[[2013b/MemberOnly/¿Ê¹Ô¾õ¶·]] #contents *¥á¥ó¥Ð¾Ò²ð [#n3ee21c5] :pianoman|¤ª¤Î¤¯¤ó¤Ç¤¹¡£º£²ó¤â¼ç¤Ë¥×¥í¥°¥é¥àôÅö¤Ç¤¹¡£ÃÙ¹ïËâ¡õÁáÂàËâ¡£ :Redcicudu|¥í¥Ü¥Ã¥ÈÀ©ºî¤Î¸¢°Ò¡£Èà¤Î¤ª¤«¤²¤Ç¥×¥í¥°¥é¥ß¥ó¥°¤Î»þ´Ö¤ò½½Ê¬¤Ë³ÎÊݤǤ¤¿¡£»þ¡¹ÌÌÇò¤¤¸ÀÍÕ¤òÅǤ½Ð¤¹¡£&br;[[²ÝÂꣲ>http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2FRedcicudu%2FMission2]] :chikuwa|¼ç¤Ë¥×¥í¥°¥é¥à¡¢»þ¡¹¥í¥Ü¥Ã¥È¤Î²þÎÉ¡£·Ú²÷¤Ë¥¡¼¥Ü¡¼¥É¤ò¤Ö¤Ã᤯¡£º£²ó¤Î²ÝÂê¤Î´Î¤Ç¤¢¤ë¥¢¡¼¥àÉô¤Î¥×¥í¥°¥é¥à¤òÀ©ºî¡£&br;[[²ÝÂꣲ>http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2Fchikuwa%2FMission2]] *²ÝÂꣲ¤ÎÆâÍÆ [#h82c71f8] °Ê²¼¤Î¥³¡¼¥¹Æâ¤ËÇÛÃÖ¤µ¤ì¤¿´Ì¤ò¥´¡¼¥ëÆâ¤ËÀѤ߾夲¤ë¡£¥¹¥¤¥Ã¥Á¤òÆþ¤ì¤ë°Ê³°¤Ï¥í¥Ü¥Ã¥È¡¦¥³¡¼¥¹¡¦´Ì¤ò¤¤¤¸¤ë¤Î¤Ï¸¶Â§¶Ø»ß¡£ #ref(robocon2013b.png) **¤¹¤È¤é¤Æ¤¸¤£ [#f79f3cc7] ¥Þ¥·¥ó¤ËÈæ¤Ù¤Æ¥³¡¼¥¹¤Î´Ö³Ö¤ä´Ì¤ÎÇÛÃÖ´Ö³Ö¤¬¾®¤µ¤¤½ê¤¬¤¢¤ê¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤À¤±¤ËÍê¤ë¤Î¤ÏÆñ¤·¤¤¤È¹Í¤¨¤Þ¤·¤¿¡£¥é¥¤¥ó¾å¤Ë̵¤¤´Ì¤â¤¢¤ê¤Þ¤¹¡£¤·¤¿¤¬¤Ã¤ÆÇÛÃֳִ֤ζ¹¤¯¥Þ¥·¥ó¤¬´³¾Ä¤·¤½¤¦¤Ê¤È¤³¤í¡Ê¡¢£¤È¥¦§¡Ë¤ÏĶ²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ´Ì¤òõºº¡¦Êá³Í¡¢¤½¤Î¾¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÇÀµÌ̤˴̤¬Í褿¤éÊá³Í¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£ °Ê²¼¤Î¤è¤¦¤Ë¥³¡¼¥¹½ç¤ò·è¤á¤Þ¤·¤¿¡£Ìð°õ¤Î·ÐÏ©¤ÏĶ²»ÇÈ¥»¥ó¥µ¤Ç°ÌÃÖ¤òÆÃÄꤹ¤ëÉôʬ¤Ç¤¹¡£ #ref(robocon2013b2.png) *¥Þ¥·¥ó¤Ë¤Ä¤¤¤Æ [#jc89a7e5] ¥Þ¥·¥ó¤Ï£²¡Á£³½µ´Ö¤«¤±¤ÆÀ©ºî¤·¤Þ¤·¤¿¡£ºÇ½é¤Ï¤ª¤Î¤¯¤ó¤Èchikuwa»á¤¬Âæ¼Ö¤ò¡¢Redcicudu»á¤¬¥¢¡¼¥à¤òÀ©ºî¤·¤Æ¤¤¤Þ¤·¤¿¤¬¡¢·ë¶É¤ÏRedcicudu»á¤¬¤Û¤ÜÁ´¤Æ¤òºî¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£Èó¾ï¤Ë¶¯¸Ç¤Ç¥Ñ¥ï¥Õ¥ë¤ÇÈæ³ÓŪ¥³¥ó¥Ñ¥¯¥È¤Ê¥Þ¥·¥ó¤Ë»Å¾å¤¬¤Ã¤Æ¤Þ¤¹¡££´ÎؤʤΤǤȤƤâ°ÂÄê¤ÊÁö¹Ô¤¬²Äǽ¤Ç¤¹¡£ ***Á´ÂÎÁü [#z7e2fa08] #ref(robot1.jpg,left) ´Ì¤ò¤Ä¤«¤ß¤Ê¤¬¤é°ÜÆ°¤¹¤ë¤Î¤Ç¥¢¡¼¥à¤Ï½Ä¤ËŤ¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£²¼¤ÎÎØ¥´¥à¤Ï³ê¤ê»ß¤á¤Ç¤¹¡£¿¿¤óÃæ¤Î»ÙÃì¤È¹ç¤ï¤»¤Æ»°ËܤÎÃì¤Ç´Ì¤¬Êø¤ì¤Ê¤¤¤è¤¦¤Ë¤·¤Æ¤¤¤Þ¤¹¡£ ***¸åÎØ [#bd18e886] #ref(robot2.jpeg,left) ¸åÎؤÏRedcicudu»á¤¬¤¦¤Þ¤¤¶ñ¹ç¤Ë£²¤ÄÉÕ¤±¤Æ¤¯¤ì¤Þ¤·¤¿¡£Áö¹Ô¤¬¤È¤Æ¤â°ÂÄꤷ¤Þ¤·¤¿¡£¤·¤«¤·Î®ÀФ˽Ť¤NXT¤ÎËÜÂΤòÆó¤Ä»Ù¤¨¤Æ¤¤¤ë¤Î¤Ç¼ÖÂΤò²óž¤¹¤ë»þ¤Ë¤Ä¤Ã¤«¤¨¤Þ¤¹¡£¸å½Ò¤Î¤è¤¦¤Ë³ÑÅÙ»ØÄê¤Ç¶îÆ°ÎؤòÆ°¤«¤·¼ÖÂΤò²óž¤µ¤»¤Æ¤âÀµ³Î¤µ¤Ë·ç¤±¤Æ¤·¤Þ¤¤¤Þ¤¹¡£ *pianoman¤¬Ã´Åö¤·¤¿¥×¥í¥°¥é¥à [#aec6c64d] **Bluetooth¤Ë¤è¤ëÄÌ¿®¥×¥í¥°¥é¥à [#pf04a566] ~¥³¥Þ¥ó¥É¤¬Ä¹¤¯¤ÆÈѤ路¤«¤Ã¤¿¤Î¤Çû¤¯¤Ê¤ë¤è¤¦¤Ë»î¤ß¤Þ¤·¤¿¡£¥Þ¥¹¥¿¡¼Â¦¤¬Ê¸»úÎó¤òÁ÷¿®¤·¥¹¥ì¡¼¥Ö¤ÎÊÖ¿®¤òÂԤäƤ¤¤ë´Ö¤Ë¥¹¥ì¡¼¥Ö¦¤¬Ê¸»úÎó¤ÎÆâÍƤ˱þ¤¸¤Æ»Å»ö¤·¥Þ¥¹¥¿¡¼¤ØÊÖ¿®¤ò¤¹¤ë¤È¤¤¤¦·Á¤Ç¤¹¡£ ~#include "bluetooth.nxc"¤Ç¾¤Î¥Õ¥¡¥¤¥ë¤«¤é¸Æ¤Ó½Ð¤»¤Þ¤¹¡£ /* bluetooth.nxc */ /* Á÷¼õ¿®¤ÈÀܳ³Îǧ */ /* ¥Þ¥¹¥¿¡¼ÍÑ¥×¥í¥°¥é¥à */ /* sendmsg(Á÷¿®¥á¥Ã¥»¡¼¥¸,¼õ¿®¥á¥Ã¥»¡¼¥¸) */ /****¥¹¥ì¡¼¥Ö¤ËÁ÷¿®¥á¥Ã¥»¡¼¥¸¤òÁ÷¿®¤·¤¿¸å¡¢¼õ¿®¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤Þ¤ÇÂÔµ¡¡£ ****/ sub sendmsg(string msg,string rps) { SendRemoteString(1,0,msg); string rmsg = ""; while(rmsg == "") { ReceiveRemoteString(1,true,rmsg); TextOut(0,LCD_LINE1,"Wait until slave"); TextOut(0,LCD_LINE2,"completes tasks..."); Wait(1000); } ResetScreen(); } /* ¶¦ÍÑ¥×¥í¥°¥é¥à */ /* btcheck(Àܳ¥Ý¡¼¥ÈÈÖ¹æ) */ /* Àܳ¤Î³Îǧ¡£¼ºÇÔ¤·¤¿¾ì¹ç"Something wrong"¤òɽ¼¨¡£ */ sub btcheck(int conn) { while(!BluetoothStatus(conn) == NO_ERR) { ResetScreen(); TextOut(0,LCD_LINE1,"Something wrong"); Wait(1000); } ResetScreen(); } /*¥¹¥ì¥¤¥ÖÍÑ¥×¥í¥°¥é¥à*/ /* receive("¼õ¿®¥á¥Ã¥»¡¼¥¸") */ /* ¥Þ¥¹¥¿¡¼¤«¤é¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¡£ */ sub receive(string rd) { string msg; while(msg != rd) { ReceiveRemoteString(0,true,msg); ResetScreen(); TextOut(0,LCD_LINE1,"Receiving..."); Wait(1000); } ResetScreen(); TextOut(0,LCD_LINE1,"I got it!!"); Wait(1000); ResetScreen(); } /* repond("Á÷¿®¥á¥Ã¥»¡¼¥¸") */ /* ±þÅú¤Î¥á¥Ã¥»¡¼¥¸¤ò¥Þ¥¹¥¿¡¼¤ËÁ÷¿® */ sub respond(string reply) { SendResponseString(1,reply); ResetScreen(); TextOut(0,LCD_LINE1,"Responded"); Wait(1000); ResetScreen(); } (C) 2014 ONO ***¶ìÏ«¤·¤¿ÅÀ [#pf42e6d4] ºÇ½éºîÀ®¤·¤¿¤È¤¡¢¥Þ¥¹¥¿¡¼Â¦¤ÏÁ÷¿®¤ÏÀ®¸ù¤·¤Þ¤·¤¿¤¬¥¹¥ì¡¼¥Ö¦¤Î±þÅú¤ËÈ¿±þ¤Ç¤¤Þ¤»¤ó¤Ç¤·¤¿¡£Æ±¤¸¥á¡¼¥ë¥Ü¥Ã¥¯¥¹¤ËÁÐÊý¤Î¥á¥Ã¥»¡¼¥¸¤òµÏ¿¤·¤Æ¤¤¤¿¤Î¤Ç¤¹¤¬¡¢½ñ¤´¹¤¨¤Î¥¿¥¤¥ß¥ó¥°¤¬Å¬ÀڤǤʤ«¤Ã¤¿¤è¤¦¤Ç¤¹¡£¥Þ¥¹¥¿¡¼¤ÎÁ÷¿®¤È¥¹¥ì¡¼¥Ö¤Î±þÅú¤ÎµÏ¿¤ËÊÌ¡¹¤Î¥á¡¼¥ë¥Ü¥Ã¥¯¥¹¤ò»ÈÍѤ¹¤ë¤³¤È¤Ç²ò·è¤·¤Þ¤·¤¿¡£ #ref(bluetooth.png) **´Ì¤Î¸¡ÃÎ¥×¥í¥°¥é¥à [#z5568099] ~º£²ó¤Î²ÝÂê¤Ç¤Ï¥é¥¤¥ó¾å¤«¤é³°¤ì¤¿¾ì½ê¤Ë¤â´Ì¤¬ÃÖ¤¤¤Æ¤¢¤ê¤Þ¤¹¡£¤³¤ì¤ò¼è¤é¤º¤·¤ÆÆÀÅÀ¤Ï²Ô¤²¤Þ¤»¤ó¡£ ~¤³¤Î¥×¥í¥°¥é¥à¤Ï¤Þ¤º±¦²óž¤·¤Ê¤¬¤é¥í¥Ü¥Ã¥È¤ÎÀµÌÌÊý¸þ¤ÎÂоÝʪ¤Þ¤Ç¤Îµ÷Î¥¤ò·×¬¤·¡¢°ìÈֶᤤ¤â¤Î¡Ê¡á´Ì¡Ë¤Ë¸þ¤¤òÄ´À°¤·¤Þ¤¹¡£Ä¶²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ·×¬¤¹¤ë¤Î¤Ç¤¹¤¬¡¢¤³¤ì¤¬¤Ê¤«¤Ê¤«¤¯¤»¼Ô¤ÎÍͤǴñÎï¤Ë·è¤Þ¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£¤½¤Î¤¿¤á¼Ì¿¿¤Ë¤â¤¢¤ë¤è¤¦¤Ë¥í¥Ü¥Ã¥È¤Ë¥Ð¥ó¥Ñ¡¼¤òÀßÃÖ¤¹¤ë¤³¤È¤Ë¤Ê¤ê¤Þ¤·¤¿¡£ #ref(sonic.png) /* find_direction.nxc */ #define tr OnFwdSync(OUT_AB,60,100); //±¦²óž #define tl OnFwdSync(OUT_AB,60,-100); //º¸²óž #define go OnFwdSync(OUT_AB,75,0) //ľ¿Ê #define unko 60 //·×¬²ó¿ô #define distance 13 //´Ì¤Þ¤Ç¤ÎÀܶáµ÷Î¥ #define measure_time 10 //·×¬´Ö³Ö sub fd(void) { int takatyan; // int zxc[unko]; //ÇÛÎó int min; //²¾¤ÎºÇ¾®ÃÍ /* ½àÈ÷¡§º¸¤Ë¾¯¤·²óž¡£ */ tl; Wait(1000); /* ¥Þ¥·¥ó¤È´Ì¤È¤Îµ÷Î¥¤ò¬¤ë¡£±¦²óž¤·¤Ê¤¬¤é£±£°ms´Ö³Ö¤Ç£¶£°²ó·×¬¡£ */ for(int i = 0;i <=unko-1;i ++) //i¤¬£±¡Á£¶£°¤Ë²Ã»»¤µ¤ì¤ë´Ö¤Ïzxc[i]¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤòÂåÆþ¡£ { tr; Wait(measure_time); zxc[i] = SensorUS(S4); } /*µÏ¿¤·¤¿¥Ç¡¼¥¿¤ÎÃ椫¤éºÇ¾®Ã͡ʵ÷Î¥¡Ë¤òµá¤á¤ë¡£*/ min = 60; //²¾¤ÎºÇ¾®ÃÍ for(int j = 0;j <=unko-1; j++) //jÈÖÃϤˤª¤±¤ëzxc¤ÎÃͤ¬min¤è¤ê¾®¤µ¤¤¾ì¹ç¡¢min¤Ëzxc¤ÎÃͤòÂåÆþ¡£ { if(min > zxc[j]) { min = zxc[j]; takatyan = j; } } /***NXT¤ÏView¥á¥Ë¥å¡¼¤Ë¤Æ¤½¤ì¤¾¤ì¤Î¥»¥ó¥µ¤ÎÃͤò¥ê¥¢¥ë¥¿¥¤¥à¤Ç¸«¤ë¤³¤È¤¬¤Ç¤¤ë¤Î¤Ç¤¹¤¬¡¢**/ /***Ķ²»ÇÈ¥»¥ó¥µ¤Ï·×¬Èϰϳ°¤Ë¤Ê¤ë¤È¡É¡©¡©¡©¡©¡©¡É¤Èɽ¼¨¤·¤Þ¤¹¡£¤³¤Î¾ì¹ç¤Ë¥á¥â¥ê¤Ë²¿¤¬½ñ¤**/ /***¹þ¤Þ¤ë¤Î¤«Ê¬¤«¤é¤Ê¤¤¤Î¤Ç¤¹¤¬¡¢¤â¤·£°¤Ç¤âÂåÆþ¤µ¤ì¤Æ¤·¤Þ¤¦¤Èº¤¤ë¤Î¤Ç£±£°£°¤òÂåÆþ¤·¤Æ¤¤***/ /***¤Þ¤¹¡£ ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡**/ for(int j = 0;j <= unko-1; j++) { if(zxc[j] == 0){zxc[j] = 100; } } Off(OUT_AB); TextOut(0,LCD_LINE1,"takatyan ="); NumOut(0,LCD_LINE2,zxc[takatyan]); Wait(1000); /* ºÇ¾®ÃͤȰìÃפ¹¤ë¤Þ¤Çº¸²óž¡£*/ tl; until( SensorUS(S4) <= zxc[takatyan] ); PlaySound(SOUND_UP); Off(OUT_AB); ResetScreen(); Wait(1000); /*´Ì¤ËÀܶᡣ*/ go; until(SensorUS(S4) <= distance); Off(OUT_AB); } ***°ÊÁ°¤Î¥×¥í¥°¥é¥à [#l73deeb0] ºÇ½é¤³¤Î¥×¥í¥°¥é¥à¤òºî¤Ã¤¿¤È¤¤Ï¡¢¥í¥Ü¥Ã¥È¤Î°ÌÃÖ¤òÄ´À°¤¹¤ë¤Î¤Ë°Ê²¼¤Î¤è¤¦¤Ë¥â¡¼¥¿¡¼¤Î²óžÎ̤ò·×»»¤·¤Æ¥Þ¥·¥ó¤Î¸þ¤¤òÊѤ¨¤Æ¤¤¤Þ¤·¤¿¡£¤·¤«¤·¥í¥Ü¥Ã¥È¤Î½ÅÎ̤¬½Å¤¯¸åÎؤ¬³ê¤é¤«¤ËÄɽ¾¤·¤Ê¤«¤Ã¤¿¤¿¤áÁÛÄê¤è¤ê¤â°ÌÃÖ½¤Àµ¤Ë¥Ö¥ì¤¬À¸¤¸¤¿¤Î¤Ç¾åµ¤Î¤è¤¦¤ËÊѹ¹¤·¤Þ¤·¤¿¡£ -¡Ê²óžÎÌ¡¿·×¬²ó¿ô¡Ë¡ö¡Ê·×¬²ó¿ô¡¼ºÇûµ÷Î¥¤ò¸¡ÃΤ¹¤ë¤Þ¤Ç¤Î·×¬²ó¿ô¡Ë