ã³²Êª¤Î´Ö¤òÄ̤뤿¤á¤Î¶¹¤¤¼ÖÂΤȥ¢¡¼¥à¤¬ÆÃħ¤Î¥í¥Ü¥Ã¥È¤Ç¤¹¡£Æõ¹æµ¡¤¬Ê¤٤¿¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¡¢¥´¡¼¥ëÃÏÅÀ¤Þ¤Ç±¿¤Ó¤Þ¤¹¡£
-¥¢¡¼¥à

¥Ü¡¼¥ë¤ò1¤Ä¤º¤Ä±¿¤Ö¤³¤È¤¬¤Ç¤­¤Þ¤¹¡£¥Ü¡¼¥ë¤ò¤Ä¤«¤à¡¢»ý¤Á¾å¤²¤ë¤ÎÆ°ºî¤ò1¤Ä¤Î¥â¡¼¥¿¡¼¤Ç¹Ô¤¦¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
-­²ó¤ê

¤½¤Î¾ì¤ÇÀû²ó¤·¤¿¤¤¡¢¥¿¥¤¥ä¤Ï¼ÖÉý¤òû¤¯¤·¤Ë¤¯¤¤¡¢¥­¥ã¥¹¥¿¡¼¤òÍѤ¤¤ë¤ÈÁ°¿Ê¤«¤é¸åÂà¤Ø¤ÎÀÚ¤êÂؤ¨¤Î¤È¤­¤Ë¼ÖÂΤθþ¤­¤¬¤Ö¤ì¤ä¤¹¤¤¤Ê¤É¤ÎÍýͳ¤«¤é­²ó¤ê¤Ë¤Ï¥­¥ã¥¿¥Ô¥é¤ò»È¤¤¤Þ¤·¤¿¡£¿·¤¿¤Ë´Êñ¤Ç¥³¥ó¥Ñ¥¯¥È¤Ê¡Ö´Ê°×¥­¥ã¥¿¥Ô¥é¡×¤òÀ©ºî¤·¡¢¤½¤ì¤Ë¤è¤Ã¤Æ10cm¤Î¾ã³²Êª¤Î·ä´Ö¤òÄ̤ì¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
¤½¤Î¾ì¤ÇÀû²ó¤·¤¿¤¤¡¢¥¿¥¤¥ä¤Ï¼ÖÉý¤òû¤¯¤·¤Ë¤¯¤¤¡¢¥­¥ã¥¹¥¿¡¼¤òÍѤ¤¤ë¤ÈÁ°¿Ê¤«¤é¸åÂà¤Ø¤ÎÀÚ¤êÂؤ¨¤Î¤È¤­¤Ë¼ÖÂΤθþ¤­¤¬¤Ö¤ì¡¢¾ã³²Êª¤Î´Ö¤òÄ̤ê¤Ë¤¯¤¯¤Ê¤ë¤Ê¤É¤ÎÍýͳ¤«¤é­²ó¤ê¤Ë¤Ï¥­¥ã¥¿¥Ô¥é¤ò»È¤¤¤Þ¤·¤¿¡£¿·¤¿¤Ë´Êñ¤Ç¥³¥ó¥Ñ¥¯¥È¤Ê¡Ö´Ê°×¥­¥ã¥¿¥Ô¥é¡×¤òÀ©ºî¤·¡¢¤½¤ì¤Ë¤è¤Ã¤Æ10cm¤Î¾ã³²Êª¤Î·ä´Ö¤òÄ̤ì¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
-¸÷¥»¥ó¥µ

¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë¾ì½ê¤«¤é¥´¡¼¥ëÃÏÅÀ¤Þ¤Ç¹õÀþ¤òÄɤ¦¤¿¤á¤Î¥»¥ó¥µ¤Ç¤¹¡£¤³¤Î¥í¥Ü¥Ã¥È¤Ë¤Ï¸÷¥»¥ó¥µ¤ò2¤Ä»È¤¤¡¢¥¹¥à¡¼¥º¤Ë¿Ê¤á¤ë¤è¤¦¤Ës¤¿¤À¤±¤Ç¤Ê¤¯¥´¡¼¥ë¼êÁ°¤Î¹õÀþ¤Î¸òº¹ÅÀ¤ò´¶ÃΤ·¡¢¤½¤ì¤Ë¤è¤Ã¤Æ¥Ü¡¼¥ë¤òÃÖ¤¯Æ°ºî¤Ë°Ü¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
-¥¿¥Ã¥Á¥»¥ó¥µ

¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ë¤¿¤á¤Ë¾ã³²Êª¤òÄ̤êÈ´¤±¤¿¤È¤­¥¢¡¼¥à¤ò³«¤«¤Ê¤¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¤¿¤á¡¢¾ã³²Êª¤Ë¤µ¤·¤«¤«¤Ã¤¿¤³¤È¤ò´¶ÃΤ¹¤ë¥¿¥Ã¥Á¥»¥ó¥µ¤ò¼è¤êÉÕ¤±¤Þ¤·¤¿¡£
-¥í¡¼¥é¡¼

¾ã³²Êª¤Î´Ö¤òÄ̤êÈ´¤±¤ë¤È¤­¤Ë¡¢¹õÀþ¤ËÂФ·¤Æ¼ÖÂΤ¬¾¯¤·¤Ç¤â¶Ê¤¬¤Ã¤Æ¤¤¤ë¤È°ú¤Ã¤«¤«¤Ã¤Æ¤·¤Þ¤¦¤¿¤á¡¢¥í¡¼¥é¡¼¤òÁ°¸å¤Ë¼è¤êÉÕ¤±¤ÆÁ°¿Ê¤È¸åÂà¤É¤Á¤é¤Ç¤â³Î¼Â¤Ë¾ã³²Êª¤Î´Ö¤òÄ̤êÈ´¤±¤é¤ì¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¤Þ¤¿¡¢¤³¤Î¥í¡¼¥é¡¼¤¬¤¢¤ë¤³¤È¤Ç¥¿¥Ã¥Á¥»¥ó¥µ¤¬³Î¼Â¤ËÈ¿±þ¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

*¥×¥í¥°¥é¥à [#z7f0b276]
**¥í¥Ü¥Ã¥È1¡¤2¤Î¥×¥í¥°¥é¥à [#jef7212b]
*(5)¥×¥í¥°¥é¥à [#z7f0b276]

**¥í¥ô¥©½é¹æµ¡¡¢Æõ¹æµ¡¤Î¥×¥í¥°¥é¥à [#jef7212b]

 task main()
 {    OnFwd(OUT_A+OUT_C);   //½é¹æµ¡¤ÎÁ°¿Ê
 {    OnFwd(OUT_A+OUT_C);   //½é¹æµ¡¤Îȯ¿Ê
      Wait(400);
      Off(OUT_A+OUT_C);
      
      OnRev(OUT_A);   //½é¹æµ¡¤Î¸åÂà
      OnRev(OUT_C);
      Wait(400);
      Off(OUT_A+OUT_C);
      
      OnFwd(OUT_B);   //Æõ¹æµ¡¤ÎÁ°¿Ê(¥í¥Ü¥Ã¥È£³¤Î¿ÊÏ©¾å¤Þ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö)
      OnFwd(OUT_B);   //Æõ¹æµ¡¤ÎÁ°¿Ê(Îí¹æµ¡¤Î¿ÊÏ©¾å¤Þ¤Ç¥Ü¡¼¥ë¤ò±¿¤Ö)
      Wait(895);
      OnRev(OUT_B);   //Æõ¹æµ¡¤Î¸åÂà¡£
      Wait(400);
      Float(OUT_B);   
      
      Wait(3500);   //»²¹æµ¡¤¬¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤·¤Æ¤¯¤ë¤Þ¤ÇÂԤäƤ¤¤ë»þ´Ö
      
      OnFwd(OUT_B);   //Æõ¹æµ¡¡¢£²¸ÄÌܤΥܡ¼¥ë¤ò²¡¤·½Ð¤¹¡£
      Wait(615);
      OnRev(OUT_B);   //Æõ¹æµ¡¸åÂà
      Wait(400);
      Float(OUT_B);
      
      Wait(3500);   //»²¹æµ¡¤òÂÔ¤Ä
      Wait(3500);   //Îí¹æµ¡¤òÂÔ¤Ä
 
 ¡¡¡¡ OnFwd(OUT_B);   //Æõ¹æµ¡¡¢£³¸ÄÌܤΥܡ¼¥ë¤ò²¡¤·½Ð¤¹¡£
      Wait(615);
      OnRev(OUT_B);   //Æõ¹æµ¡¸åÂà
      Wait(600);
    
      Float(OUT_B);   //½ªÎ»
 } 


**¥í¥Ü¥Ã¥È3¤Î¥×¥í¥°¥é¥à [#dfa2d787]
**¥í¥ô¥©Îí¹æµ¡¤Î¥×¥í¥°¥é¥à [#dfa2d787]
 #define THRESHOLD 40  //¸÷¥»¥ó¥µ¡¼¤Î´¶ÅÙÀßÄê
 #define turna 50  //Àû²ó»þ´Ö£±
 #define turnb 100  //Àû²ó»þ´Ö£²
 #define fwd 60  //Á°¿Ê»þ´Ö
 #define ballup 150  //¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ë¤Þ¤Ç¤Î¥¢¡¼¥àºîÆ°»þ´Ö
 #define ballput 60  //¥Ü¡¼¥ë¤ò²¼¤²¤ë¤Þ¤Ç¤Î¥¢¡¼¥àºîÆ°»þ´Ö
 #define back 280  //¸åÂà»þ´Ö
 
 sub linetrace()  //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à
 {
 	SetSensor(SENSOR_1,SENSOR_LIGHT);  //¥»¥ó¥µ£±¤È¥»¥ó¥µ£³¤Ï¸÷¥»¥ó¥µ
 	SetSensor(SENSOR_3,SENSOR_LIGHT);
	 if ((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))  //¥»¥ó¥µ£±¤È¥»¥ó¥µ£³¤¬Çò»æ¾å
 	{
 		OnFwd(OUT_A+OUT_C);  //ľ¿Ê
 	}
 	if ((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD))  //¸òº¹ÅÀ¤Ë¤µ¤·¤«¤«¤Ã¤¿¤é
 	{
 		OnFwd(OUT_A);  //Àû²ó
 		OnRev(OUT_C);
 		Wait(turna);
 		Off(OUT_A+OUT_C);
 		OnFwd(OUT_B);  //¥Ü¡¼¥ë¤ò²¼¤²¤ë
 		Wait(ballput);
 		Off(OUT_B);
 		OnFwd(OUT_A+OUT_C);  //Á°¿Ê
 		Wait(fwd);
 		Off(OUT_A+OUT_C);
 		OnFwd(OUT_B);  //¥Ü¡¼¥ë¤òÃÖ¤¯
 		Wait(ballup-ballput);
 		Off(OUT_B);
 		OnRev(OUT_A+OUT_C);  //¸åÂà
 		Wait(fwd);
 		Off(OUT_A+OUT_C);
 		OnRev(OUT_B);  //¥¢¡¼¥à¤ò¾å¤²¤ë
 		Wait(ballup);
 		Off(OUT_B);
 		OnFwd(OUT_A);  //Àû²ó
 		OnRev(OUT_C);
 		Wait(turnb);
 		Off(OUT_A+OUT_C);
 		while(SENSOR_3>THRESHOLD)  //¥»¥ó¥µ£³¤¬¹õÀþ¤ò¸«¤Ä¤±¤é¤ì¤ë¤Þ¤Ç
 		{
 			OnFwd(OUT_A);
 			OnRev(OUT_C);
 		}
 	Off(OUT_A+OUT_C);
 	OnFwd(OUT_B);  //¥¢¡¼¥à¤ò²¼¤í¤¹
 	Wait(ballput);
 	Off(OUT_B);
 	}
 	if ((SENSOR_1<THRESHOLD)&&(SENSOR_3>THRESHOLD))
                                               //¥»¥ó¥µ£±¤¬¹õÀþ¾å¡¤¥»¥ó¥µ£³¤¬Çò»æ¾å
 	{
 		Off(OUT_A);  //º¸Àû²ó
 		OnFwd(OUT_C);
 	}
 	if ((SENSOR_1>THRESHOLD)&&(SENSOR_3<THRESHOLD))
                                               //¥»¥ó¥µ¡¼£±¤¬Çò»æ¾å¡¤¥»¥ó¥µ¡¼£³¤¬¹õÀþ¾å
 	{
 		OnFwd(OUT_A);  //±¦Àû²ó
 		Off(OUT_C);
 	}
 }
 
 sub rcv()  //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë¥×¥í¥°¥é¥à
 {
 	Off(OUT_A+OUT_C);
 	OnFwd(OUT_B);  //¥¢¡¼¥à¤ò³«¤¯
 	Wait(ballup-ballput);
 	Off(OUT_B);
 	OnFwd(OUT_A+OUT_C);  //Á°¿Ê
 	Wait(80);
 	Off(OUT_A+OUT_C);
 	OnFwd(OUT_A+OUT_C);  //Á°¿Ê¤·¤Ê¤¬¤é¥¢¡¼¥à¤òÊĤ¸¤ë
 	OnRev(OUT_B);
 	Wait(80);
 	Off(OUT_A+OUT_C);
 	Wait(ballup-80);
 	Off(OUT_B);
 	OnRev(OUT_A+OUT_C);  //¸åÂà
 	Wait(back);
 	OnFwd(OUT_A);  //Àû²ó
 	OnRev(OUT_C);
 	Wait(turna+turnb);
 	Off(OUT_A+OUT_C);
 	while(SENSOR_3>THRESHOLD)  //¥»¥ó¥µ£³¤¬¹õÀþ¤ò¸«¤Ä¤±¤é¤ì¤ë¤Þ¤Ç
 	{
 		OnFwd(OUT_A);
 		OnRev(OUT_C);
 	}
 }
 
 task main ()
 {
 	SetSensor(SENSOR_2,SENSOR_TOUCH);  //¥»¥ó¥µ£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ËÀßÄê
 	Wait(500);  //5ÉôÖÂԤäƤ«¤é¥¹¥¿¡¼¥È
 	while(true)
 	{
 		if (SENSOR_2 ==0)  //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤Ê¤¤¤È¤­
 		{
 			linetrace();  //¥é¥¤¥ó¥È¥ì¡¼¥¹
 		} else {  //¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ¤·¤¿¤È¤­
 			rcv();  //¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë
 			linetrace();  //¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
 		}
 	}
 }

*¶¥µ»·ë²Ì [#ed411b46]
*(6)¥Ü¡¼¥ë¤òÆþ¤ì¤ë¤Þ¤Ç¤Îή¤ì [#yb203f58]

­¡½é¹æµ¡¥Ü¡¼¥ë¤ò²¡¤·½Ð¤¹

­¢Æõ¹æµ¡¥Ü¡¼¥ë¤ò¼õ¤±ÅϤ·ÃÏÅÀ¤Þ¤Ç±¿¤Ö

­£Îí¹æµ¡¥Ü¡¼¥ë¤ò¼õ¤±¼è¤ë

­¤Îí¹æµ¡¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤Þ¤Ç±¿¤Ö

­¥Îí¹æµ¡¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤ËÆþ¤ì¤ë

­¦Îí¹æµ¡¤¬¼õ¤±ÅϤ·ÃÏÅÀ¤Þ¤ÇÌá¤Ã¤Æ¤¯¤ë

¡ö°Ê²¼¡¢­¢¡Á­¦¤ò2²ó·«¤êÊÖ¤¹

*(7)´ðËÜÊý¿Ë¡¦¹©Éפ·¤¿ÅÀ [#m7cffd6c]

*(8)¶¥µ»·ë²Ì [#ed411b46]
-½ç°Ì¡§Áí¹ç£³°Ì
-±¿¤ó¤À¥Ü¡¼¥ë¤Î¿ô¡§·×£±¸Ä

*²ÝÂêÅÀ [#m2056250]
*(9)²þÁ±ÅÀ [#m2056250]
-ÅÓÃæ¤ÇÀïά¤òÂçÉý¤ËÊѤ¨¤¿¤¿¤á¡¢ËÜÈÖÁ°¤ÎÄ´À°»þ´Ö¤¬Â­¤ê¤Ê¤¯¤Ê¤Ã¤¿¤³¤È¤Ç¤¹¡£

*´¶ÁÛ [#vc0b8756]
-º£²ó¤Î¥í¥Ü¥³¥ó¤Ç¤ÏÍ£°ì£³¸Ä¤Î¥í¥Ü¥Ã¥È¤Ç¶¥µ»¤ò¹Ô¤¤¤Þ¤·¤¿¡£¥ê¥Ï¡¼¥µ¥ë¤Ç¤Ï¥Ü¡¼¥ë¤ò£³¸Ä±¿¤Ù¤¿»ö¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢¤¢¤È£²¡¢£³²ó¤ÎÈùÄ´À°¤Ç¥Ü¡¼¥ë£³¸Ä¤Ç¤­¤¿¤Ï¤º¡ª¥Ð¥é¥Ð¥é¤Î£³¸Ä¤Î¥í¥Ü¥Ã¥È¤¬¤­¤á¤é¤ì¤¿Ìò³ä¤Ç¤¦¤Þ¤¯¥Ü¡¼¥ë¤ò±¿¤ó¤Ç¤¤¤¯¤È¤³¤í¤¬¤³¤Î¥í¥Ü¥Ã¥È¤Î¤ª¤â¤·¤í¤¤¤È¤³¤í¤Ç¤¹¡£Â¾¤Î¥Á¡¼¥à¤Ë¤Ï¤Ê¤¤»Â¿·¤Ê¥í¥Ü¥Ã¥È¤À¤È»×¤Ã¤¿¡£¡Ê¤Ò¤³¡Ë
*(10)´¶ÁÛ [#vc0b8756]
-º£²ó¤Î¥í¥Ü¥³¥ó¤Ç¤Ï£µ¥Á¡¼¥àÃæÍ£°ì£³¸Ä¤Î¥í¥Ü¥Ã¥È¤Ç¶¥µ»¤ò¹Ô¤¤¤Þ¤·¤¿¡£¥ê¥Ï¡¼¥µ¥ë¤Ç¤Ï¥Ü¡¼¥ë¤ò£³¸Ä±¿¤Ù¤¿»ö¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢¤¢¤È£²¡¢£³²ó¤ÎÈùÄ´À°¤Ç¥Ü¡¼¥ë£³¸Ä¤Ç¤­¤¿¤Ï¤º¡ª¥Ð¥é¥Ð¥é¤Î£³¸Ä¤Î¥í¥Ü¥Ã¥È¤¬¤­¤á¤é¤ì¤¿Ìò³ä¤Ç¤¦¤Þ¤¯¥Ü¡¼¥ë¤ò±¿¤ó¤Ç¤¤¤¯¤È¤³¤í¤¬¤³¤Î¥í¥Ü¥Ã¥È¤Î¤ª¤â¤·¤í¤¤¤È¤³¤í¤Ç¤¹¡£Â¾¤Î¥Á¡¼¥à¤Ë¤Ï¤Ê¤¤»Â¿·¤Ê¥í¥Ü¥Ã¥È¤À¤È»×¤Ã¤¿¡£¡Ê¤Ò¤³¡Ë



¥³¥á¥ó¥È¤ò¤É¤¦¤¾
#comment


¥È¥Ã¥×   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS