- Äɲ䵤줿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
- ºï½ü¤µ¤ì¤¿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
#contents
* ½ñÆ»¥í¥Ü¥Ã¥È [#c2492462]
¥í¥Ü¥Ã¥È¤ÎËÜÂΤϻ°¤Ä¤Ëʬ¤«¤ì¤Æ¤¤¤Þ¤¹¡£¤Þ¤º¤ÏËÜÂΡÊÁ°¸å¤Î°ÜÆ°¡Ë¡¢¥¢¡¼¥à¡Ê¥Ú¥ó¤Î¾å²¼¤ÎÆ°¤¡Ë¤È¥¢¡¼¥à¤òÆ°¤«¤¹ÁõÃ֤Ǥ¹¡£
#ref(2015b/Member/cst321/Mission1/body.JPG,20%,Á´ÂΤμ̿¿);
** ËÜÂÎ [#da5471f9]
ËÜÂΤǤϥ⥿¡¼¤ò°ì¸Ä¤ÇÆó¤Ä¤Î¥¿¥¤¥ä¤òÆ°¤«¤¹¤Î¤¬ÆÃħ¤Ç¤¹¡£¤½¤·¤Æ¡¢Êª·ï¤¬¸Å¤¤¤¿¤á¡¢·ë¹½¤Ï¤º¤ì¤ë·¹¸þ¤¬¤¢¤ë¤Î¤Ç¡¢¸å¤í¤Ë¡¢Êª·ï¤òÄɲ䷤ƸÇÄꤷ¤Þ¤·¤¿¡£
&ref(2015b/Member/cst321/Mission1/motor1.JPG,10%,¥â¥¿¡¼°ì);
&ref(2015b/Member/cst321/Mission1/motor1-2.JPG,10%,¾å¤«¤é¸«¤ë¤È);
**¡¡¥¢¡¼¥à¤òÆ°¤«¤¹ÁõÃÖ [#g70b881e]
LEGO MINDSTORM SYSTEM¤Ç¤Ï³ê¤é¤«¤Êʪ·ï¤¬¤Ê¤¤¤Î¤Ç¡¢¥¢¡¼¥à¤ò°ÜÆ°¤¹¤ë¤È¤¡¢¤½¤ÎÀĤ¯´Ý¤¤Êª¤ò»õ¼Ö¤Î²¼¤ËÃÖ¤¤Þ¤·¤¿¡£
#ref(2015b/Member/cst321/Mission1/bluespring.JPG,10%,´Ý¤¤¤â¤Î);
**¡¡¥¢¡¼¥à [#yd52797f]
»ú¤ò½ñ¤¯¤È¤¡¢¥â¥¿¡¼¤ÇÎϤò¤«¤±¤Ê¤¤¤³¤È¤Ë¤·¤Þ¤·¤¿¡¢¤Ä¤Þ¤ê¥°¥é¥Ó¥Æ¥£¤Ç»ú¤ò½ñ¤¤Þ¤¹¡£¤½¤·¤Æ¡¢¥Ú¥ó¤òÃÖ¤¯¾ì½ê¤âÀßÃÖ¤·¤Ê¤±¤ì¤Ð¤Ê¤ê¤Þ¤»¤ó¡£¤½¤·¤Æ°Ê²¼¤Î¿Þ¤Î¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£»æ¤ò²Ã¤¨¤¿¤Î¤Ï¥Ú¥ó¤«¤éÃÖ¤¯¾ì½ê¤Ø¤ÎË໤ÎϤò¸º¤é¤¹¤¿¤á¤Ç¤¹¡£
#ref(2015b/Member/cst321/Mission1/penholder.JPG,20%,Ⱦ)
¤½¤·¤Æ¡¢¥Ú¥ó¤òºÇÂç¸Â¤Ë½Ð¤¹¤È¤¡Ê¤Ä¤Þ¤ê¥â¥¿¡¼£²¤Î¸Â³¦¤Þ¤Ç½Ð¤¹¤È¤¡Ë¥¢¡¼¥à¤¬Íɤì¤ë¤Î¤Ç¡¢¤³¤ÎÆó¤Ä¤ÎËÀ¤ò²Ã¤¨¤Æ¡¢¥¢¡¼¥à¤ò¸ÇÄꤷ¤Þ¤·¤¿¡£
#ref(2015b/Member/cst321/Mission1/armhold.JPG,20%,¥¢¡¼¥à¤ò¸ÇÄꤹ¤ë¤â¤Î)
*¡¡¥×¥í¥°¥é¥à [#m69ff712]
¥×¥í¥°¥é¥à¤ÏÁ´ÂÎŪ¤Ë¤³¤Î¤è¤¦¤Ë¸«¤¨¤Þ¤¹¤¬¡¢¤³¤ì¤«¤é¡¢¥×¥í¥°¥é¥à¤òÀâÌÀ¾¯¤·¤º¤ÄÀâÌÀ¤·¤Þ¤¹¡£
#define FRONT_M(a) OnFwd(OUT_A);Wait(a);Off(OUT_A);Wait(100);
#define BACK_M(b) OnRev(OUT_A);Wait(b);Off(OUT_A);Wait(100);
#define LEFT_M(t) OnRev(OUT_B);Wait(t);Off(OUT_B);Wait(100);
#define RIGHT_M(s) OnFwd(OUT_B);Wait(s);Off(OUT_B);Wait(100);
#define ARM_ON OnRev(OUT_C);Wait(10);Off(OUT_C);Wait(150);
#define ARM_OFF OnFwd(OUT_C);Wait(10);Off(OUT_C);Wait(150);
#define LEFTFRONT_M(c) OnFwd(OUT_A);OnRev(OUT_B);Wait(c);Off(OUT_AB);Wait(100);
#define LEFTBACK_M(d) OnRev(OUT_A);OnRev(OUT_B);Wait(d);Off(OUT_AB);Wait(100);
task main()
{
LEFT_M(15);//¡³«»Ï
ARM_ON;
FRONT_M(15);
ARM_OFF;
RIGHT_M(15);
ARM_ON;//¢³«»Ï
LEFT_M(22);
BACK_M(13);//£³«»Ï
ARM_OFF;
FRONT_M(13);
ARM_ON;//¤³«»Ï
RIGHT_M(30);
ARM_OFF;
LEFT_M(20);
BACK_M(5);
ARM_ON;//¥³«»Ï
RIGHT_M(30);
ARM_OFF;
LEFT_M(20);
BACK_M(7);
ARM_ON;//¦³«»Ï
RIGHT_M(28);
BACK_M(15);//§³«»Ï
LEFTFRONT_M(7);//¨
Off(OUT_AB);
ARM_OFF;
FRONT_M(7);
LEFT_M(3);
repeat(2){ //ÅÀÅÀ
ARM_ON;
LEFTFRONT_M(3);
ARM_OFF;
LEFT_M(2);
BACK_M(2);
}
ARM_ON;
LEFTFRONT_M(2);
ARM_OFF;
LEFT_M(3);
ARM_ON;
LEFTBACK_M(2);
ARM_OFF;
}
**¡¡Á°¸åº¸±¦Êý¸þ¤ÎÆ°¤ [#zfdbd426]
¤³¤³¤Ç#define¤ò»È¤¤¤Þ¤·¤¿¡£
#define FRONT_M(a) OnFwd(OUT_A);Wait(a);Off(OUT_A);Wait(100);
#define BACK_M(b) OnRev(OUT_A);Wait(b);Off(OUT_A);Wait(100);
#define LEFT_M(t) OnRev(OUT_B);Wait(t);Off(OUT_B);Wait(100);
#define RIGHT_M(s) OnFwd(OUT_B);Wait(s);Off(OUT_B);Wait(100);
±Ñ¸ì¤Î°ÕÌ£¤ÎÄ̤ê¤Ë¡¢Á°¡¢¸å¤í¡¢±¦¤Èº¸¤Î¥Ú¥ó¤ÎÆ°¤¤Ç¤¹¡£
¡ÖÇϡפȤ¤¤¦»ú¤ÏËÀ¤ÎŤµ¤Ï¤½¤ì¤¾¤ì¤¬°ã¤¦¤Î¤Ç¡¢»þ´Ö¤ÎÀßÄê¤Ç¤ÏÊÑ¿ô¤ò»È¤¤¤Þ¤·¤¿¡£¤½¤¦¤¹¤ë¤È¡¢¥×¥í¥°¥é¥ß¥ó¥°¤ò¤¹¤ë¤È¤¼«Í³¤ËÊѤ¨¤é¤ì¤Þ¤¹¡£
¤µ¤é¤ËÊ£»¨¤ÊÅÀ¤È¤¤¤¦½ñ¤¤Ë¤Ê¤ë¤È¡¢
#define LEFTFRONT_M(c) OnFwd(OUT_A);OnRev(OUT_B);Wait(c);Off(OUT_AB);Wait(100);
#define LEFTBACK_M(d) OnRev(OUT_A);OnRev(OUT_B);Wait(d);Off(OUT_AB);Wait(100);
º¸Á°¤Èº¸¸å¤í¤ÎÆ°¤¤Ï¤³¤Î#define¤ò»È¤¤¤Þ¤·¤¿¡£
¤½¤ì¤¾¤ì¤ÎÆ°¤¤Ï¸å¤í¤Ë Wait(100)¤ò¤Ä¤±¤ë¤Î¤Ï¡¢»ú¤ò¤æ¤Ã¤¯¤ê½ñ¤¤¤Æ¤â¤é¤¤¡¢Æ°¤¤Î°ãÏ´¶¤ò¸º¤é¤¹¤¿¤á¤Ç¤¹¡£
**¡¡¥Ú¥ó¤Î¾å¤²¤¿¤ê²¼¤²¤¿¤ê¤¹¤ëÆ°¤ [#o81e9dc3]
#define ARM_ON OnRev(OUT_C);Wait(10);Off(OUT_C);Wait(150);
#define ARM_OFF OnFwd(OUT_C);Wait(10);Off(OUT_C);Wait(150);
¤³¤³¤Ç¤ÏWait(150)¤ò»È¤Ã¤¿¤Î¤Ï¼¡¤Î¹ÔÆ°¤Ë°Ü¤¹Á°¤Ë¥Ú¥ó¤òÍ¥¤·¤¯ÃÖ¤±¤ë¤è¤¦¤Ë¤¹¤ë¤Î¤Ç¤¹¡£¥°¥é¥Ó¥Æ¥£¤ò»È¤Ã¤¿¤¿¤á¡¢¥Ú¥ó¤¬¼«Á³¤ËÍî¤Á¤ë¤è¤¦¤Ë¤·¤¿¤Î¤Ç¤¹¡£
* ½ñ¤½ç [#j70f0848]
º£²ó¤Î²ÝÂê¤Ï¼«Ê¬¤Î¼Â²È¤Î´Á»ú¤ò½ñ¤¯¤Î¤Ç¡¢¥Þ¥ì¡¼¥·¥¢¤Î´Á»ú¤ÏÇϤ餷¤¤¤Î¤Ç¡¢ÇϤˤ·¤Þ¤·¤¿¡£
#define ¤ò¤¤Á¤ó¤È¤Ç¤¤¿¤¿¤á¡¢¤³¤ì¤«¤é¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬³Ú¤Ë¤Ê¤ë¤À¤í¤¦¤È»×¤¤¤Þ¤·¤¿¡£
ÇϤΤ½¤ì¤¾¤ì¤ÎËÀ¤ÎŤµ¤ò¬¤Ã¤Æ¡¢É¬Íפʽñ¤¯»þ´Ö¤òͽ¬¤·¤Þ¤·¤¿¡£
±ôÉ®¤Ç½ñ¤¤¤¿¤â¤Î¤Ï»þ´ÖɬÍפʻþ´Ö¤Ç¡¢¥Ü¡¼¥ë¥Ú¥ó¤Ç½ñ¤¤¤¿¤â¤Î¤Ï½ñ¤½ç¤Ç¤¹¡£
#ref(2015b/Member/cst321/Mission1/writingorder.JPG,20%,½ñ¤½ç);
**¡¡½ñ¤¯¥×¥í¥°¥é¥à [#j3f6cbab]
NXC¤È°ã¤Ã¤Æ¡¢¤³¤³¤Ç¤Ï³ÑÅÙ¤ÎÌäÂê¤Ï¤¢¤ê¤Þ¤»¤ó¡¢¤¢¤ë¤¤¤Ï¡¢¤³¤Î¥í¥Ü¥Ã¥È¤Ï³ÑÅ٤Τ³¤È¤ò¹Í¤¨¤Ê¤¯¤Æ¤â¤¤¤¤¤Ç¤¹¡£
¥×¥í¥°¥é¥à¤ò½ñ¤¯¤Î¤ÏÆñ¤·¤¯¤¢¤ê¤Þ¤»¤ó¡£ÍýÏÀ¤«¤é¸À¤¦¤È»þ´Ö¤Èµ÷Î¥¤òÀµ³Î¤Ë¬¤ì¤Ð¡¢½ñ¤±¤ë¤Ï¤º¤Ç¤¹¡£
²£ËÀ¤ò½ñ¤¤¿¤¤¤È¤¡¢¤Þ¤º¤Ï¥Ú¥ó¤ò²¼¤·¡¢¼¡¤Ë¡¢±¦¤Ø°ÜÆ°¤¹¤ë¤³¤È¤Ç¤¹¡£¤½¤·¤Æ¡¢¸µ¤Î¾ì½ê¤ØÌᤷ¤Þ¤¹¡£
task main()
{
ARM_ON;
RIGHT_M(x);
ARM_OFF;
LEFT_M(x);
}
½ÄËÀ¤Î¾ì¹ç¤ÏƱÍͤǤ¹¡£
task main()
{
ARM_ON;
FRONT_M(x);
ARM_OFF;
BACK_M(x);
}
*¡¡À®²Ì [#ca9c2242]
·ë¶É¡¢¥í¥Ü¥Ã¥È¤Ë½ñ¤¤¤Æ¤â¤é¤¦¤È¤¡¢¤³¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£
#ref(2015b/Member/cst321/Mission1/result.JPG,20%,½ñ¤½ç);
¤½¤ÎÃæ¤Ë°ìÈÖÆñ¤·¤¤¤³¤È¤Ï¤½¤Î»Í¤Ä¤ÎÅÀ¤À¤í¤¦¤È»×¤¤¤Þ¤·¤¿¡£ÇϤÎËÜÂΤò½ñ¤½ª¤ï¤Ã¤¿¸å¡¢¥Ú¥ó¤Î°ÌÃÖ¤òÊѤ¨¤Ê¤±¤ì¤Ð¤Ê¤ê¤Þ¤»¤ó¤Î¤Ç¡¢¤½¤Á¤é¤Î¤Û¤¦¤Ë»þ´Ö¤¬¤«¤«¤ê¤Þ¤·¤¿¡£
** ´¶ÁÛ [#j77e52fe]
¤³¤Î¥í¥Ü¥Ã¥È¤Ç¡¢²¿²ó¤âÇϤò½ñ¤¤¤Æ¤â¤é¤¤¤Þ¤·¤¿¤¬¡¢Ëè²ó½ñ¤¤¤¿¤â¤Î¤Ï¤½¤ì¤¾¤ì¤¬°ã¤¦·ë²Ì¤Ë¤Ê¤ë¤Î¤Ç¤¹¡£
¹Í¤¨¤é¤ì¤ë¤Î¤Ï¤Þ¤ºÊª·ï¤¬¥â¥¿¡¼¤¬¸Å¤¤¤«¤é¡¢½ÐÎϤ¬°ã¤¤¤Þ¤¹¡£Î㤨¤Ð¡¢OnRev(OUT_A);Wait(5);OnFwd(OUT_A);Wait(5);¤Î¥×¥í¥°¥é¥à¤Ç¡¢
ÍýÏÀŪ¤Ë¸À¤¦¤È¡¢¥í¥Ü¥Ã¥È¤¬¸µ¤Î¾ì½ê¤ËÌá¤ë¤Ï¤º¤Ç¤¹¤¬¡¢¼ÂºÝ¤Ë¸µ¤Î¾ì½ê¤è¤ê¤â¤Ã¤ÈÁ°¤Î¤È¤³¤í¤ËÇñ¤Þ¤ê¤Þ¤·¤¿¡£
¤½¤·¤Æ¡¢Æó¤ÄÌܤÎÍýͳ¤Ï¡¢¥í¥Ü¥Ã¥È¤Î¹½Â¤¤¬°¤¤¤³¤È¤¬¹Í¤¨¤é¤ì¤Þ¤¹¡£¹½Â¤¤¬°¤¯¤Æ¡¢¥â¥¿¡¼¤Î½ÐÎϤ¬´°Á´¤Ë¥í¥Ü¥Ã¥È¤ÎÆ°ÎϤˤʤì¤Ê¤¯¤Æ¡¢ÎϤλ¼º¤Ç¤¹¡£¤½¤¦¤Ê¤ë¤È¡¢¼«Ê¬¤¬Ä¹¤µ¤ò½ñ¤¯¤¿¤á¤Ë·×»»¤·¤¿É¬Íפʻþ´Ö¤¬»È¤¨¤Ê¤¯¤Ê¤ê¤Þ¤¹¡£