#contents *º£²ó¤Î²ÝÂê [#tabfec7c] ¡¡º£²ó¤Î²ÝÂê¤Ï¡¢¹õ¤¤¥é¥¤¥ó¾å¤Ë¤¢¤ë¾ã³²Êª(¤³¤³¤Ç¤Ï´Ì)¤òÈò¤±¤Ê¤¬¤é¥³¡¼¥¹¤ò°ì¼þ(»þ·×²ó¤ê¤â¤·¤¯¤ÏÈ¿»þ·×²ó¤ê)¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¤È¤¤¤¦²ÝÂê¤Ç¤·¤¿¡£»ä¤Ï¡¢È¿»þ·×²ó¤ê¤Î¥×¥í¥°¥é¥ß¥ó¥°¤ò¤ä¤ê¤Þ¤·¤¿¡£¥³¡¼¥¹¤Ï²¼¤ÎÄ̤ê¤Ç¤¹¡£ #ref(2013b/Member/yunagi/Mission1/¥³¡¼¥¹£±.jpg,70%,¥³¡¼¥¹) ¡¡1¡Á7¤Î½çÈÖ¤Ç¥×¥í¥°¥é¥à¤òºîÀ®¤·¤Þ¤·¤¿¡£7¤ÎÉôʬ¤Ç´Ì¤ò¤Ò¤È¤ÄÀßÃÖ¤·¡¢´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤òºîÀ®¤·¤Þ¤·¤¿¡£Ìð°õ¤ÎÊý¸þ¤Ë¿Ê¤ß¤Þ¤¹¡£ *¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#waf8cfa3] ¡¡¥í¥Ü¥Ã¥È¤òºî¤ë»þ¤Ë°ìÈֹͤ¨¤¿¤Î¤Ï¡¢¸÷¥»¥ó¥µ¡¼¤Î°ÌÃ֤ȴ̤òÆ°¤«¤¹¥¢¡¼¥à¤ÎÉôʬ¤Ç¤¹¡£¸÷¥»¥ó¥µ¡¼¤Ï¡¢¤Ê¤ë¤Ù¤¯¥í¥Ü¥Ã¥È¤ÎËÜÂΤ˶ᤤ·Á¤Ë¤·¡¢¾®²ó¤ê¤¬Íø¤¯¤è¤¦¤Ë¼è¤êÉÕ¤±¤Þ¤·¤¿¡£¤Þ¤¿Åö½é¤Ï¥í¥Ü¤ÎµÓ¤¬¥¥ã¥¿¥Ô¥é¡¼¤Ç¤¢¤Ã¤¿¤ê¡¢Ãî¤Î¤ò¥¤¥á¡¼¥¸¤·¤¿¤â¤Î¤Ç¤¢¤Ã¤¿¤¬¡¢¥¹¥Ô¡¼¥Ç¥£¡¼¤Ç¾®²ó¤ê¤¬½ÐÍè¤ë¥¿¥¤¥ä¤ËÊѹ¹¤·¤Þ¤·¤¿¡£¤Á¤Ê¤ß¤Ë¥¿¥¤¥ä¤ÏÁ°ÎضîÆ°¤Ë¤·¡¢¸å¤í¤Ï¥·¥ó¥×¥ë¤ËÊä½õ¼ÖÎؤòÉÕ¤±¤ë·Á¤Ë¤·¤Þ¤·¤¿¡£ ¡¡´Ì¤òÄϤॢ¡¼¥à¤Ï¤¿¤À¶´¤à´¶¤¸¤Ç¤Ï¤Ê¤¯¡¢ÊÒÊý¤Ë¤Î¤ß¥¢¡¼¥à¤ò¤Ä¤±¤ë¤³¤È¤ÇÊñ¤ß¹þ¤à·Á¤Ç´Ì¤òÈò¤±¤ë¥·¥¹¥Æ¥à¤Ë¤·¤Þ¤·¤¿¡£ÁêÊý¤µ¤ó¤¬¤è¤ê´è¾æ¤Ë¥¢¡¼¥à¤ò²þÎɤ·¤Æ¤¯¤À¤µ¤¤¤Þ¤·¤¿¡£ ¡¡¤Þ¤¿¡¢´Ì¤òǧ¼±¤¹¤ë¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ï¥Ð¥ó¥Ñ¡¼¤Ë±úÆ̤ò¤Ä¤±¤ë¤³¤È¤Ç¤è¤ê´¶Å٤褯ȿ±þ¤¹¤ë¤è¤¦¤Ë¹©Éפ·¤Þ¤·¤¿¡£ #ref(2013b/Member/yunagi/Mission1/DSC_0076.jpg,10%,¥¢¡¼¥à) ¡¡¥¢¡¼¥à¤Ïº¸¥µ¥¤¥É¤Ë¤Î¤ß¼è¤êÉÕ¤±¤Þ¤·¤¿¡£·ë¹½½Å¤¤¤Ç¤¹¡Ä¡£ #ref(2013b/Member/yunagi/Mission1/DSC_0075.jpg,10%,¥Ð¥ó¥Ñ¡¼) ¡¡¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë¥Ð¥ó¥Ñ¡¼¤ò¼è¤êÉÕ¤±¤Þ¤·¤¿¡£º¸±¦°ã¤¦Ä¹¤µ¤ÎÉôÉʤò¼è¤êÉÕ¤±¡¢´Ì¤¬¤¤¤¤¶ñ¹ç¤Ë¥Õ¥£¥Ã¥È¤¹¤ë¤è¤¦¤Ë¹©Éפ·¤Þ¤·¤¿¡£¤³¤Î±úÆ̤¬¥Ý¥¤¥ó¥È¤Ç¤¹‼ ¡¡ ***¤³¤À¤ï¤ê¥Ý¥¤¥ó¥È [#q01c7f03] ¡¡-¥¿¥¤¥ä ¡¡¡¡ ¡¡-¥¢¡¼¥à ¡¡-(Ìܤȱ©‼) ¡¡¡¡Ìܤȱ©¤¬¤Ä¤¯¤È¤È¤Æ¤â²Ä°¦¤¯¡Ä¡Ä(¤É¤³¤«Ãî¤ÎÍͤ˸«¤¨¤ëµ¤¤¬¤¹¤ë¤¬¡Ë #ref(2013b/Member/yunagi/Mission1/DSC_0072.jpg,10%,Ìܤȱ©) **ÆñÅÀ [#pd526189] ¡¡¥¢¡¼¥à¤¬¼ã´³½Å¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤Æ¡¢½Å¿´¤¬Á°¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤Î°Ù¡¢Æ°¤¤¬¥¬¥¯¥¬¥¯¤·¤Æ¤·¤Þ¤¦¤Î¤¬ÆñÅÀ¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤â¥Ð¥ó¥Ñ¡¼¤ò¤Ä¤±¤¿¤â¤Î¤Î¡¢·Ú¤¹¤®¤ë¶õ¤´Ì¤Î¾ì¹ç¤Ïǧ¼±¤¹¤ë´¶ÅÙ¤¬Ä㤤¤¿¤á¤è¤ê²þÎɤ¹¤ëɬÍפ¬¤¢¤Ã¤¿¡£ *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#d44d2d26] ¡¡»ä¤¬Ã´Åö¤·¤¿¤Î¤Ï¡¢¥³¡¼¥¹¤òÈ¿»þ·×²ó¤ê¤ÇÆ°¤¯¥×¥í¥°¥é¥à¡£¸òº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ë¾¯¤·¸ÍÏǤ俤¬¡¢¥¿¥¤¥Þ¡¼¤ò»È¤¦¤³¤È¤ÇÀµ³Î¤ËÅϤì¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¤¿¤À¡¢¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬ÊѤï¤Ã¤Æ¤·¤Þ¤¦»þ¤¬¤¢¤ë(ÊÑ¿ô¤Ë¤¹¤ì¤Ð¤è¤«¤Ã¤¿¤Î¤À¤í¤¦¤«...)¡£ ¡¡¥×¥í¥°¥é¥à¤ÎËÁƬ¤ËÄê¿ô¤ò·è¤á¤Æ¤ª¤¯¡£ #define THRESHOLD 43¡¡//¤·¤¤¤ÃÍ #define HIPOWER 4¡¡//¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼ #define LOWPOWER 2 #define set_power_H SetPower(OUT_AC,HIPOWER);¡¡ #define set_power_L SetPower(OUT_AC,LOWPOWER); #define go_forward set_power_H; OnFwd(OUT_AC);¡¡//ľ¿Ê #define turn_left1 set_power_L; OnFwd(OUT_C); Off(OUT_A);¡¡//º¸ÀÞ #define turn_left0 set_power_L; OnFwd(OUT_C); OnRev(OUT_A);¡¡//º¸Àû²ó #define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦ÀÞ #define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦Àû²ó #define STEP 1¡¡//1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö #define time0 1700¡¡//¡¤Ë¤«¤«¤ë»þ´Ö #define time1 300¡¡//¢¤Ë¤«¤«¤ë»þ´Ö #define time2 900¡¡//£¤Ë¤«¤«¤ë»þ´Ö #define time3 500¡¡//¤¤Ë¤«¤«¤ë»þ´Ö #define time4 800¡¡//¥¤Ë¤«¤«¤ë»þ´Ö #define time5 1000¡¡//¦¤Ë¤«¤«¤ë»þ´Ö #define time6 10000¡¡//§¤Ë¤«¤«¤ë»þ´Ö ¡¡ ¡¡¥»¥ó¥µ¡¼¤ÎÄêµÁ¤È¡¤Ç¤Î¥×¥í¥°¥é¥à¡£¤³¤³¤Ç¤Ï¡¢È¾·Â£³¥»¥ó¥Á¤ÎµÞ¥«¡¼¥Ö¤¬¤¢¤ë¤¿¤á¡¢¤¦¤Þ¤¯Àû²ó¤¹¤ë¥×¥í¥°¥é¥à¤ò½ñ¤¤Þ¤·¤¿¡£ task main() { SetSensor(SENSOR_3, SENSOR_TOUCH);¡¡//¥»¥ó¥µ¡¼£³¤Ë¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼ SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤Ë¤Ï¸÷¥»¥ó¥µ¡¼ ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È while (FastTimer(0) <= time0) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡//time0¤¬FastTimer(0)°Ê²¼¤ÎÆ°ºî if (SENSOR_2 < THRESHOLD -5) { turn_right1; } else if (SENSOR_2 < THRESHOLD -3) { turn_right0; } else if (SENSOR_2 < THRESHOLD +2) { go_forward; } else if (SENSOR_2 < THRESHOLD +7) { turn_left0; } else { turn_left1; } } Wait(STEP); ¡¡¢¤Î¥×¥í¥°¥é¥à¡££±¤ÄÌܤθòº¹ÅÀ¤òÅϤê¤Þ¤¹¡£ ClearTimer(1);¡¡//£±ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È while (FastTimer(1) <= time1) { if (SENSOR_2 < THRESHOLD -3) { turn_right0; } else if (SENSOR_2 < THRESHOLD +3) { go_forward; } else { turn_left1; } } ¡¡£¤Î¥×¥í¥°¥é¥à¡£È¾·Â£¸¥»¥ó¥Á¤Î¥«¡¼¥Ö¤ò¶Ê¤¬¤ê¤Þ¤¹¡£ ClearTimer(2);¡¡//£²ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È while (FastTimer(2) <= time2) { if (SENSOR_2 < THRESHOLD -4) { turn_right1; } else if (SENSOR_2 < THRESHOLD -2) { turn_right0; } else if (SENSOR_2 < THRESHOLD +2) { go_forward; } else if (SENSOR_2 < THRESHOLD +5) { turn_left0; } else { turn_left1; } } Wait(STEP); ¡¡¤¤Î¥×¥í¥°¥é¥à¡££±¤ÄÌܤθòº¹ÅÀ¤òÅϤꡢ¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç¿Ê¤ß¤Þ¤¹¡£ ClearTimer(3);¡¡//£³ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È while (FastTimer(3) <= time3) { if (SENSOR_2 < THRESHOLD -3) { turn_right0; } else if (SENSOR_2 < THRESHOLD +3) { go_forward; } else { turn_left1; } } ¡¡¥¡Á§¤Î¥×¥í¥°¥é¥à¡£¦¤Ï£²¤ÄÌܤθòº¹ÅÀ¤òÅϤë¥×¥í¥°¥é¥à¤Ç¤¹¡£§¤Ë´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤òÁȤ߹þ¤ß¤Þ¤·¤¿¡£ ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È while (FastTimer(0) <= time4) { if (SENSOR_2 < THRESHOLD -5) { turn_right1; } else if (SENSOR_2 < THRESHOLD -3) { turn_right0; } else if (SENSOR_2 < THRESHOLD +2) { go_forward; } else if (SENSOR_2 < THRESHOLD +7) { turn_left0; } else { turn_left1; } } Wait(STEP); ClearTimer(1);¡¡//£±ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È while (FastTimer(1) <= time5) { if (SENSOR_2 < THRESHOLD +3) { go_forward; } else { turn_left1; } } ClearTimer(2);¡¡//£²ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È while (FastTimer(2) <= time6) { if (SENSOR_2 < THRESHOLD -5) { turn_right1; } else if (SENSOR_2 < THRESHOLD -3) { turn_right0; } else if (SENSOR_2 < THRESHOLD +2) { go_forward; } else if (SENSOR_2 < THRESHOLD +7) { turn_left0; } else { turn_left1; } ¡¡´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¡£¤Ê¤ë¤Ù¤¯¥·¥ó¥×¥ë¤Ê¥×¥í¥°¥é¥à¤Ë¤·¤Þ¤·¤¿¡£ if(SENSOR_3 == 1) {¡¡¡¡//¥»¥ó¥µ¡¼£³¤¬È¿±þ¤·¤¿¤é OnFwd(OUT_B);¡¡//¥¢¡¼¥à¤Ç´Ì¤ò¤Ä¤«¤à(¥â¡¼¥¿¡¼£Â) Wait(7);¡¡//0.7ÉÃ´Ö OnFwd(OUT_AC);¡¡//Á°¿Ê Wait(130); OnFwd(OUT_C); OnRev(OUT_A); Off(OUT_B);¡¡//º¸Àû²ó Wait(190); Off(OUT_AC);¡¡//°ì»þÄä»ß Wait(50); OnRev(OUT_B);¡¡//´Ì¤òÎ¥¤¹ Wait(10); OnRev(OUT_AC);¡¡//¸å¿Ê Wait(170); OnFwd(OUT_A); OnRev(OUT_C); Off(OUT_B);¡¡//±¦Àû²ó Wait(50); OnFwd(OUT_AC);¡¡//Á°¿Ê Wait(150); Off(OUT_ABC); } } Wait(STEP); } *´¶ÁÛ¤ÈÈ¿¾ÊÅÀ [#ba97e6d1] ***¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#v90114b2] ¡¡´Ì¤òÆ°¤«¤¹¥¢¡¼¥à¤òÊñ¤ß¹þ¤ó¤ÇÆ°¤«¤¹»ÅÁȤߤˤ·¤¿¤Î¤¬¤Ê¤«¤Ê¤«Îɤ«¤Ã¤¿¤È»×¤¦¡£¥ª¥ê¥¸¥Ê¥ë¤Î¥í¥Ü¥Ã¥È¤òºî¤ë¤³¤È¤¬½ÐÍ褿¡£¤â¤¦¾¯¤·¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ò²þÎɤ·¤Æ¡¢´Ì¤òǧ¼±¤¹¤ë´¶ÅÙ¤ò¤â¤Ã¤È¾å¤²¤ë¹©Éפò¤¹¤Ù¤¤Ç¤¢¤Ã¤¿¡£ ¡¡Ìܤȱ©¤òÉÕ¤±¤¿¤³¤È¤Ç¡¢¥í¥Ü¥Ã¥È¤¬²Ä°¦¤¯¡©¤Ê¤Ã¤¿(¾Ð);Ã̤Ǥ¹¤¬¡¢Ìܤ¬Æ°¤¤¤Æ¤¤¤ëÅÓÃæ¤Ë¤è¤¯¼è¤ì¤Þ¤¹¡£ ***¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#tb44dcdf] ¡¡¥³¡¼¥¹¤òÈ¿»þ·×²ó¤ê¤Ë¤¹¤ë¥×¥í¥°¥é¥ß¥ó¥°¤ò¤·¤¿¤¬¡¢¥í¥Ü¥Ã¥È¤¬¼«Ê¬¤Î»×¤Ã¤Æ¤¤¤ëÄ̤ê¤ËÆ°¤¤¤Æ¤¯¤ì¤Ê¤¤»þ¤¬¤¢¤ê¡¢¤«¤Ê¤ê¶ìÀ路¤Þ¤·¤¿¡£Æä˸òº¹ÅÀ¤ò¶Ê¤¬¤ë¥×¥í¥°¥é¥à¤ò¡¢»Ï¤á¤Ï¥«¥¦¥ó¥¿¤ò»È¤Ã¤¿¥×¥í¥°¥é¥à¤Ç¤ä¤Ã¤Æ¤¤¤¿¤¬¤¦¤Þ¤¯¤¤¤«¤º¡¢¥¿¥¤¥Þ¡¼¤ò»È¤Ã¤¿¥×¥í¥°¥é¥à¤Ë¤·¤¿¤é¤¦¤Þ¤¯¸òº¹ÅÀ¤òÅϤì¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£´Ì¤òÆ°¤«¤¹¥×¥í¥°¥é¥à¤Ç¤Ï¡¢Æ°¤¤ò¥·¥ó¥×¥ë¤Ë¤·¤¿¤³¤È¤ÇÁȤ߹þ¤ß¤ä¤¹¤«¤Ã¤¿¤Ç¤¹¡£ **Á´ÂΤòÄ̤·¤Æ [#jd7232d5] ¡¡º£²ó¡¢½é¤á¤Æ¥í¥Ü¥Ã¥È¤Î¥×¥í¥°¥é¥ß¥ó¥°¤ò¤·¤Æ¤ß¤Æʬ¤«¤é¤Ê¤¤¤³¤È¤Ð¤«¤ê¤Ç¤·¤¿¤¬¡¢Æ±¤¸ÈɤÎÃç´Ö¤Ë½õ¤±¤ò¤â¤é¤Ã¤¿¤ê¡¢Îý½¬ÌäÂê¤ò·«¤êÊÖ¤·¤ä¤Ã¤Æ¤ß¤¿¤ê¤·¤Æ¡¢²¿¤È¤«½ÐÍ褿¤Î¤Ç¤è¤«¤Ã¤¿¤Ç¤¹¡£´Ì¤ò¤Ò¤È¤ÄÃÖ¤¤¤¿¾ì¹ç¤·¤«½ÐÍè¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¤Õ¤¿¤ÄÃÖ¤¤¤¿¾ì¹ç¤Î¥×¥í¥°¥é¥à¤ò¤ä¤Ã¤Æ¤ß¤¿¤¤¤Ç¤¹¡£º£²ó¤ÎÈ¿¾Ê¤ò³è¤«¤·¡¢¼¡¤Î²ÝÂê¤Ë¥Á¥ã¥ì¥ó¥¸¤·¤¿¤¤¤Ç¤¹‼