*¤Ï¤¸¤á¤Ë [#r748ebd3] ²ÝÂê¤Ï½ñÆ»¥í¥Ü¥Ã¥È¤ÎºîÀ®¤Ç¤¢¤ë¡£ ¾Ü¤·¤¤ÆâÍƤϡ¢³Æ¼«¤Î̾Á°¤ÎÃæ¤Î°ìʸ»ú¤òA4ÍÑ»æ¤ÎÃæ¤Ë½ñ¤¤Ê¤µ¤¤¡£ ¤¿¤À¤·7²è°Ê¾å¤Îʸ»ú¤òÁª¤Ö¤³¤È¡£¤â¤·7²è°Ê¾å¤Îʸ»ú¤¬¤Ê¤¤¾ì¹ç¤Ë¤Ï¹ç·×7²è°Ê¾å¤Ë¤Ê¤ë¤è¤¦¤ËÊ£¿ô¤Îʸ»ú¤ò½ñ¤¤Ê¤µ¤¤¡£ ¥Þ¥¯¥í¤ä´Ø¿ô¤Ê¤É¤ò»È¤¤¡¢main´Ø¿ô¤Ï¤Ê¤ë¤Ù¤¯Ã±½ã¤Ë¤Ê¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤òºî¤ë¤³¤È¡£ º£²ó¤Ï¡Öê¡×¤Îʸ»ú¤ò½ñ¤¤¤¿¡£ *¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#f5c5e614] #ref(./http://yakushi.shinshu-u.ac.jp/robotics/?plugin=attach&pcmd=open&file=unnamed%20%283%29.jpg&refer=2015a%2FMember%2Fyoukosobarbonshophe%2FMission1) Á°¸å¤Ë¤Î¤ß°ÜÆ°¤¹¤ëËÜÂΤˡ¢º¸±¦¤Ë°ÜÆ°¤¹¤ë¥¢¡¼¥à¤ò¤Ä¤±¡¢¤½¤Î¥¢¡¼¥à¤Î¾å¤Ë¥Ú¥ó¤ò¾å²¼¤µ¤»¤ë¥Ñ¡¼¥Ä¤¬¤¢¤ë¹½Â¤¤Ç¤¢¤ë¡£ *¥í¥Ü¥Ã¥È¤ÎÆ°ºî [#w31d24da] ¥í¥Ü¥Ã¥È¤Ëµá¤á¤ëÆ°¤¤Ï ¡¦ËÜÂΤÎÁ°¸å¿Ê ¡¦¥¢¡¼¥à¤Î¿¤Ó½Ì¤ß ¡¦¥Ú¥ó¤Î¾å¤²²¼¤² ¤Î3¤Ä¤¬¼ç¤È¤Ê¤ë¡£ *¥Ú¥ó¤ÎÆ°ºî [#edb81042] ¥Ú¥ó¤Î¾å¤²²¼¤²¤Ï¡¢¼Ì¿¿¤Î¤è¤¦¤Ë¥â¡¼¥¿¡¼¤ò¿Ê¤á¤ë¤È¥Ú¥ó¤¬²¼¤¬¤ê¡¢Ì᤹¤È¥Ú¥ó¤¬¾å¤¬¤ë¤è¤¦¤Ë¤·¤¿¡£ #define pen_down OnFwd(OUT_C);Wait(5);Off(OUT_C);//¥Ú¥ó¤ò²¼¤²¤ë #define pen_up OnRev(OUT_C);Wait(7);Off(OUT_C);//¥Ú¥ó¤ò¾å¤²¤ë https://mail.google.com/mail/u/0/?ui=2&ik=74713fba53&view=fimg&th=14ddafe6fa7fd2b5&attid=0.0.4&disp=emb&attbid=ANGjdJ_5UWbQqb1sAiIrQ9gf1W585T1UWR41uRgQy5hFwB3jSrgx4NoSgXvsS_I7w7ijunZnzBgn4DDhh-I4yNrKeGBkpC7Ktck6XMCumATjxrgxbFh2ckX062q5_rE&sz=s0-l75-ft&ats=1433985543808&rm=14ddafe6fa7fd2b5&zw&atsh=1 *»ú¤ò½ñ¤¯ [#g46172ae] **½ñ¤¯½çÈÖ [#j4bd1ad1] ¡Öê¡×¤ò¤«¤¯¤¿¤á¤Ë¡¢ ¡¡ÖÌڡפò½ñ¤¯¢ª¢¡Ö·î¡×¤ò½ñ¤¯¢ª£¡Ö·î¡×¤ò½ñ¤¯ 2²óÌܤΡַî¡×¤Ï¡Örepeat¡×¤ò»È¤Ã¤¿ **¥×¥í¥°¥é¥à [#gcdb9e5f] »Ï¤á¤Ë»þ´Ö¤òÄêµÁ¤·¤Þ¤¹¤¬¡¢²£ËÀ¤Ï¤¹¤Ù¤Æ0.2ÉᢽÄËÀ¤Ï¤¹¤Ù¤Æ0.8ÉäȤ·¤¿¡£ #define base_time 20 #define straight_time 80 ¡¦¡Ö½½¡×¤ò½ñ¤¯ task main() { pen_down; OnRev(OUT_B); Wait(base_time); Off(OUT_B); pen_up; OnFwd(OUT_B); Wait(10); OnRev(OUT_A); Wait(20); Off(OUT_A); pen_down; OnFwd(OUT_A); Wait(straight_time); Off(OUT_A); pen_up; OnRev(OUT_A); Wait(60); Off(OUT_A); ¡¦¡ÖȬ¡×¤ò½ñ¤¯ pen_down; OnFwd(OUT_AB); Wait(10); Off(OUT_AB); pen_up; OnRev(OUT_AB); Wait(10); Off(OUT_AB); pen_down; Onfwd(OUT_A); OnREv(OUT_B); Wait(10); Off(OUT_AB); pen_up; OnFwd(OUT_B); OnRev(OUT_A); Wait(10); Off(OUT_AB); Onfwd(OUT_A); Wait(50); Off(OUT_A); OnRev(OUT_B); Wait(bse_time); Off(OUT_B); ¡Ö·î¡×¤ò½ñ¤¯ repeat(2){ pen_down; OnRev(OUT_A); Wait(straight_time); Off(OUT_A); OnFwd(OUT_B); Wait(base_time); Off(OUT_B); Onfwd(OUT_A); Wait(straight_time); Off(OUT_A); pen_up; OnRev(OUT_A); Wait(40); Off(OUT_A); pen_down; OnFwd(OUT_B); Wait(base_time); Off(OUT_B); pen_up; OnRev(OUT_A); Wait(base_time); Off(OUT_A); pen_down; OnRev(OUT_B); Wait(base_time); Off(OUT_B); pen_up; OnFwd(OUT_A); Wait(60); Off(OUT_A); OnRev(OUT_B); Wait(base_time); Off(OUT_B); } } https://mail.google.com/mail/u/0/?ui=2&ik=74713fba53&view=fimg&th=14ddafe6fa7fd2b5&attid=0.0.7&disp=emb&attbid=ANGjdJ_UX6T0s4JW69eK9-Yhe38iavvM5JeePdbplkSmUBlqpILCC0cs47zY38aPH31nO4FPOFn3f7rhGMsXh47BNIwIHtEO99mM5fpl2Ew4JQTDF2FvM2Zg0E09xr8&sz=s0-l75-ft&ats=1433985543808&rm=14ddafe6fa7fd2b5&zw&atsh=1 *´¶ÁÛ¡¦¹Í»¡ [#r1b1ae1c] ¡Öê¡×¤ÏľÀþ¤¬Â¿¤¯¡¢2²óÌܤΡַî¡×¤Çrepeat¤ò¤Ä¤«¤¨¤¿¤¿¤á¡¢²è¿ô¤¬Â¿¤¤¤ï¤ê¤Ë °Ê³°¤È´Êñ¤À¤Ã¤¿¡£ ¤Þ¤¿¡¢¥í¥Ü¥Ã¥È¤ò¥¢¡¼¥à¼°¤Ë¤·¤¿¤³¤È¤Ë¤è¤Ã¤Æ¡¢Ä¾³Ñ¤Ë¶Ê¤¬¤ë¤È¤¤ä¡¢ ¼Ð¤á¤ÎÆ°¤¤Î¥×¥í¥°¥é¥ß¥ó¥°¤â´Êñ¤Ë¤¹¤ë¤³¤È¤¬¤Ç¤¤¿¡£ ¤¿¤À¡¢¥¢¡¼¥à¤Ë¤è¤Ã¤Æ½Å¿´¤¬ÊФ뤿¤á¡¢ËÜÂΤÎÈ¿ÂЦ¤Ë½Å¤ê¤È¤Ê¤ë¥¿¥¤¥ä¤ò ¤Ä¤±¤ë¤È¤¤¤¦ÉԳʹ¥¤Ê¸«¤¿ÌܤˤʤäƤ·¤Þ¤Ã¤¿¡£ ¤½¤·¤Æ¡¢¥Ú¥ó¤Î»æ¤Ø¤Î²¡¤µ¤¨¤Ä¤±¤¬¼å¤«¤Ã¤¿¤»¤¤¤«¡¢ºÇ¸å¤Î¤Û¤¦¤Ç»ú¤¬ÅÓÀÚ¤ìÅÓÀÚ¤ì ¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¼¡²ó¤«¤é¤Ï¥×¥í¥°¥é¥ß¥ó¥°¤äµ¡Ç½¤Ï¤â¤Á¤í¤ó¡¢¸«¤¿Ìܤˤ⠤³¤À¤ï¤Ã¤Æ¤¤¤¤¿¤¤¡£