- Äɲ䵤줿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
- ºï½ü¤µ¤ì¤¿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
[[2011a]]
[[2011a/A6/²ÝÂê4±¦]]
*Ìܼ¡ [#bd2a7c43]
#contents
*²ÝÂê4¤ÎÆâÍÆ [#cdce30da]
¥µ¥Ã¥«¡¼¥²¡¼¥à¡ª¡ª
¥Ç¥£¥Õ¥§¥ó¥¹(¶õ´Ì)¤ò¤É¤±¤ë¢ª¥Æ¥Ë¥¹¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤Ë¥·¥å¡¼¥È¤¹¤ë¡£
¤Á¤Ê¤ß¤Ë¤¦¤Á¤ÎÈɤϥí¥Ü¥Ã¥È¤Ï°ìÂΤÀ¤±¡£
*¥á¥ó¥Ð¡¼¾Ò²ð [#q0b1cee9]
Ku¡ùra¡¡ÍÍ¡õkeisuke¡õ¥¤¡¼¥Î¥Ã¥¯¡õmika
*¥í¥Ü¥Ã¥È [#ydfa2d62]
¤ªÌ¾Á°¡§¥´¥ë¥´¥ó¥¾¡¼¥é·À¤¤°¤é¤¤
¤ªÌ¾Á°¡§¥Ï¥¦¥ë¤Î¥Ö¥í¥¦¥¯¥ó¥Ï¥¦¥¹(Ks)
**ËÜÂÎ [#a4eb62f5]
¼Ì¿¿
¤á¤Ã¤Á¤ãÂ礤¯¤Ê¤Ã¤¿¡£¥¿¥¤¥ä¤Ï2¸Ä¡£¥¿¥¤¥ä¤¬ÉÕ¤¤¤Æ¤Ê¤¤Êý¤¬½Å¤½¤¦¤Ë¸«¤¨¤ë¤±¤É¡¢¤½¤Ã¤Á¤¬½Å¤¤¤³¤È¤Ë¤è¤Ã¤Æ¡¢¥¢¡¼¥à¤Î½Å¤µ¤Ë¤è¤ë¥Ð¥é¥ó¥¹¤Î°¤µ¤ò²ò·è¡£
**¥¢¡¼¥àÉôʬ [#fd4a55bf]
¼Ì¿¿
ÄÌ¿®¸å¡¢¥¢¡¼¥à¤¬¤Î¤Ó¤Æ¥Ü¡¼¥ë¤ò2¸ÄÄϤࡣ
**¸÷¥»¥ó¥µ¡¼Éôʬ[#mc1c6d38]
¼Ì¿¿
¥¿¥¤¥ä¤Î¶á¤¯¤Ë»ý¤Ã¤Æ¤¯¤ë¤³¤È¤Ç¡¢¥í¥Ü¥Ã¥ÈËÜÂΤ¬Â礤¹¤®¤ë¤³¤È¤Ë¤è¤ë¡¢¼Ð¤á¤Ë¤Ê¤ê¤ä¤¹¤µ¤È¤«¤ò²ò¾Ã¡£
*¥×¥í¥°¥é¥ß¥ó¥° [#ffd0862f]
#define THRESHOLD 40
#define RUN_TIME 10
#define BALL_CATCH 1
#define END_CATCH 2
#define Turn_R(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);
#define Turn_L(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C);
#define GO_ST(t) OnRev(OUT_A+OUT_C);
task main()
{
SetSensor(SENSOR_3, SENSOR_TOUCH);
SetSensor(SENSOR_2, SENSOR_LIGHT);
SetSensor(SENSOR_1, SENSOR_LIGHT);
OnFwd(OUT_A+OUT_C);Wait(100);Off(OUT_A+OUT_C);
#define THRESHOLD 40
#define RUN_TIME 10
#define BALL_CATCH 1
#define END_CATCH 2
#define Turn_R(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);
#define Turn_L(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C);
#define GO_ST(t) OnRev(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);
task main()
{
SetSensor(SENSOR_3, SENSOR_TOUCH);
SetSensor(SENSOR_2, SENSOR_LIGHT);
SetSensor(SENSOR_1, SENSOR_LIGHT);
SetPower(OUT_C,7);SetPower(OUT_A,7);
OnFwd(OUT_A+OUT_C);Wait(110);Off(OUT_A+OUT_C);
Turn_R(60);
while(SENSOR_3 == 0)
{ if (SENSOR_1 > THRESHOLD && SENSOR_2 > THRESHOLD)
{OnFwd(OUT_A);}
{OnFwd(OUT_A+OUT_C);Wait(20);Float(OUT_A+OUT_C);}
else if(SENSOR_1 < THRESHOLD && SENSOR_2 > THRESHOLD)
{OnFwd(OUT_C);Off(OUT_A);}
else if(SENSOR_1 > THRESHOLD && SENSOR_2 < THRESHOLD)
{OnFwd(OUT_A);Off(OUT_C);}
else if (SENSOR_1 > THRESHOLD && SENSOR_2 > THRESHOLD)
{OnFwd(OUT_A+OUT_C);}
else if (SENSOR_1 < THRESHOLD && SENSOR_2 < THRESHOLD)
{OnFwd(OUT_A+OUT_C);Wait(30);Off(OUT_A+OUT_C);}
}
Off(OUT_A+OUT_C);
SendMessage(BALL_CATCH);
OnFwd(OUT_C+OUT_A);Wait(40);Float(OUT_A+OUT_C);
SendMessage(BALL_CATCH);
ClearMessage();
until (Message() == END_CATCH);
until (Message() == END_CATCH);
OnRev(OUT_A+OUT_C);Wait(200);
Off(OUT_A+OUT_C);
Turn_L(60);
Wait(50);
OnRev(OUT_A+OUT_C);Wait(120);
OnRev(OUT_A+OUT_C);Wait(180);
Off(OUT_A+OUT_C);
Wait(50);
Turn_R(60);
Turn_R(90);
Wait(50);
GO_ST(100);
GO_ST(290);
Wait(50);
Turn_L(20);
GO_ST(30);
Turn_R(20);
repeat(3){
OnFwd(OUT_B);Wait(70);
Turn_R(50);
GO_ST(50);
Turn_L(50);
repeat(3){
OnFwd(OUT_B);Wait(20);
Off(OUT_B);
OnRev(OUT_B);Wait(70);
OnRev(OUT_B);Wait(20);
Off(OUT_B);
Turn_R(30);
Turn_L(30);
GO_ST(30;)
GO_ST(30);
OnFwd(OUT_A+OUT_C);Wait(30);
Off(OUT_C+OUT_A);
Wait(100);
}
Wait(100);
}
}
#define THRESHOLD 40
#define RUN_TIME 40
#define BALL_CATCH 1
#define END_CATCH 2
#define Turn_R(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);
#define Turn_L(t) OnFwd(OUT_C);OnRev(OUT_A);Wait(t);Off(OUT_A+OUT_C);
#define GO_ST(t) OnRev(OUT_A+OUT_C);
task main () {
ClearMessage();
task main ()
{
ClearMessage();
until (Message() == BALL_CATCH);
PlaySound(SOUND_UP);
OnFwd(OUT_C);Wait(100);Off(OUT_C);//ÂæºÂ¤ò²¼¤í¤¹
OnFwd(OUT_B);Wait(460);Off(OUT_B);//¥¢¡¼¥à¤ò½Ð¤¹
OnFwd(OUT_A);Wait(350);Off(OUT_A); //¥Ï¥ó¥É²¼¤í¤¹
OnRev(OUT_B);Wait(180);
OnRev(OUT_A);Wait(60);//¥¢¡¼¥à¤ò°ú¤¯
Off(OUT_B+OUT_A);
until (Message() == BALL_CATCH);
OnFwd(OUT_B);Wait(200);Off(OUT_B);
OnRev(OUT_C);Wait(120);Off(OUT_C);//ÂæºÂ¤ò¾å¤²¤ë
OnRev(OUT_A);Wait(250);Off(OUT_A);
OnRev(OUT_B);Wait(150);Off(OUT_B);
PlaySound(SOUND_UP);
OnFwd(OUT_C);
SendMessage(END_CATCH); }
Wait(100);
Off(OUT_C);//ÂæºÂ¤ò²¼¤í¤¹
SetPower(OUT_B,7);
OnFwd(OUT_B);
Wait(300);
Off(OUT_B);//¥¢¡¼¥à¤ò½Ð¤¹
SetPower(OUT_A,7);
OnFwd(OUT_A);
Wait(400);
Off(OUT_A); //¥Ï¥ó¥É²¼¤í¤¹
OnRev(OUT_B);
Wait(300);
Off(OUT_B+OUT_A);
OnRev(OUT_C);
Wait(120);
Off(OUT_C);//ÂæºÂ¤ò¾å¤²¤ë
SendMessage(END_CATCH);
}
*¹©Éפ·¤¿ÅÀ¡õ¶ìÏ«¤·¤¿ÅÀ¡£ [#uc4a038d]
°ìÂΤˤ·¤¿¤³¤È¡£¸÷¥»¥ó¥µ¡¼¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤¿¸å¡¢°ìÂΤÎÃæ¤ÇÄÌ¿®¤·¤Æ¤¤¤ë¡£°ìµ¤¤Ë3¸Ä¥Ü¡¼¥ë¤ò¼è¤ë¤³¤È¤ò¤¢¤¤é¤á¤Æ2¸Ä¤È¤ë¤³¤È¤Ë¤·¤¿¡£¥Ü¡¼¥ë¤ò¥í¥Ü¥Ã¥ÈËÜÂΤ˼è¤ê¹þ¤à¤È¤¡¢Êý¸þž²ó¤·¤Ê¤¤¤Ç¡¢²£¤«¤é¼è¤ê¹þ¤à¤è¤¦¤Ë¤·¤¿¤³¤È¡£¼è¤ê¹þ¤ó¤À¥Ü¡¼¥ë¤¬Íî¤Á¤Ê¤¤¤è¤¦¤Ë¤¤¤í¤¤¤í¥¹¥È¥Ã¥Ñ¡¼¤ò¤Ä¤±¤Æ¤ë¡£¥Ü¡¼¥ë¤ò°ì¸Ä¤À¤±È¯¼Í¤¹¤ë¤¿¤á¤Ë2¸ÄÌܤΥܡ¼¥ë¤Ï¤È¤Þ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¤¿¤À2¸ÄÌܤΥܡ¼¥ë¤ò¤Á¤ã¤ó¤Èȯ¼Í°ÌÃ֤˻ý¤Ã¤Æ¤¤¤¯¤Î¤¬¤à¤º¤«¤·¤«¤Ã¤¿¡£1¸ÄÌܤϳä¤È´Êñ¤Ë²£¤«¤é¼è¤ê¹þ¤ó¤À¸å¡¢¤Á¤ã¤ó¤ÈÊý¸þž´¹¤·¤Æȯ¼Í°ÌÃ֤ˤ¤¤¯¤ó¤ä¤±¤É¡¢2¸ÄÌܤò¼è¤ê¹þ¤à¤È¤¡¢¥¢¡¼¥à¤¬ÌµÍý¤·¤¹¤®¤ÆËÜÂΤ¬¤è¤¯¥Ð¥¥Ð¥¤·¤Æ¤·¤Þ¤Ã¤¿¡£ÈùÄ´À°¤Î·ë²Ì¤¤¤í¤¤¤í¤Êµ¡Ç½¤ò¤Ä¤±¤ì¤¿¤±¤É¡¢¤½¤Îʬ¤Ü¤í¤Ü¤í¥Ñ¡¼¥Ä¤¬¤è¤¯¼è¤ì¤Æ¡¢¤â¤í¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤¢¤È¡¢¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤¬½Å¤¯¤Æ¡¢¤À¤ó¤À¤ó¤«¤¿¤à¤¤¤Æ¤¯¤ë¤Î¤¬·ù¤ä¤Ã¤¿¡£ËÜÂΤ¬¤á¤Ã¤Á¤ãÂ礤¤¤«¤é¡¢¤Á¤ç¤Ã¤È¤Ç¤â¥º¥ì¤¿¤é²¿¤«¤ËÅö¤¿¤Ã¤ÆÊø¤ì¤Æ¤·¤Þ¤¦¤ó¤¬¤á¤Ã¤Á¤ãÆñÅÀ¡£
*´¶ÁÛ¡õÈ¿¾Ê [#gcc055a8]
**Ku¡ùra¡¡ÍÍ [#r4b4685a]
ºÇ½ª²ÝÂê¡£ÈùÄ´À°¤á¤ó¤É¤«¤Ã¤¿¡£¿ç̲»þ´Ö¤Ê¤µ²á¤®¡¦¡¦¡¦
**keisuke [#acc439ec]
ºÇ½ª²ÝÂê¡£»Ä¤êÆó¿Í¤¬ÌµÎϤ¹¤®¤Æ¥ï¥í¥¿£÷£÷£÷
**¥¤¡¼¥Î¥Ã¥¯ [#bfe9c41e]
ºÇ½ª²ÝÂê¡£¤µ¤Æ¤Þ¤º¤Ï¤¸¤á¤Ë¡Ä
º£²ó¤Î²ÝÂê¤Ë¤Ä¤¤¤ÆËͤϤۤȤó¤É´ØÍ¿¤Ç¤¤Æ¤Þ¤»¤ó¡£ÅöÁ³¤Ê¤¬¤é¡¢È¾ÀïÎϳ°Ä̹ð¤Ç¤¹¡£
¹½ÁÛ¤ò¹Í¤¨¤ë¤À¤±¤Ï¤·¤Þ¤·¤¿¤¬¡¢¥¢¡¼¥à¤ò²£¤Ë¤Ä¤±¤ëÅÀ¡¢»îºîÃʳ¬¤Ç¤Ï±ß³°¤Ë¤¢¤ê¤¨¤Ê¤¤¤°¤é¤¤¤Ï¤ß½Ð¤·¤Æº£¤ÎÃʳ¬¤Ë»ê¤ê¤Þ¤¹¡£¥¢¡¼¥à¤ËȾ¿ô°Ê¾å¤Î¥â¡¼¥¿¡¼¤òÍøÍѤ·¤¿¡¢¥µ¥ê¡¼µé¤ÎìÔÂôÀ߷פˤʤäƤ¤¤Þ¤¹¡£
ìÔÂô¤ò¤·¤¿¤¤À³Ê¤Ê¤Î¤Ç¡¢È¾¥Ï¥Ã¥Ô¡¼¤Ç¤¹¤Í¡£
**mika [#yd2b4992]
ºÇ½ª²ÝÂê¡£Æñ¤·¤«¤Ã¤¿¡£ÈɤÎÊý¡¹¤Î¥¢¥¤¥Ç¥£¥¢¤Ë´¶Æ°¡ª¡ª¤Ã¤Ã¤Ã
*¥³¥á¥ó¥È¤É¡¼¤¾ [#sc22266c]
#comment