#contents
*²ÝÂê [#v597bc41]
»ØÄꤵ¤ì¤¿·ÐÏ©¤ò¹õ¤¤Àþ¤Ë¤½¤Ã¤ÆÆ°¤¯¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë¡£

¤½¤·¤Æ¡¢ÅÓÃæ¤ÎPÃÏÅÀ¤ÈQÃÏÅÀ¤Î´Ö¤Ë¤ª¤¤¤¿¥Ô¥ó¥Ý¥ó¶Ì¤ò ÌÜŪÃϤޤDZ¿¤ó¤Ç¡¢¥´¡¼¥ë¤ËÆþ¤ì¤ë¡£¤½¤ÎÅÓÃæ¤Ç»°ºµÏ©¤ª¤è¤Ó¸òº¹ÅÀ¤Ç¤Ï2ÉôÖÄä»ß¤¹¤ë¡£
*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#ac4e6555]
&ref(./kikai1.jpg,30%,);     &ref(./kikai2.jpg,30%);

¥â¡¼¥¿¡¼¤Ïº¸±¦¤Î¥¿¥¤¥ä¤ËÆó¤Ä¤È¥Ô¥ó¥Ý¥ó¶Ì¤ò±¿¤Ö¤¿¤á¤Î¥¢¡¼¥à¤Î¾å¤²²¼¤²ÍѤ˰ì¤Ä»È¤¤¤Þ¤·¤¿¡£

¸÷¥»¥ó¥µ¡¼¤Ï¥í¥Ü¥Ã¥È¤¬¤Ç¤­¤ë¤À¤±³ê¤é¤«¤ËÆ°¤¤¤Æ¤â¤é¤¦¤¿¤á¤Ë¤Ç¤­¤ë¸Â¤ê¥í¥Ü¥Ã¥ÈËÜÂΤζ᤯¤Ë¼è¤êÉÕ¤±¤Þ¤·¤¿¡£

¤Ï¤¸¤á¤Ï¥¢¡¼¥à¤ò¼è¤êÉÕ¤±¤º¤Ë¤½¤Î¤Þ¤Þ¥Ô¥ó¥Ý¥ó¶Ì¤ò±¿¤Ü¤¦¤È¤·¤¿¤¬¡¢±¿¤ó¤Ç¤¤¤¯²áÄø¤Ç¥Ô¥ó¥Ý¥ó¶Ì¤¬Å¾¤¬¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¥¢¡¼¥à¤ò¼è¤êÉÕ¤±¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤¬Å¾¤¬¤Ã¤Æ¤¤¤«¤Ê¤¤¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£

*¥×¥í¥°¥é¥à¤ÎÀâÌÀ1 [#k6a65151]
**ÄêµÁʸ [#z7109aec]

 #define THRESHOLD 42
 #define go_forward OnFwd(OUT_A);OnFwd(OUT_C); // ľ¿Ê
 #define turn_left OnFwd(OUT_C);OnRev(OUT_A);   // º¸Àû²ó
 #define turn_right OnFwd(OUT_A);OnRev(OUT_C);  // ±¦Àû²ó
 #define STEP 1   // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
 #define down OnFwd(OUT_B);Wait(15);Off(OUT_B);//¥¢¡¼¥à¤ò²¼¤²¤ë
 #define up OnRev(OUT_B);Wait(15);Off(OUT_B);//¥¢¡¼¥à¤ò¾å¤²¤ë

**ºîÀ®¤·¤¿¥×¥í¥°¥é¥à [#k4843e31]
 task main()
 {
    
    SetSensor(SENSOR_2,SENSOR_LIGHT);
   ClearTimer(0);
    
  
  while (FastTimer(0)<1600){                   //­¡
         
             
            if (SENSOR_2 < THRESHOLD-3) {
                turn_left;
                
            } else {
                if (SENSOR_2 < THRESHOLD+3) {
                    go_forward;
                } else {
                    turn_right;
                    }
 }
 }
     
 ClearTimer(0);
        while (FastTimer(0)< 17) {¡¡¡¡¡¡¡¡¡¡¡¡//­¢
           
            if (SENSOR_2 < THRESHOLD-3) {
                turn_left;
            } else {
                if (SENSOR_2 < THRESHOLD+3) {
                    go_forward;
                } else {
                    turn_right;
                    }
                ClearTimer(0);// ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
               }
            Wait(STEP);
         }
        PlaySound(SOUND_DOWN);
        Off(OUT_AC);Wait(200);
        turn_right;Wait(25);  // ¿Ê¹ÔÊý¸þ½¤Àµ
        go_forward;Wait(18);
        down;
   ClearTimer(0);
    
 while (FastTimer(0)<1100){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­£
         
              
            if (SENSOR_2 < THRESHOLD-3) {
                turn_left;
                
            } else {
                if (SENSOR_2 < THRESHOLD+3) {
                    go_forward;
                } else {
                    turn_right;
                    }
    
         }
 }
  ClearTimer(0);
        while (FastTimer(0)< 20) {¡¡¡¡¡¡¡¡¡¡¡¡//­¤
           
            if (SENSOR_2 < THRESHOLD-3) {
                turn_left;
            } else {
                if (SENSOR_2 < THRESHOLD+3) {
                    go_forward;
                } else {
                    turn_right;
                    }
                ClearTimer(0);// ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
               }
         Wait(STEP);
         }
        PlaySound(SOUND_DOWN);
        Off(OUT_AC);Wait(200);
        turn_right;Wait(20);  // ¿Ê¹ÔÊý¸þ½¤Àµ
        go_forward;Wait(15);
	ClearTimer(0);
	    
	    
	while (FastTimer(0)<700){¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¥
	         
	              
	            if (SENSOR_2 < THRESHOLD-3) {
	                turn_left;
	                
	            } else {
	                if (SENSOR_2 < THRESHOLD+3) {
	                    go_forward;
	                } else {
	                    turn_right;
	                    }
    
       }
 }
 turn_right;Wait(20);
 up;
 go_forward;Wait(100);
 Off(OUT_AC);
 }
*¥í¥Ü¥Ã¥È¤Î¿Ê¤ßÊý [#vc284cc6]
&ref(./ko-su1.jpg,30%); &ref(./ko-su2.jpg,30%);

A¤«¤éB¤Þ¤Ç¤Ïº¸¾å¤Î¼Ì¿¿¤ÎÀÖ¤¤Ìð°õ¤ÎÊý¸þ¤Ë¿Ê¤ó¤Ç¤¤¤¯¡£

±¦¾å¤Î¼Ì¿¿¤è¤ê¡¢

­¡¤ÎÀÖ¤¤Àþ¤Î¤È¤³¤í¤Ï¸òº¹ÅÀȽÃǤò¤·¤Ê¤¤¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤À¤±¤Ë¤·¤Þ¤·¤¿¡£

­¢¤ÎÎ理ÎÀþ¤Î¤È¤³¤í¤Ï¸òº¹ÅÀ¤òȽÃǤ¹¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¤½¤·¤Æ¸òº¹ÅÀ¤ÎȽÃǤò¤·¤¿¸å¥¢¡¼¥à¤ò²¼¤²¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤ò±¿¤Ö¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£

­£¤ÎÀĤ¤Àþ¤Î¤È¤³¤í¤â¸òº¹ÅÀȽÃǤò¤·¤Ê¤¤¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤À¤±¤Ë¤·¤Þ¤·¤¿¡£

­¤¤Î²«¿§¤ÎÀþ¤Î¤È¤³¤í¤Ï¸òº¹ÅÀ¤òȽÃǤ¹¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£

­¥¤Î¥Ô¥ó¥¯¤ÎÀþ¤Î¤È¤³¤í¤Ï¸òº¹ÅÀȽÃǤò¤·¤Ê¤¤¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤À¤±¤Ë¤·¤Þ¤·¤¿¡£¤½¤·¤ÆºÇ¸å¤Ë¥¢¡¼¥à¤ò¾å¤²¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤ò¥´¡¼¥ë¤Ëž¤¬¤·¤Þ¤·¤¿¡£


*ÌäÂêÅÀ [#u1d0adc7]

­¡¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹Éô²°¤ÎÌÀ¤ë¤µ¤Ë¤è¤Ã¤Æ¿Ê¤à»þ´Ö¤¬ÊѤï¤ë¡£

­¢¥í¥Ü¥Ã¥È¤¬¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ë¤È¤­¤È¼è¤é¤Ê¤¤»þ¤¬¤¢¤ë¡£

­£ºÇ¸å¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤¬¤¢¤Þ¤êž¤¬¤é¤Ê¤¤¡£

*²ò·èË¡ [#w390e522]

­¡¤½¤ÎÅÔÅÙ»þ´Ö¤ò¬¤Ã¤Æ»þ´Ö¤ò¤¤¤¸¤ë¡£

­¢²¿²ó¤â¤ä¤Ã¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÃÖ¤¯¤È¤³¤í¤òÄ´À᤹¤ë¡£

­£»æ¤ÎÀÞ¤êÌܤò¤­¤ì¤¤¤Ë¤·»æ¤òÊ¿¤é¤Ë¤¹¤ë¡£

*¥×¥í¥°¥é¥à¤ÎÀâÌÀ2 (¥¿¥¤¥Þ¡¼¤À¤±¤Ç¤Ï¤Ê¤¤¤ä¤Ä)[#x9ffd711]

**ÄêµÁʸ [#rcc60454]
 #define THRESHOLD 43
 #define go_forward OnFwd(OUT_AC); // ľ¿Ê
 #define turn_left OnFwd(OUT_C);OnRev(OUT_A);   // º¸Àû²ó
 #define turn_right OnFwd(OUT_A);OnRev(OUT_C);  // ±¦Àû²ó
 #define STEP 1   // 1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
 #define shoot OnRev(OUT_B);Wait(30);Off(OUT_B);

**ºîÀ®¤·¤¿¥×¥í¥°¥é¥à [#rccadfcf]
 task main()
 {
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    int black=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)
    int black=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)SetSensor(SENSOR_2,SENSOR_LIGHT);

   int black=0; // ³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô (¥«¥¦¥ó¥¿)

	ClearTimer(0);    
	while (FastTimer(0)<1800){         
	            if (SENSOR_2 < THRESHOLD-3) {
	                turn_left     
	            } else {
	                if (SENSOR_2 < THRESHOLD+3) {
	                    go_forward;
	                } else {
	                    turn_right;
	                    }
       }
 }
 down;
        while (black < 10)     
       {
            if (SENSOR_2 < THRESHOLD-5)      
             {
                   turn_right;
                   black++;        // ¥«¥¦¥ó¥¿¤òÁý¤ä¤¹   
             }
            else if (SENSOR_2 < THRESHOLD+5) {
                    go_forward;
                    black=0;          }
            else {                 
                    turn_left;     
                    black=0;  // ¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
                     }              
       }
       Off(OUT_AC);Wait(200);
        OnFwd(OUT_AC);Wait(20);
        ClearTimer(0);
       while (FastTimer(0)<300)
         {
            if (SENSOR_2 < THRESHOLD-5)      
             {
                   turn_right;
             }
            else if (SENSOR_2 < THRESHOLD+5) {
                    go_forward;
                    black=0;           }
            else {                 
                    turn_left;     
                      }              
       }
         Off(OUT_AC);Wait(100);
          shoot;
 }

*¥í¥Ü¥Ã¥È¤Î¿Ê¤ßÊý [#q8039fc9]
¸òº¹ÅÀ¤ÎȽÃǤò°ì²ó¾¯¤Ê¤¯¤¹¤ë¤¿¤á¤Ë±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£

*¤Þ¤È¤á¡¦´¶ÁÛ [#nd716108]

¤ï¤«¤é¤Ê¤¤¤È¤³¤í¤ÏÀèÀ¸¤Ëʹ¤¤¤¿¤ê¡¢Í§Ã£¤ËÁêÃ̤ò¤¹¤ë¤Ê¤É¤·¤Æ´èÄ¥¤Ã¤Æ¥×¥í¥°¥é¥à¤ò´°À®¤µ¤»¤Þ¤·¤¿¡£

Éô²°¤ÎÌÀ¤ë¤µ¤Ë¤è¤Ã¤Æ¿Ê¤à»þ´Ö¤¬°ã¤Ã¤¿¤ê¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò¼è¤ì¤ë¤È¤­¤È¼è¤ì¤Ê¤¤»þ¤¬¤¢¤ë¤Î¤Ç²¿²ó¤â¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤¿¤Î¤Ç¤¿¤¤¤Ø¤ó¤Ç¤·¤¿¡£



¥È¥Ã¥×   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS