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*²ÝÂê:²ûÃæÅÅÅô¤Ë¸þ¤«¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¥í¥Ü¥Ã¥È [#s763c818]
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#contents
**¥í¥Ü¥Ã¥È¤Î³µÍ× [#ec033e3d]
***Æ°ÎÏÉôʬ [#t577ec69]
¥¿¥¤¥ä¤Î²óž¤Ë¥Ç¥£¥Õ¥¡¥ì¥ó¥·¥ã¥ë¥®¥¢(Ä̾ΥǥÕ)¤òÍѤ¤¡¢ÆâÎغ¹¤ò½¤Àµ¤·¤¿¡£
&br;&ref(deferential gear.JPG);
°ì¤Ä¤Î¥â¡¼¥¿¡¼¤Çº¸±¦¤Î²óž¤ò¤µ¤»¤ë¤Ë¤Ï¡¢º¸±¦¤Î¥®¥¢¤Î¿ô¤ò¶ö¿ô¤È´ñ¿ô¤ÇÊѤ¨¡¢¤µ¤é¤Ë¥¹¥È¥Ã¥Ñ¡¼¤ÇµÕÊý¸þ¤Î²óž¤òÍÞ¤¨¤ëɬÍפ¬¤¢¤Ã¤¿¡£
&br;¥¿¥¤¥ä¤Þ¤Ç¤Î¥®¥¢¤Ï¤½¤ì¤¾¤ì¼¡¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£(±¦¤Î¼Ì¿¿¡§º¸¥¿¥¤¥ä¡¡º¸¤Î¼Ì¿¿¡§±¦¥¿¥¤¥ä)
&br;&ref(right2.JPG);&ref(left1.JPG);
***¥¢¡¼¥à(Åꤲ¤ëÉôʬ) [#p75722fc]
Åꤲ¤ëÆ°ºî¤ËÂѤ¨¤ë¤¿¤á¶¯ÅٽŻë¤ÇÀ©ºî¤·¤¿¡£
&br;&ref(arm1.JPG);
¥â¡¼¥¿¡¼¤ËÀܳ¤¹¤ë¤È¼¡¤Î¤è¤¦¤Ë¤Ê¤ë¡£
&br;&ref(armgear.JPG);
***Á´ÂÎÁü [#i2389295]
´°À®¤·¤¿¥í¥Ü¥Ã¥È¤Ï¤³¤Î¤è¤¦¤Ê¤â¤Î¡£¾®²ó¤ê¤¬Íø¤¯¤è¤¦¤Ë3ÎؤòºÎÍÑ¡£¤Þ¤¿¸÷¥»¥ó¥µ¤ÏÆó¤ÄÅëºÜ¤·¡¢Á´ÂÎŪ¤Ë¶¯ÅÙ¤ò¾å¤²¤¿¡£
&br;&ref(finished.JPG);
***ÌäÂêÅÀ¤È²þÁ± [#i8759327]
¶¯ÅÙ¤ò½Å»ë¤·¤¿¥¢¡¼¥àÉôʬ¤¬½Å¤¹¤®¤Æ¥Û¥¤¡¼¥ë¤¬¤¦¤Þ¤¯Èô¤Ð¤Ê¤«¤Ã¤¿¤¿¤á¡¢·ÚÎ̲½¤·¤¿¡£
&br;&ref(arm2.JPG);
**¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#jb836020]
¡Á´Êý¸þ¤«¤é»ß¤Þ¤Ã¤Æ¤¤¤ë²ûÃæÅÅÅô¤ÎÊý¸þ¤òõ¤·¤À¤·¡¢²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ&br;¤ë¥×¥í¥°¥é¥à¡£
¢²ûÃæÅÅÅô¤ò¤æ¤Ã¤¯¤êÆ°¤«¤·¤¿¤È¤²ûÃæÅÅÅô¤Ë¸þ¤«¤Ã¤Æ¿Ê¤ß¡¢²ûÃæÅÅÅô¤ÎÆ°¤¤ò»ß¤á¤ì¤Ð°ìÄê¤Îµ÷Î¥(²ûÃæÅÅÅô¤«¤é30cm°Ê¾åÎ¥¤ì¤¿µ÷Î¥)¤Þ¤Ç¶á¤Å¤¤¤Æ²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¥×¥í¥°¥é¥à¡£
***¥×¥í¥°¥é¥àÁ´ÈÌ [#b73c6603]
¶¦Ä̤ÎÌ¿Îá~
OnFwd(OUT_A);¡¡¡§¡¡µ¡ÂΤò±¦²ó¤ê¤ËÀû²ó~
OnRev(OUT_A);¡¡¡§¡¡µ¡ÂΤòº¸²ó¤ê¤ËÀû²ó
***KEI¤Î¥×¥í¥°¥é¥à(¡¤Î¥×¥í¥°¥é¥à) [#hf62f11a]
#define TURN_TIME 300 //°ì¼þ¤¹¤ë»þ´Ö
task main()
{
int light_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃÍ
int t_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤòÍ¿¤¨¤ë»þ¹ï
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼
ClearTimer(0); //¥¿¥¤¥Þ¡¼¥»¥Ã¥È
OnFwd(OUT_A); //±¦²ó¤ê¤Ë²óž
while(FastTimer(0)<TURN_TIME){ //µ¡ÂΤ¬°ì¼þ¤¹¤ë¤Þ¤Ç·«¤êÊÖ¤¹
if (SENSOR_1>light_max){ //¥»¥ó¥µ¡¼¤¬Æɤ߼è¤Ã¤¿ÌÀ¤ë¤µ¤¬º£¤Þ¤Ç¤Î¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤò¾å²ó¤Ã¤Æ¤¤¤¿¾ì¹ç
light_max=SENSOR_1; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤ˸½ºß¥»¥ó¥µ¡¼¤¬Æɤ߼è¤Ã¤¿ÃͤòÂåÆþ
t_max=FastTimer(0); //¸½ºß¤Î»þ¹ï¤ò¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤòÍ¿¤¨¤ë»þ¹ï¤ËÂåÆþ
}
}
Off(OUT_A); //°ìöÄä»ß
Wait(50);
OnFwd(OUT_A); //±¦²ó¤ê¤Ë²óž
Wait(t_max);
Off(OUT_A); //²óžÄä»ß
OnRev(OUT_C); //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
Wait(40);
Off(OUT_C); //Ää»ß
}
-¤Þ¤º±¦²ó¤ê¤Ë°ì²óž¤·¤Æ°ìÈÖÌÀ¤ë¤¤Êý¸þ¤òõ¤·¡¢Æó²óžÌܤǤ½¤ÎÊý¸þ¤ò¸þ¤¡¢¥Ö¥í¥Ã¥¯¤òÅꤲ¤Þ¤¹
----
-Ë×¥×¥í¥°¥é¥à
~
#define TURN_TIME 300 //°ì¼þ¤¹¤ë»þ´Ö~
~
task main()~
{~
¡¡ int light_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃÍ~
¡¡ int t_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤòÍ¿¤¨¤ë»þ¹ï~
¡¡ SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼~
¡¡ ClearTimer(0); //¥¿¥¤¥Þ¡¼¥»¥Ã¥È~
¡¡ OnFwd(OUT_A); //±¦²ó¤ê¤Ë²óž~
¡¡ while(FastTimer(0)<TURN_TIME){~
¡¡ if (SENSOR_1>light_max){~
¡¡ light_max=SENSOR_1;~
¡¡ t_max=FastTimer(0);~
¡¡ }~
¡¡ }~
¡¡ Off(OUT_A); //°ìöÄä»ß~
¡¡ Wait(50);~
&color(Red){¡¡ OnRev(OUT_A); //º¸²ó¤ê¤Ë²óž};~
&color(Red){¡¡ Wait(TURN_TIME-t_max);};~
¡¡ Off(OUT_A);~
¡¡ OnRev(OUT_C); //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë~
¡¡ Wait(40);~
¡¡ Off(OUT_C);~
¡¡ }~
~
-Êѹ¹ÅÀ¤Ï¡¢ÀÖ¤¤Ê¸»ú¤ÎÉôʬ¤Ç¤¹
-±¦²óž¤Î¾ì¹ç¤Èº¸²óž¤Ç¤Ï¥®¥¢Èæ¤Î´Ø·¸¤«¤éÀû²ó¤¹¤ë®ÅÙ¤¬°ã¤¦¤Î¤Ç¡¢¤³¤Î¤Þ¤Þ¤Î¥×¥í¥°¥é¥à¤Ç¤Ï¸÷¸»¤Ø¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¤³¤È¤¬¤Ç¤¤Þ¤»¤ó¤Ç¤·¤¿
-°ì²óÌܤÈÆó²óÌܤÇÀû²ó¤¹¤ë¸þ¤¤òƱ¤¸¤Ë¤¹¤ë¤³¤È¤Ç¡¢¤³¤ÎÌäÂê¤ò²ò·è¤¤¤¿¤·¤Þ¤·¤¿
----
***²¶¤Î¥×¥í¥°¥é¥à(¢¤Î¥×¥í¥°¥é¥à) [#c7e52ffe]
#define THERESHOLD 45 //¸÷¤òÄɤ¦Æ°ºî¤ÇÍѤ¤¤ëÆ®ÃÍ
#define LIGHTMAX 50 //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ëÆ°ºî¤ÇÍѤ¤¤ëÆ®ÃÍ
task main ()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷³Ø¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT); //¥»¥ó¥µ¡¼3¤Ï¸÷³Ø¥»¥ó¥µ¡¼
while(SENSOR_3<=LIGHTMAX){ //¥í¥Ü¥Ã¥È¤¬¸÷¸»¤Ë¤¢¤ëÄøÅ٤ޤǶá¤Å¤¯¤Þ¤Ç·«¤êÊÖ¤¹
if (SENSOR_1<THERESHOLD){
if (SENSOR_3<THERESHOLD){
OnRev(OUT_A);
} else {
OnFwd(OUT_A);
}
} else {
if (SENSOR_3<THERESHOLD){
OnRev(OUT_A);
} else {
OnRev(OUT_A);
}
}
} //¤³¤³¤Þ¤Çwhile¤Î´Ö
Off(OUT_A); //°ÜÆ°Ää»ß
OnRev(OUT_C); //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
Wait(40);
Off(OUT_C); //¥¢¡¼¥àÄä»ß
}
-¥í¥Ü¥Ã¥È¤Ï´ðËÜŪ¤Ëº¸²ó¤ê¤Ë²óž¤·¤Ê¤¬¤é¸÷¤òõ¤·¤Æ¤¤¤Þ¤¹
-¸÷¤ò¸«¤Ä¤±¤ë¤È¡¢¤½¤ì¤òÄɤ¤¤«¤±¤Æ¤¤¤¤Þ¤¹¡£''±¦Àû²ó¤Èº¸Àû²ó¤ò¸ò¸ß¤Ë¹Ô¤¦¤³¤È¤ÇÁ°¿Ê''¤·¤Þ¤¹¡£
-¤¢¤ëÄøÅ٤ޤǶá¤Å¤¯¤È¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£Ìó30cm¤Îµ÷Î¥¤Þ¤Ç¶á¤Å¤¯¤È¥Ö¥í¥Ã¥¯¤òÅꤲ¤Þ¤¹
**´¶ÁÛ [#qa03f859]
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**¥³¥á¥ó¥È¤ò¤É¤¦¤¾ [#rffa2ee6]
- ¥³¥á¥ó¥È¡¢µ¹¤·¤¯¤ª´ê¤¤Ãפ·¤Þ¤¹ -- [[²¶]] &new{2009-07-10 (¶â) 17:32:57};
- ¥í¥Ü¥Ã¥È¤â¥×¥í¥°¥é¥à¤â¡¢ÀâÌÀ¤¬¤ï¤«¤ê¤ä¤¹¤¯¡¢¤Þ¤¿¡¢¹½Â¤¤â¤ï¤«¤ê¤ä¤¹¤¤¤Ç¤¹¡£ -- [[¤³¤µ¤«]] &new{2009-07-17 (¶â) 04:25:38};
- ´Ê·é¤Ç¤ï¤«¤ê¤ä¤¹¤¤¤Ç¤¹¡£¤¿¤À¡¢2¤ÄÌÜ¤Î¥×¥í¥°¥é¥à¤Ë´Ø¤·¤Æ¸À¤¦¤È¡¢²¼¤«¤é11¹ÔÌܤÎelse¤Î°ÕÌ£¤¬¤Ê¤¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£º¸±¦¤Î¥»¥ó¥µ¤¬¸÷¤ò´¶¤¸¤¿»þ¤Ë¤Ï²ûÃæÅÅÅô¤¬¿¿ÀµÌ̤ˤ¢¤ë¤È¹Í¤¨¡¢º¸±¦¤Î²óž¤ò¾®¹ï¤ß¤Ë·«¤êÊÖ¤·¤ÆÁ°¿Ê¤µ¤»¤¿Êý¤¬¤è¤êÀµ³Î¤ËÄÉÀפǤ¤Þ¤¹¡£¤Þ¤¿¡¢¤Ç¤¤ì¤Ð¤â¤Ã¤È²ûÃæÅÅÅô¤¬»ß¤Þ¤Ã¤¿¤È¤¤¤¦¤³¤È¤òÌÀ³Î¤Ëǧ¼±¤Ç¤¤ë¤È¤Ê¤ªÎɤ¤¤È»×¤¤¤Þ¤¹ -- [[FI]] &new{2009-08-05 (¿å) 08:28:08};
#comment