[[2013b/Member]]
*²ÝÂꣲ [#gde868f5]
**²ÝÂê¤Î¥Ý¥¤¥ó¥È [#h7f5fefb]
#ref(2013b/Member/trtr/Mission2/robocon2013b.png,17.4kb,¥³¡¼¥¹)
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**¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#t636a00b]
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***»îºîÉʤˤĤ¤¤Æ[#e927d353]
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#ref(2013b/Member/trtr/Mission2/¼Ì¿¿£¶.JPG,32KB,robot6)


***¥í¥Ü¥³¥óÅöÆü¤Î¥í¥Ü¥Ã¥È [#h8112edb]
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[http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2Fmatsuro%2FMission2]
[http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2Fkk%2FMission2]
#ref(2013b/Member/trtr/Mission2/¼Ì¿¿ 5.JPG,160kb,robot4)
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**¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#m9cfc359]
***´Ì¤òÀѤ߾夲¤ë¥í¥Ü¥Ã¥È [#z08f6162]
 #define HP 3
 #define LP 0
 #define THRESHOLD 36//¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑïçÃÍ
 #define turn_right1 OnFwd(OUT_A);//±¦ÀÞ¥Þ¥¯¥í
 #define go_forward OnFwd(OUT_AC);//ľ¿Ê¥Þ¥¯¥í
 #define turn_left1 OnFwd(OUT_C);//º¸ÀÞ¥Þ¥¯¥í
 #define TIME_TRACE1 3//¥È¥ì¡¼¥¹¤Î1²ó¤ÎȽÃǤÇÂԤĻþ´Ö
 #define TIME_TRACE2 500//²¼µ­Ž¢//£´.¡Á£µ.Ž£¤ÇËÜÂΤò90Åٲ󞤵¤»¤ëÃÏÅÀ¤ò»ØÄꤹ¤ëÃÍ
 #define NB_COUNT 4//¸òº¹ÅÀ¼±ÊÌÍѤιõ¤Î²ó¿ô¤ò¿ô¤¨¤ëÃÍ
 #define MESSSAGE_CAN 11//´Ì¤¬±¿¤Ð¤ì¤Æ¤­¤¿¤³¤È¤òȽÃǤ¹¤ë¤¿¤áÄÌ¿®¤ÇÁ÷¤ëÃÍ

´Ì¤òÀѤॵ¥Ö¥ë¡¼¥Á¥ó ¡¡
 sub stack_can() ¡¡{
 OnRev(OUT_B);
 */¤³¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òÁö¤é¤»¤ëÁ°¤Ç¤Ï¥¢¡¼¥à¥æ¥Ë¥Ã¥È¤Ï¾å¤¬¤Ã¤Æ¤¤¤ë¤¿¤á
 ¥æ¥Ë¥Ã¥È¤ò¹ß²¼¤µ¤»¤Ä¤Ä¥¢¡¼¥à¤ò³«¤¯/*
 Wait(120);
 Off(OUT_B);
 OnFwd(OUT_B);//´Ì¤ò¤Ä¤«¤ß¤Ä¤Ä»ý¤Á¾å¤²¤ë
 Wait(120);
 Off(OUT_B);
 } 
¥×¥í¥°¥é¥àËÜÂÎ
 task main()
 {
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 int nbk=0//ïçÃͰʲ¼¤È¤Ê¤Ã¤¿²ó¿ô¤ò¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ô
 int ncros=0//¸òº¹ÅÀ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ô
 SetPower(OUT_AB,LP);
 SetPower(OUT_C,HP);
//1.¹õÀþ¤ËÅö¤¿¤ë¤Þ¤ÇÁ°¿Ê
 OnFwd(OUT_AC);
 until (SENSOR_2>=THRESHOLD);
//2.º¸ÀÞ¤·¥é¥¤¥ó¥È¥ì¡¼¥¹
 turn_left1;OnRev(OUT_A);
 Wait(80);//90ÅÙÀû²ó
 ClearTimer(0);
 while(ncros=0){//¸òº¹ÅÀ¤òÄ̲᤹¤ë¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹(¤³¤Î»þ¥³¡¼¥¹¾å¤Î´Ì¤Ï¥³¤Î»ú·¿¤Î¥·¥ã¡¼¥·¤ÎÃæ¤ËÆþ¤ë)
   while(nbk<NB_COUNT){
     if(SENSOR_2<THRESHOLD-3){turn_left1;nbk++;}
     else if(SENSOR_2<THRESHOLD+3){OnFwd(OUT_AC);nbk=0;}
     else{turn_right1;nbk=0;}
     Wait(TIME_TRACE1);
   }
   Off(OUT_AC);
   turn_left1;
   Wait(nbk*TIME_TRACE1);
 }
//3.¸òº¹ÅÀ¤òÄ̲á¸å´Ì¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë
 OnFwd(OUT_B);
 Wait(120);
 Off(OUT_B);
 
//4.¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·Å¬Åö¤ÊÃÏÅÀ¤Ë¤Ä¤¯¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
 ClearTimer(0);
 while(FastTimer(0)<TIME_TRACE2){//1
   if(SENSOR_2<THRESHOLD-3){turn_left1;}
   else if(SENSOR_2<THRESHOLD+3){OnFwd(OUT_AC);}
   else{turn_right1;}
   Wait(TIME_TRACE1); 
   }//1
//5.90ÅÙ±¦Àû²ó¤·È¾±ß¤ÎÃæ±û¤Ë¤¢¤ë´Ì¤ò²ó¼ý¤¹¤ë
 turn_right1;Wait(80);//90ÅÙ±¦Àû²ó
 OnFwd(OUT_AC);
 repeat(2){
 until(SENSOR_2<THRESHOLD);
 until(SENSOR_2>THRESHOLD);
 }//¥é¥¤¥ó¤ò2²ó¤Þ¤¿¤°
 Off(OUT_AC);
 stackile_can();//´Ì¤òÀѤà
 turn_right1;Wait(90);//90ÅÙ+aÀû²ó
//6.¥´¡¼¥ëľÁ°¤Î¸òº¹ÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
 ncros=0;
 while(ncros<2){//1
   while(nbk<NB_COUNT){//2
     if(SENSOR_2<THRESHOLD-3){turn_left1;nbk++;}
     else if(SENSOR_2<THRESHOLD+3){OnFwd(OUT_AC);}
     else{turn_right1;}
     Wait(TIME_TRACE1);
   }//2
   Wait(50);
   turn_right1;Wait(NB_COUNT*TIME_TRACE1);
   nbk=0;
   ncros++;;
 }//1
//7.¥´¡¼¥ëÃæ±û¤Ø°ÜÆ°¤·ÂÔµ¡
 turn_left1;Wait(NB_COUNT*TIME_TRACE1/2);
 OnFwd(OUT_C);OnRev(OUT_A);Wait(40);//90ÅÙº¸Àû²ó
 go_forward;Wait(60);
 OnRev(OUT_A);Wait(120);//135ÅÙº¸Àû²ó
//8.ÄÌ¿®¤ò¤·¤Æ´Ì¤ò²ó¼ý¤·ÀѤ߾夲¤ëÆ°ºî¤ò·«¤êÊÖ¤¹
 ClearMessage();
 repeat(2){
   until(Message()==MESSAGE_CAN);
   stackile can();
   ClearMessage();
 } 
//9.´Ì¤òÃÖ¤¤¤Æ¥´¡¼¥ë¤«¤é½Ð¤ë
 OnRev(OUT_B);
 Wait(120);
 Off(OUT_B);
 OnRev(OUT_AC);
 Wait(400)
 Off(OUT_AC);
 }

***²þÀµÈÇ [#h7f70a7d]
****´Ø¿ô [#w22e7054]
 #define HP 7
 #define LP 2
 #define THRESHOLD 36//¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑïçÃÍ
 #define turn_right1 OnFwd(OUT_A);
 #define go_forward OnRev(OUT_A);
 #define TIME_TRACE1 3//¥È¥ì¡¼¥¹¤Î1²ó¤ÎȽÃǤÇÂԤĻþ´Ö
 #define TIME_TRACE2 500//Ž¢£´Ž£¤ÇËÜÂΤò90Åٲ󞤵¤»¤ëÃÏÅÀ¤ò»ØÄꤹ¤ëÃÍ
 #define NB_COUNT 4//¸òº¹ÅÀ¼±ÊÌÍѤÎÃÍ
 #define STACK 11//


Ë¿¥³¥ó¥Ó¥Ë¤ÎÆþŹ²»
 task play_music()
 {
  PlayTone(740,28);Wait(5);
  PlayTone(587,28);Wait(5);
  PlayTone(440,28);Wait(5);
  PlayTone(587,28);Wait(5);
  PlayTone(659,28);Wait(5);
  PlayTone(880,61);Wait(5);
  PlayTone(440,28);Wait(5);
  PlayTone(659,28);Wait(5);
  PlayTone(740,28);Wait(5);
  PlayTone(659,28);Wait(5);
  PlayTone(440,28);Wait(5);
  PlayTone(587,80);
 } 

****¥×¥í¥°¥é¥à¤ÎËÜÂÎ [#g03f46f4]
 task main()
 {
  SetSensor(SENSOR_2,SENSOR_LIGHT);
  SetPower(OUT_A,HP);
  int nbk=0;
  int ncros=0; 
1.¹õÀþ¤ËÅö¤¿¤ë¤Þ¤ÇÁ°¿Ê
  OnRev(OUT_A);
  until (SENSOR_2<=THRESHOLD);
2.º¸ÀÞ¤·¥é¥¤¥ó¥È¥ì¡¼¥¹
  turn_right1;
  Wait(400);
  ClearTimer(0);
  while(FastTimer(0)<=1000){
   if(SENSOR_2<THRESHOLD){go_forward;}
    else{turn_right1;}
    Wait(TIME_TRACE1);
  }
//´ÌÀѤß
  start play_music;
  SetPower(OUT_BC,2);
  OnFwd(OUT_B);Wait(68);Off(OUT_B);
  stop play_music;
  while(ncros<2){//1
    while(nbk<NB_COUNT){//2
      if(SENSOR_2<THRESHOLD){go_forward;nbk++;}
      else{turn_right1;nbk=0;}
    Wait(TIME_TRACE1);
    }//2
    Wait(50);
    turn_right1;Wait(NB_COUNT*TIME_TRACE1);
    nbk=0;
    ncros++;
    go_forward;Wait(60);
  }//1
  while(nbk<NB_COUNT){//1
   if(SENSOR_2<THRESHOLD){go_forward;nbk++;}
    else{turn_right1;nbk=0;}
    Wait(TIME_TRACE1);
  }//1
  turn_right1;Wait(350);
  go_forward;Wait(200);
  turn_right1;Wait(170);
  until(Message()==STACK);
  start play_music;
  OnFwd(OUT_C);Wait(1000);
  OnRev(OUT_B);Wait(68);Off(OUT_BC);
  stop play_music;
  turn_right1;Wait(350);Off(OUT_A);
  ClearMessage();
  repeat(2){
    until(Message()==STACK);
    OnFwd(OUT_B);Wait(68);Off(OUT_B);
    ClearMessage();
    until(Message()==STACK);
    OnFwd(OUT_C);Wait(1000);
    OnRev(OUT_B);Wait(68);Off(OUT_BC);
    turn_right1;Wait(350);Off(OUT_A);
    ClearMessage();
  }
  OnRev(OUT_A);
  Wait(170);
  go_forward;
  Wait(600);
  Off(OUT_A);
  }
***´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È [#k60cc7cf]
&#8226;ÄêµÁʸ 
 #define WHITE 46//Çò¤ÎÃÍ
 #define BLACK 40//¹õ¡Ê¥é¥¤¥ó¾å¡Ë¤ÎÃÍ
 //¶­³¦¤ÎÃͤϾå¤ÎÆó¤Ä¤«¤é¡Ü¡¢-¤ò¤â¤Á¤¤¤Æºî¤Ã¤Æ¤¤¤Þ¤¹¡£
 #define CATCH 44¡¡¡¡¡¡//´Ì¤ò¤Ä¤«¤ó¤À»þ¤Î¸÷¥»¥ó¥µ¡¼£³¤ÎÃÍ
 #define power SetPower(OUT_AC,1);//¥â¡¼¥¿¡¼¤Î½ÐÎϤò7Ãʳ¬Ãæ¤Î£±¤Ë¤¹¤ë¡¡ÄêµÁ¤Ç¤¹¡£
 #define go_forward power;OnFwd(OUT_AC);//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿Á°¿Ê
 #define go_back power;OnRev(OUT_AC);//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿¸åÂà
 #define LEFT power;OnRev(OUT_A);OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿º¸¤½¤Î¾ìÀû²ó
 #define left power;Off(OUT_A);OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿º¸²ó¤ê
 #define RIGHT power;OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿±¦¤½¤Î¾ìÀû²ó
 #define right power;OnFwd(OUT_A);Off(OUT_C);¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿±¦²ó¤ê
 #define PUSH power;OnRev(OUT_B);Wait(3);Off(OUT_B);Wait(20);
¡¡//´Ì¤ò²¡¤·½Ð¤¹Æ°ºî¤Ç¤¹¡£¥â¡¼¥¿¡¼¤Î¸þ¤­¤«¤éOnRev¤ÇËÀ¤¬Èô¤Ó½Ð¤·¡¢OnFwd¤ÇÌá¤ê¤Þ¤¹¡£Float¤Ç¡¡Í¥¤·¤¯»ÅÉñ¤¤¤Þ¤¹¡£

&#8226;¥µ¥Ö¥ë¡¼¥Á¥ó

 ¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦)
 sub trace1_R(){
      if (SENSOR_1 < BLACK){
                RIGHT;
        } else if (SENSOR_1 < BLACK +2){¡¡//¹õ´ó¤ê¤Î¶­³¦¤ÎÃÍ
                right;
        } else if (SENSOR_1 > WHITE -2){¡¡//Çò´ó¤ê¤Î¶­³¦¤ÎÃÍ
                left;
        } else if (SENSOR_1 > WHITE){
                LEFT;
          }
  }

¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦)
 sub trace1_L(){
      if (SENSOR_1 < BLACK){
                LEFT;
        } else if (SENSOR_1 < BLACK +2){
                left;
        } else if (SENSOR_1 > WHITE -2){
                right;
        } else if (SENSOR_1 > WHITE){
                RIGHT;
          }
  }

¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦)
 sub trace2_R(){
        while (FastTimer(0) < 25){¡¡//¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¤Î»þ´Ö¤Ç¤¹¡£
   if (SENSOR_1 < BLACK){
      RIGHT;
   }else if (SENSOR_1 < BLACK +2){
      ClearTimer(0);
      right;
   }else if (SENSOR_1 > WHITE -2){
      ClearTimer(0);
      left;
   }else if (SENSOR_1 > WHITE){
      ClearTimer(0);
      LEFT;
   }else{
      ClearTimer(0);
      go_forward;
    }
 }
 if(FastTimer(0) >= 25){¡¡¡¡//¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¤Ç¤¹¡£
  ClearTimer(0);
  LEFT;
  Wait(40);
  go_forward;
  Wait(20);
  Off(OUT_AC);
  ClearTimer(0);
 }
 }

¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦)
 sub trace2_L(){
        while (FastTimer(0) < 25){
   if (SENSOR_1 < BLACK){
      LEFT;
   }else if (SENSOR_1 < BLACK +2){
      ClearTimer(0);
      left;
   }else if (SENSOR_1 > WHITE -2){
      ClearTimer(0);
      right;
   }else if (SENSOR_1 > WHITE){
      ClearTimer(0);
      RIGHT;
   }else{
      ClearTimer(0);
      go_forward;
    }
 }
 if(FastTimer(0) >= 25){
  ClearTimer(0);
  RIGHT;
  Wait(40);
  go_forward;
  Wait(20);
  Off(OUT_AC);
  ClearTimer(0);
 }
 }

´Ì¤Î¼õ¤±ÅϤ·(±¦Â¦¥È¥ì¡¼¥¹»þ)
 sub trace3_R(){
            while (FastTimer(0) < 25){
   if (SENSOR_1 < BLACK){
      RIGHT;
   }else if (SENSOR_1 < BLACK +2){
      ClearTimer(0);
      right;
   }else if (SENSOR_1 > WHITE -2){
      ClearTimer(0);
      left;
   }else if (SENSOR_1 > WHITE){
      ClearTimer(0);
      LEFT;
   }else{
      ClearTimer(0);
      go_forward;
    }
 }
 if(FastTimer(0) >= 25){
     go_forward;
     Wait(10);
     LEFT;
     Wait(70);
     Off(OUT_AC);
     Wait(100);
     PUSH;
     go_back;¡¡¡¡//¥Ï¥µ¥ß¤ÎÀÜ¿¨¤òÈò¤±¤ë¤¿¤á
     Wait(100);
     Off(OUT_AC);
     ClearTimer(0);
 }
 }

´Ì¤Î¼õ¤±ÅϤ·(º¸Â¦)
 sub trace3_L(){
            while (FastTimer(0) < 25){
   if (SENSOR_1 < BLACK){
      LEFT;
   }else if (SENSOR_1 < BLACK +2){
      ClearTimer(0);
      left;
   }else if (SENSOR_1 > WHITE -2){
      ClearTimer(0);
      right;
   }else if (SENSOR_1 > WHITE){
      ClearTimer(0);
      RIGHT;
   }else{
      ClearTimer(0);
      go_forward;
    }
 }
 if(FastTimer(0) >= 25){
     RIGHT;
     Wait(70);
     Off(OUT_AC);
     PUSH;
     go_back;
     Wait(50);
     Off(OUT_AC);
    ClearTimer(0);
 }
 }

¥á¥¤¥ó¥¿¥¹¥¯
 task main()
 {
 SetSensor(SENSOR_1, SENSOR_LIGHT);
 SetSensor(SENSOR_3, SENSOR_LIGHT);
 ClearTimer(0);
 int n=0;

 while(n==0){
              Wait(100);                   //Áê¼ê¤òÂԤĻþ´Ö
              until(SENSOR_1 < BLACK){     //¹õ¤Ë¤Ê¤ë¤Þ¤Çľ¿Ê¡¢¥é¥¤¥ó¤ò´¶ÃΤ·¤Æ¥È¥ì¡¼¥¹¤ò³«»Ï¤·¤Þ¤¹¡£
                      go_forward;}
              Off(OUT_AC);
              Wait(100);
              go_back;¡¡¡¡¡¡¡¡//´¶ÃΤ«¤éÆ°ºî¤Þ¤Ç¤Ë¿Ê¤ó¤Ç¤·¤Þ¤Ã¤¿Ê¬Ìá¤ê¤Þ¤¹¡£
              Wait(15);
              Off(OUT_AC);
              Wait(30);
          n++;
 }

 while(n==1){
           if (SENSOR_3 > CATCH){
                     PlaySound(SOUND_UP);¡¡¡¡¡¡//´Ì¤ò¤Ä¤«¤ó¤À¹ç¿Þ
                     ClearTimer(0);
                     until(FastTimer(0) > 500){¡¡¡¡//­¡¤ÇÅϤë°ÌÃ֤ޤǤλþ´Ö¤Ç¤¹¡£
                          trace1_R();}
                     LEFT;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¡¤ÇÅϤë¤È¤­¤ÎÆ°ºî¤Ç¤¹¡£
                     Wait(55);
                     go_forward;
                     Wait(20);
                     until(SENSOR_1 < BLACK){
                      go_forward;}
                      ClearTimer(0);
                     until(FastTimer(0) > 500){¡¡//­¡¤òÅϤ꽪¤¨¤Æ¤«¤é¤Î¥È¥ì¡¼¥¹
                              trace1_R();}
                     ClearTimer(0);
                     trace3_R();
                     n++;
         } else if (SENSOR_1 < BLACK){
                 RIGHT;
         } else if (SENSOR_1 < BLACK +2){
                 right;
         } else if (SENSOR_1 > WHITE -2){
                 left;
         } else if (SENSOR_1 > WHITE){
                 LEFT;
           }
 }

 while(n==2){¡¡¡¡//Æó¤ÄÌܤδ̤ò±¿¤Ö¥×¥í¥°¥é¥à¤Ç¤¹¡£
             RIGHT;
             Wait(40);
             go_forward;
             Wait(150);
             until(SENSOR_1 < BLACK){
                      right;}
            if (SENSOR_3 > CATCH){
                   until(SENSOR_1 < BLACK){
                     LEFT;}
                   ClearTimer(0);
                   trace3_L();
                   n++;
           } else if (SENSOR_1 < BLACK){
                 LEFT;
         } else if (SENSOR_1 < BLACK +2){
                 left;
         } else if (SENSOR_1 > WHITE -2){
                 right;
         } else if (SENSOR_1 > WHITE){
                 RIGHT;
           }
 }
 }
**È¿¾Ê [#g0c01249]
º£²ó¤Î²ÝÂê¤Ï·ë²Ì¤«¤é¤¤¤¦¤È¤È¤Æ¤â¤è¤«¤Ã¤¿¤â¤Î¤È¤Ï¸À¤¨¤Ê¤¤¡£ÆäËËͤ¬Ã´Åö¤·¤¿¥í¥Ü¥Ã¥È¤ÎÀѤ߾夲¤Î¥í¥Ü¥Ã¥È¤¬¤¦¤Þ¤¯µ¡Ç½¤·¤Ê¤«¤Ã¤¿¤¬¤¿¤á¤Ë¥í¥Ü¥³¥ó¤â¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£È¿¾ÊÅÀ¤Ï¿¡¹¤¢¤ë¤¬Æä˥í¥Ü¥Ã¥È¤ÎÁȤßΩ¤Æ¤¬ºÇ¸å¤ÎºÇ¸å¤Þ¤Ç¤¦¤Þ¤¯¤¤¤«¤ººÇ½ª¤Î·Á¤Ë¤·¤¿¤Î¤âËÜÈÖľÁ°¤À¤Ã¤À¤³¤È¤¬ÌäÂê¤À¤Ã¤¿¡£¥®¥¢¤Î¥È¥ë¥¯¤Ë´Ø¤·¤Æ¤ä»°ÎؤòƳÆþ¤¹¤ì¤Ð¤è¤«¤Ã¤¿¤³¤È¤Ê¤É¤Ï¤â¤¦¾¯¤·Á᤯¥í¥Ü¥Ã¥È¤Î·Á¤¬Äê¤Þ¤Ã¤Æ¤¤¤ì¤Ð»×¤¤¤Ä¤¤¤¿¤³¤È¤À¤È»×¤¦¡£ËÜÅö¤Ë¾¤Î¥á¥ó¥Ð¡¼¤Ë¤ÏÌÂÏǤò¤«¤±¤Æ¤·¤Þ¤Ã¤¿¡£¤Ç¤â¤³¤Î¼ø¶È¤ò¼õ¤±¤Æ¥×¥í¥°¥é¥ß¥ó¥°¤Ë´Ø¤·¤Æ¤ÎÃμ±¡¢¥í¥Ü¥Ã¥È¤òÁȤßΩ¤Æ¤ë¡Ê¤Þ¤¢º£²ó¤Ï¥ì¥´¤À¤¬¡Ä¡Ê¾Ð¡Ë¡Ë³Ú¤·¤µ¤òÃΤì¤Æ¤è¤«¤Ã¤¿¡£º£¹¹¤Ê¤¬¤é¸å²ù¤·¤Æ¤¤¤ë¤Î¤Ïµ¡³£¥·¥¹¥Æ¥à¹©³Ø²Ê¤Ë½ê°¤·¤Æ¤¤¤Ê¤¬¤é¡¢¤½¤ÎÃ챤òÀ¸¤«¤»¤Ê¤«¤Ã¤¿¤³¤È¤À¡£¤Þ¤ÀÀìÌç²ÊÌܤϤ¢¤Þ¤ê¼õ¤±¤Æ¤¤¤Ê¤¤¤¬ºàÎÁÎϳء¢µ¡¹½³Ø¤Ê¤É¤ÎÃ챤ÏÀ¸¤«¤¹¤³¤È¤¬¤Ç¤­¤ë¤Ï¤º¤Ê¤Î¤Ë»þ´Ö¤ò¤¢¤Þ¤êÈñ¤ä¤µ¤Ê¤«¤Ã¤¿¤¿¤á¤Ë½¼Ê¬¤ËÀ¸¤«¤»¤Ê¤«¤Ã¤¿¡£¤À¤«¤é¤Ä¤®¤³¤¦¤¤¤¦µ¡²ñ¤¬¤¢¤Ã¤¿¤é½¬¤Ã¤¿¤³¤È¤ò»î¤·¤Ê¤¬¤é¤ä¤ê¤¿¤¤¤È»×¤¦¡£


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