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#contents
* ½ñÆ»¥í¥Ü¥Ã¥È [#kc6aef55]
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(º¸:Îý½¬»þ¡¢»æ¤ò¸ÇÄꤷ¤¿¤È¤­) (±¦:ȯɽ»þ¡¢»æ¤ò·Ú¤¯²¡¤µ¤¨¤¿¤È¤­)

&ref(2015b/Member/rmsun/Mission1/IMG_1057.JPG,270*360,¹â(¸ÇÄê));
&ref(2015b/Member/rmsun/Mission1/IMG_1171.JPG,270*360,¹â(ËÜÈÖ));
* ¥í¥Ü¥Ã¥ÈËÜÂÎ [#cec79a4d]
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¥Ú¥ó¤Î°ÌÃ֤ϡ¢¥â¡¼¥¿BC¤ÎÃæ´Ö¤È°ìľÀþ¾å¤Ë¤¢¤ë¡£¤³¤ì¤¬¸å¡¹Ìò¤ËΩ¤Ã¤¿¡£
#ref(2015b/Member/rmsun/Mission1/IMG_1060.JPG,360*270,½ñÆ»¥í¥Ü¥Ã¥ÈÀµÌÌ)
*¥×¥í¥°¥é¥à [#m32e30bc]
¥µ¡¼¥Ü¥â¡¼¥¿¤È¡¢²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô¤ò»È¤Ã¤Æ¡¢¡Ö°ÜÆ°µ÷Î¥¡×¤ä¡ÖÊý¸þÊÑ´¹¤¹¤ë³ÑÅ١פò°ú¿ô¤Ë¤È¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¤òºî¤Ã¤¿¡£¤½¤ì¤é¤òÍѤ¤¤Æ¥í¥Ü¥Ã¥È¤ò°ÜÆ°¤µ¤»¤ë¤¿¤á¡¢¥â¡¼¥¿¤ò²ó¤¹Éÿô¤Ï¹Í¤¨¤Ê¤¯¤ÆÎɤ¯¤Ê¤Ã¤¿¡£¥â¡¼¥¿¤Î²óž³ÑÅÙ¤ò»ØÄꤷ¤ÆÆ°¤«¤¹¤Î¤Ç¡¢ÅÅÃӤλÄÎ̤ˤè¤ëÆ°¤­¤ÎÊѲ½¤âÍÞ¤¨¤é¤ì¤¿(¤¢¤ëÄøÅÙ)
**¥á¥¤¥ó´Ø¿ô°Ê³°¤Î¥×¥í¥°¥é¥à [#wb572dc0]
***¥Þ¥¯¥í¤ÎÄêµÁ [#ca3c85e6]
Êý¸þÊÑ´¹»þ¤Î¥¹¥Ô¡¼¥É¤Ï¡¢¥¿¥¤¥ä¤ÎË໤¤ò¸º¤é¤¹¤³¤È¤Ð¤«¤ê¹Í¤¨¤¿·ë²Ì¡¢100¤Ë¤Ê¤Ã¤¿(¤»¤¶¤ë¤òÆÀ¤Ê¤«¤Ã¤¿)¡£¤³¤Î¤»¤¤¤Ç»æ¤ò¤ª¤µ¤¨¤Ê¤±¤ì¤Ð»ú¤¬½ñ¤±¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£
 #define SPEED 30       //Á°Å¾¸åž»þ¤Î¥¹¥Ô¡¼¥É
 #define WRITE_SPEED 20 //»ú¤ò½ñ¤¯¤È¤­¤Î¥¹¥Ô¡¼¥É
 #define TURN_SPEED 100 //Êý¸þÊÑ´¹»þ¤Î¥¹¥Ô¡¼¥É
 #define PUT_ANGLE 91   //¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ë»þ¡¢¥â¡¼¥¿¤¬²óž¤¹¤ë³ÑÅÙ
 
¥Ú¥ó¤Î¾å¤²²¼¤²¤ò¹Ô¤¦¥Þ¥¯¥í¡Ödown¡×¤È¡Öup¡×¡£¥Ú¥ó¤òÆóÃʳ¬¤Ëʬ¤±¤Æ²¼¤í¤¹¡£°ìÃʳ¬ÌÜ(down1)¤Ç¡Ö»Ä¤ê20ÅÙ¤ÇÀÜÃϤ¹¤ë¡×³ÑÅÙ¤Þ¤ÇÁÇÁ᤯²¼¤í¤·¡¢ÆóÃʳ¬ÌÜ(down2)¤Ç¡Ö»Ä¤ê¤Î20Å١פæ¤Ã¤¯¤ê²¼¤í¤¹¡£¾å¤²¤ë¤È¤­(up)¤Ï¡¢ÁÇÁ᤯¡¢°ìµ¤¤Ë°ìÃʳ¬¤Ç¡£
 #define down1() RotateMotor(OUT_A,-30,PUT_ANGLE-20) 
 //¥Ú¥ó¤òÁÇÁ᤯²¼¤²¤ë(ÃÏÌ̤ˤϤĤ±¤Ê¤¤)
 
 #define down2() RotateMotor(OUT_A,-5,20)
 //¥Ú¥ó¤ò¤æ¤Ã¤¯¤êÃÏÌ̤ˤĤ±¤ë
 
 #define up() RotateMotor(OUT_A,70,PUT_ANGLE); 
 //¥Ú¥ó¤ò¾å¤²¤ë
***ʸ»ú¤ÎÇÜΨ¤òÀßÄꤹ¤ë¤¿¤á¤ÎÊÑ¿ô¡Ömagni¡× [#y2c1419e]
¡Ömagni¡ß°ÜÆ°µ÷Î¥¡×°ÜÆ°¤¹¤ë¡¢¤È¥×¥í¥°¥é¥à¤¹¤ë¤³¤È¤Ç¡¢¹¥¤­¤ÊÂ礭¤µ¤Çʸ»ú¤ò½ñ¤±¤ë¤è¤¦¤Ë¤¹¤ë¡£

°ÜÆ°¤Ë¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤ò»È¤Ã¤Æ¤¤¤ë¤¿¤á¡¢magni¤ò¤¢¤Á¤³¤Á¤Ë¤Ä¤±¤ëɬÍפÏ̵¤¯¡¢3¤Ä¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤±¤ë¤À¤±¤ÇºÑ¤ó¤À¡£


**Êý¸þÊÑ´¹¤¹¤ë¤È¤­¤ÎÆ°ºî [#f0fe2ef5]
 float magni=1.0;          //ÇÜΨ¤òÀßÄê  Îã:magni=2.0 ¢ª ʸ»ú¤ÎÂ礭¤µ¤¬2.0ÇÜ
&ref(2015b/Member/rmsun/Mission1/IMG_1056.JPG,270*360,ʸ»ú¤òmagniÇÜ);
¢«Ê¸»ú¤ÎÇÜΨ¤ò0.5¢ª1.0¢ª1.5¢ª2.0¢ª2.5¤Ë¤·¤¿»þ¤ÎÂ礭¤µ¤ÎÈæ³Ó
***¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô¡ÖGetAngle_d¡×¡ÖGetAngle_s¡× [#rbfc594a]
¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë¤¿¤á¤Ë»È¤¦ÊÑ¿ô
 float pen_to_center=17.0; //²óž¤ÎÃæ¿´(º¸±¦¤Î¥¿¥¤¥ä¤ÎÃæ´Ö)¤«¤é¥Ú¥ó¤Þ¤Ç¤Îµ÷Î¥
 float diameter=5.45;	     //¥¿¥¤¥ä¤Îľ·Â(cm)
 float pi=3.1415;          //±ß¼þΨ
 float tire_ang;	     //¥¿¥¤¥ä¤Î²óž¤¹¤ë³ÑÅÙ(ÊÖ¤êÃÍÍÑ)


¡ÖGetAngle_d¡×... ¿Ê¤ß¤¿¤¤µ÷Î¥(cm)¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô¡Êhttp://yakushi.shinshu-u.ac.jp/robotics-jr/robotics-jr-2013.pdf¤Î31¥Ú¡¼¥¸¤Î¥×¥í¥°¥é¥à¤ò»²¹Í¤Ë¤·¤Þ¤·¤¿¡Ë
 float GetAngle_d(float distance) {
         //¿Ê¤ß¤¿¤¤µ÷Î¥(cm)¡Ödistance¡×¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô
 
 	tire_ang=(distance)/(diameter*pi)*360.0;  //³ÑÅÙ¤ò·×»»¤¹¤ë	
 	return tire_ang;	                     //³ÑÅÙ¤òÊÖ¤¹(float·¿)
 }

¡ÖGetAngle_s¡×... Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô(http://yakushi.shinshu-u.ac.jp/robotics-jr/robotics-jr-2013.pdf¤Î31¥Ú¡¼¥¸¤Ë¤¢¤ëÎý½¬ÌäÂê62¤ò»²¹Í¤Ë¤·¤Þ¤·¤¿)
 float GetAngle_s(float spin_ang) {
 	//Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¡Öspin_ang¡×¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¿ô¤ò·×»»¤¹¤ë´Ø¿ô
 
 	const float spin_dia=11.4;
 	//¥í¥Ü¥Ã¥È¤¬¤½¤Î¾ì¤Ç1¼þ²óž¤·¤¿»þ¤Ë¡¢¥¿¥¤¥ä¤¬ÃÏÌ̤ËÉÁ¤¯±ß¤Îľ·Âspin_dia(cm)
 	//spin_dia...º¸±¦¤Î¥¿¥¤¥ä¤Î´Ö³Ö
 
  	tire_ang=(spin_dia*spin_ang)/(diameter);
 	//Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¤«¤é¡¢¥¿¥¤¥ä¤Î²óž¤¹¤ë³ÑÅÙ¤ò·×»»¤¹¤ë
         //ÌóʬÁ°¤Î¼°¤Ï tire_ang=(spin_dia*pi*(spin_ang/360.0)*360.0)/(diameter*pi)
 				                   
 	return tire_ang;	//³ÑÅÙ¤òÊÖ¤¹(float·¿)
 } 
***¥í¥Ü¥Ã¥È¤òÁ°¸å¤ËÆ°¤«¤¹¥µ¥Ö¥ë¡¼¥Á¥ó¡Öforward¡×¡Öreverse¡× [#k7fa5963]
¡¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öforward¡×...»ØÄꤷ¤¿µ÷Î¥(cm)¤À¤±Á°Å¾¤¹¤ë
 sub forward(float fwd){
 	RotateMotorEx(OUT_BC,SPEED,GetAngle_d(fwd)*magni,0,true,true);
 	//fwd(cm)*magni(ÇÜΨ)Á°Å¾  
 }
¡¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öreverse¡×...»ØÄꤷ¤¿µ÷Î¥(cm)¤À¤±¸åž¤¹¤ë
 sub reverse(float rev) {
 	RotateMotorEx(OUT_BC,-SPEED,GetAngle_d(rev)*magni,0,true,true);
 	//rev(cm)*magni(ÇÜΨ)¸åž
 }
GetAngle_d¤òÍѤ¤¤ë¤³¤È¤Ç¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¡Öforward¡×¡Öreverse¡×¤Ï¡ÖÁ°Å¾¸åž¤¹¤ëµ÷Î¥(cm)¡×¤ò¤½¤Î¤Þ¤Þ°ú¿ô¤Ë¤È¤ë¤³¤È¤¬¤Ç¤­¤ë¡£

»ÈÍÑÎã:3.0cm¿Ê¤ß¤¿¤¤¤È¤­ ¢ª¡¡forward(3.0)

5.0cm²¼¤¬¤ê¤¿¤¤¤È¤­¡¡¢ª¡¡reverse(5.0)
***¥í¥Ü¥Ã¥È¤ò²óž¤µ¤»¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡Öturn¡× [#q2d85e44]
¡¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öturn¡×...»ØÄꤷ¤¿³ÑÅÙ¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë
 sub turn(float tn,int pl_mi) {	
 	//tn(ÅÙ)Êý¸þÊÑ´¹
°ú¿ôpl_mi¤Ï¡¢¥í¥Ü¥Ã¥È¤¬±¦²óž¤¹¤ë¤«º¸²óž¤¹¤ë¤«¤ò·è¤á¤ë¡£
 	/*pl_mi=1 ¢ª ±¦¤Þ¤ï¤ê¤Ë²óž
 	  pl_mi=-1 ¢ª º¸¤Þ¤ï¤ê¤Ë²óž*/
º¸±¦¤Î¥¿¥¤¥ä¤òµÕ¸þ¤­¤Ë²ó¤¹¤³¤È¤Ç¡¢¤½¤Î¾ì¤Ç²óž¤¹¤ë¡£
 	RotateMotorEx(OUT_BC,TURN_SPEED,GetAngle_s(tn),100*pl_mi,true,true);
 	//º¸±¦¤Î¥¿¥¤¥ä¤ÎµÕ¸þ¤­¤Ë²ó¤¹¤³¤È¤ÇÊý¸þÊÑ´¹
 	Off(OUT_BC);
 	Wait(100);
 }
GetAngle_s¤òÍѤ¤¤ë¤³¤È¤Ç¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¡Öturn¡×¤Ï¡Ö²óž¤¹¤ë³ÑÅ١פò¤½¤Î¤Þ¤Þ°ú¿ô¤Ë¤È¤ë¤³¤È¤¬¤Ç¤­¤ë¡£

»ÈÍÑÎã:90ÅÙ±¦²óž¤µ¤»¤¿¤¤¤È¤­¡¡¢ª¡¡turn(90,1);


***¥Ú¥ó¤Î°ÌÃÖ¤òÊѤ¨¤º¤ËÊý¸þÊÑ´¹¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡Öspin_re¡× [#d4c2619e]
¥µ¥Ö¥ë¡¼¥Á¥ó¡Öspin_re¡×... ¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÊѤ¨¤ë¤¬¡¢¥Ú¥ó¤Î°ÌÃÖ¤ÏÊѤ¨¤Ê¤¤

°ú¿ôpl_mi¤Ï¡¢¥í¥Ü¥Ã¥È¤¬±¦²óž¤¹¤ë¤«º¸²óž¤¹¤ë¤«¤ò·è¤á¤ë¡£

°ú¿ôspin_ang¤Ï¡¢Êý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙ¤ò·è¤á¤ë¡£
 sub spin_re(float spin_ang,int pl_mi) { 
 	//¡Ö¥Ú¥ó¤òÃæ¿´¤Ë¡¢spin_angÅٲ󞤹¤ë¡×(¤È¤­¤ÈƱ¤¸·ë²Ì¤Ë¤Ê¤ë)´Ø¿ô
 	/*±¦¤Ë²óž¤¹¤ë¤È¤­...pl_mi=1
 	  º¸¤Ë²óž¤¹¤ë¤È¤­...pl_mi=-1*/	

¡Ö¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë»þ¤ËÀ¸¤¸¤ë¸íº¹¡×¤ò½¤Àµ¤¹¤ë¤¿¤á¤Î¡Ögosa1¡×¡Ögosa2¡×
 	float gosa1=0;	//±¦¤Ë²óž¤¹¤ë¤È¤­¤Î¸íº¹¡Ögosa1¡×
 	float gosa2=0;	//º¸¤Ë²óž¤¹¤ë¤È¤­¤Î¸íº¹¡Ögosa2¡×
 	if (pl_mi>0) {	//pl_mi>0(±¦¤Ø¤ÎÊý¸þÊÑ´¹¤Î¤È¤­)
 		gosa1=0.5;	//±¦¤Ø²óž¤¹¤ë¤È¤­¤Î¸íº¹¤ò½¤Àµ¤¹¤ë
 	}
 	else {			//º¸¤Ø¤ÎÊý¸þÊÑ´¹¤Î¤È¤­
 		gosa2=0.5;	//º¸¤Ø²óž¤¹¤ë¤È¤­¤Î¸íº¹¤ò½¤Àµ¤¹¤ë
 	}

¼ÂºÝ¤ËÊý¸þÊÑ´¹¤¹¤ëÆ°ºî
        RotateMotorEx(OUT_BC,-50,GetAngle_d(pen_to_center-gosa1),0,true,true);	
  	//pen_to_center-gosa1(cm)¸åž(gosa¤Ï²óž¤Î»þ¤Î¥º¥ì¤òÄ´À᤹¤ë¤¿¤á)
  	turn(spin_ang,pl_mi);	//spin_ang(ÅÙ)²óž
 	RotateMotorEx(OUT_BC,20,GetAngle_d(pen_to_center-gosa2-gosa1),0,true,true);
 	//pen_to_center-gosa2-gosa1(cm)Á°Å¾
 }
¡¦Êý¸þÊÑ´¹¤Î¤È¤­¡¢¥í¥Ü¥Ã¥È¤Ï¤½¤Î¾ì¤Ç²óž¤¹¤ë¤Î¤Ç¡¢º¸±¦¤Î¥¿¥¤¥ä¤Î´Ö¤Ë²óž¤ÎÃæ¿´¤¬¤¢¤ë¡£

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­¢¥í¥Ü¥Ã¥È¤ò»ØÄê¤Î³ÑÅٲ󞤵¤»¤ë

­£¥Ú¥ó¤ò¡¢­¡¤Î¡Ö¥Ú¥ó¤Î°ÌÃ֡פޤǰÜÆ°¤µ¤»¤ë    

¤È¤¹¤ì¤Ð¤è¤¤

­¡¡Á­£¤ò¹Ô¤¦¤È¡¢¡Ö¥Ú¥ó¤òÃæ¿´¤Ë»ØÄê¤Î³ÑÅٲ󞤵¤»¤¿¡×¤È¤­¤ÈƱ¤¸·ë²Ì¤¬ÆÀ¤é¤ì¤ë¡£

»ÈÍÑÎã:¥Ú¥ó¤òÃæ¿´¤Ë±¦¤Ë90ÅÙÊý¸þÊÑ´¹  ¢ª  spin_re(90,1);

¡Öspin_re¡×¤ÎÀâÌÀ¤Ï¡¢¾¯¤·Ê¬¤«¤ê¤Å¤é¤¤¤È»×¤ï¤ì¤ë¡£¤Ê¤Î¤Ç¡ÖÊý¸þÊÑ´¹¤ÎÆ°ºî¤ò¾Ü¤·¤¯¡×¤Î¹àÌܤǡ¢¼Ì¿¿¤È¤È¤â¤ËÀâÌÀ¤¹¤ë¡£
***»ú¤ò½ñ¤¯¤È¤­¤Ë»È¤¦¥µ¥Ö¥ë¡¼¥Á¥ó¡Öwrite¡× [#x81c3f00]
¥µ¥Ö¥ë¡¼¥Á¥ó¡Öwrite¡×... ¥Ú¥ó¤¬ÃÏÌ̤ˤĤ¤¤¿¾õÂ֤ǡ¢¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤ë¤³¤È¤Ç»ú¤ò½ñ¤¯

¥Ú¥ó¤òÆóÃʳ¬¤Ëʬ¤±¤Æ²¼¤í¤¹¤Î¤¬ÆÃħ¡£°ìÃʳ¬ÌÜ(down1)¤Ç¤Ï¡Ö¤¢¤È20ÅÙ¤ÇÀÜÃϤ¹¤ë³ÑÅ١פޤÇÁÇÁ᤯²¼¤í¤·¡¢¤½¤³¤Ç0.1ÉÃÄä»ß¤¹¤ë¡£ÆóÃʳ¬ÌÜ(down2)¤Ç¤Ï¡¢¡Ö»Ä¤ê¤Î20Å١פÀ¤±¤æ¤Ã¤¯¤ê¥Ú¥ó¤ò²¼¤í¤¹¡£¥Ú¥ó¤¬ÀÜÃϤ¹¤ë¤È¤­¤ËȯÀ¸¤¹¤ëÎϤϡ¢ÆóÃʳ¬ÌܤΡÖ20ÅÙʬ¤æ¤Ã¤¯¤ê²¼¤í¤·¤¿¡×¤È¤­¤ÎÎϤÀ¤±¤Ê¤Î¤Ç¡¢¥Ú¥ó¤Ï°ÂÄꤷ¤¿ÀÜÃϤ¬²Äǽ¡£

¥Ú¥óÀÜÃϸ塢»ØÄꤵ¤ì¤¿µ÷Î¥¤À¤±¿Ê¤à(¤³¤Î¤È¤­»ú¤ò½ñ¤¯)¡£¤½¤Î¸å¡¢¥Ú¥ó¤ò¾å¤²¤ë¡£¤³¤Î¤È¤­¡¢¥Ú¥ó¤òÁÇÁ᤯¡¢°ìµ¤¤Ë(°ìÃʳ¬¤Ç)¾å¤²¤ë¤³¤È¤Ç¡¢ÌµÂ̤ʥ¤¥ó¥¯¤¬»æ¤ËÉÕ¤¯¤Î¤òËɤ°¡£
 sub write(float kaku) //¥Ú¥ó¤ÇÀþ¤ò°ú¤¯
 {
 	down1();	//¥Ú¥ó¤òÁÇÁ᤯²¼¤²¤ë(ÃÏÌ̤ˤϤĤ±¤Ê¤¤)
 	Wait(100);
 	down2();	//¥Ú¥ó¤ò¤æ¤Ã¤¯¤êÃÏÌ̤ˤĤ±¤ë
 	Wait(10);
 	RotateMotorEx(OUT_BC,WRITE_SPEED,GetAngle_d(kaku)*magni,0,true,true);
 			//WRITE_SPEED¤Î®¤µ¤Çkaku(cm)¿Ê¤à ¢ª kaku(cm)¤ÎÀþ¤ò½ñ¤¯
 	up();		//¥Ú¥ó¤ò¾å¤²¤ë
 }
»ÈÍÑÎã:6.0cm¤ÎÀþ¤ò°ú¤­¤¿¤¤¤È¤­ ¢ª write(6.0);
***¡Ö¸ý¡×¤ò½ñ¤¯¤¿¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¡Ökuti¡× [#k0ad77bc]
¡Ö¹â¡×¤Ç¤Ï¡Ö¸ý¡×¤ò2²ó½ñ¤¯¤Î¤Ç¡¢°ì±þ¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤·¤¿¡£

 sub kuti(float tate, float yoko) //¸ý¤Î»ú¤ò½ñ¤¯
 	//¸ý¤Î½Ä¤ÎŤµ(tate)¤È¡¢²£¤ÎŤµ(yoko)¤ò°ú¿ô¤Ë¤È¤ë
 {
 	write(tate);		//tate(cm)½ñ¤¯
 	spin_re(90.0,-1);    //¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
 	write(yoko);	       //yoko(cm)½ñ¤¯
 	spin_re(90.0,-1);	//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
 	write(tate);         // ¢­¤³¤³¤«¤é¾å¤Î·«¤êÊÖ¤·(repeat¤ò»È¤Ã¤¿¤é¸íº¹¤¬½Ð¤¿)
 	spin_re(90.0,-1);
 	write(yoko);
 	spin_re(90.0,-1);
 }
»ÈÍÑÎã:½Ä¤ÎŤµ5.0cm¡¢²£¤ÎŤµ10.0cm¤Î¡Ö¸ý¡×¤ò½ñ¤­¤¿¤¤¤È¤­  ¢ª  kuti(5.0,10.0);
**Êý¸þÊÑ´¹¤ÎÆ°ºî¤ò¾Ü¤·¤¯ [#f0fe2ef5]
¥µ¥Ö¥ë¡¼¥Á¥ó¡Öspin_re¡×¤ò»È¤Ã¤¿¤È¤­¡¢¥í¥Ü¥Ã¥È¤¬¼ÂºÝ¤Ë¤É¤Î¤è¤¦¤ÊÆ°ºî¤ò¤¹¤ë¤Î¤«¤ÎÀâÌÀ

º£²ó¤Ï¡Ö90ÅÙº¸²óž¤ÎÊý¸þÊÑ´¹¤ò¤¹¤ë¡×¤È¤­¤òÎã¤ËÀâÌÀ¤¹¤ë¡£

¡Öspin_re¡×¤Ï¡¢¥í¥Ü¥Ã¥È¤ò²óž¤µ¤»¤Ä¤Ä¡¢¥Ú¥ó¤Î°ÌÃÖ¤òºÇ½é¤ÈƱ¤¸¤Ë¤¹¤ë¤Î¤¬ÌÜŪ

(º¸¼Ì¿¿:²óž¤ÎÃæ¿´¤Î°ÌÃÖ¡¢¥â¡¼¥¿B¤È¥â¡¼¥¿C¤Î´Ö¤Ë¤¢¤ë)

(±¦¼Ì¿¿:¥Ú¥ó¤Î½é´ü°ÌÃÖ)

&ref(2015b/Member/rmsun/Mission1/IMG_1078.JPG,360*480,²óž¤ÎÃæ¿´);
&ref(2015b/Member/rmsun/Mission1/IMG_1082.JPG,360*480,¥Ú¥ó¤Î½é´ü°ÌÃÖ);
***­¡¡Ö²óž¤ÎÃæ¿´¡×¤È¡Ö¥Ú¥ó¤Î°ÌÃ֡פε÷Υʬ¤À¤±¸åž¤¹¤ë [#v6e2c55b]
²óž¤ÎÃæ¿´¤ò¡¢ºÇ½é¥Ú¥ó¤Î¤¢¤Ã¤¿°ÌÃ֤ޤǻý¤Ã¤Æ¤¤¤¯¡£

¤³¤Î¤È¤­¼Â¹Ô¤µ¤ì¤¿¥×¥í¥°¥é¥à¢­¢­
 	RotateMotorEx(OUT_BC,-50,GetAngle_d(pen_to_center-gosa1),0,true,true);	
 	//pen_to_center-gosa1(cm)¸åž(gosa¤Ï²óž¤Î»þ¤Î¥º¥ì¤ò½¤Àµ¤¹¤ë¤¿¤á)

#ref(2015b/Member/rmsun/Mission1/IMG_1085.JPG,360*480,¸åÂà)
***­¢¥í¥Ü¥Ã¥È¤ò»ØÄê¤Î³ÑÅٲ󞤵¤»¤ë [#b0a71654]
¼ÂºÝ¤ËÊý¸þÊÑ´¹¤·¤¿¤¤³ÑÅÙʬ¡¢²óž¤µ¤»¤ë¡£

¤³¤Î¤È¤­¼Â¹Ô¤µ¤ì¤¿¥×¥í¥°¥é¥à¢­¢­
 	turn(spin_ang,pl_mi);	//spin_ang(ÅÙ)²óž
&ref(2015b/Member/rmsun/Mission1/IMG_1086.JPG,360*480,¸åÂà»þ¤Î¥Ú¥ó¤Î°ÌÃÖ);
²óž¢ª¢ª
&ref(2015b/Member/rmsun/Mission1/IMG_1089.JPG,360*480,²óž);
***­£¡Ö²óž¤ÎÃæ¿´¡×¤È¡Ö¥Ú¥ó¤Î°ÌÃ֡פε÷Υʬ¤À¤±Á°Å¾¤¹¤ë [#a584e47f]
¥Ú¥ó¤ò¸µ¤Î°ÌÃÖ¤ËÌ᤹¤¿¤á¡¢­¡¤Ç²¼¤¬¤Ã¤¿Ê¬¤Îµ÷Î¥¤ò¿Ê¤à¡£

¤³¤Î¤È¤­¤Î¥Ú¥ó¤Î°ÌÃ֤ϡ¢ºÇ½é¤Î¥Ú¥ó¤Î°ÌÃÖ¤ÈƱ¤¸¡£

¤³¤Î¤È¤­¼Â¹Ô¤µ¤ì¤¿¥×¥í¥°¥é¥à¢­¢­
 	RotateMotorEx(OUT_BC,20,GetAngle_d(pen_to_center-gosa2-gosa1),0,true,true);
 	//pen_to_center-gosa2-gosa1(cm)Á°Å¾(gosa¤Ï²óž¤Î»þ¤Î¥º¥ì¤ò½¤Àµ¤¹¤ë¤¿¤á)
***­¤·ë²Ì [#h5e0c8c4]
¡Ö¥Ú¥ó¤òÃæ¿´¤Ë¤·¤Æ¡¢»ØÄê¤Î³ÑÅٲ󞤵¤»¤¿¤È¤­¡×¤ÈƱ¤¸·ë²Ì¤¬ÆÀ¤é¤ì¤ë¡£
#ref(2015b/Member/rmsun/Mission1/IMG_1095.JPG,270*360,·ë²Ì)
**¥á¥¤¥ó´Ø¿ô(¼ÂºÝ¤Ë»ú¤ò½ñ¤¯¥×¥í¥°¥é¥à) [#m0a26da1]
 task main() 
 {
 	up();             //¥Ú¥ó¤òÃÏÌ̤ˤĤ±¤¿¤Þ¤Þ¥¹¥¿¡¼¥È
 	write(1.0);       //£±²èÌÜ(¡Öе¡×¤Î¡Ö|¡×¤ÎÉôʬ)

 			     //£²²èÌܤΰÌÃÖ(¡Öе¡×¤Î¡Ö¡½¡×¤ÎÉôʬ)¤Þ¤Ç°ÜÆ°
 	spin_re(90.0,-1);	 	//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
 	reverse(2.0);	   	 	//2.0(cm)¸åž
 	write(4.0);	    //£²²èÌÜ(¡Öе¡×¤Î¡Ö¡½¡×¤ÎÉôʬ)

 			     //£³²èÌܡʸý¤ÎÉôʬ¡Ë¤Þ¤Ç°ÜÆ°
 	reverse(3.0);    		 //3.0(cm)¸åž
 	spin_re(90.0,1); 		 //¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙ±¦²óž
 	forward(0.5);     		 //0.5(cm)Á°Å¾
 	kuti(1.0, 2.25);   //¡Ö¸ý¡×¤Î»ú¤ò½ñ¤¯(£´¡¤£µ¡¤£¶²èÌÜ)

 			      //£·²èÌÜ¡Ê¡Ö¹â¡×¤Îº¸²¼¤Î¡Ö|¡×¤ÎÉôʬ¡Ë¤Þ¤Ç°ÜÆ°
 	forward(1.5);     		//1.5(cm)Á°Å¾
 	spin_re(90.0,-1); 		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
 	reverse(1.25);    		//1.25(cm)¸åž
 	spin_re(90.0,1);  	 	//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙ±¦²óž
 	write(3.0);        //£·²èÌÜ¡Ê¡Ö¹â¡×¤Îº¸²¼¤Î¡Ö|¡×¤ÎÉôʬ)

 		       	      //£¸²èÌÜ(¿¿¤óÃæ¤òÄ̤ë¡Ö°ì¡×¤ÎÉôʬ)¤Þ¤Ç°ÜÆ°
 	reverse(3.0);	    		//3.0(cm)¸åž
 	spin_re(90.0,-1);		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
 	write(4.75);       //£¸²èÌÜ(¿¿¤óÃæ¤òÄ̤ë¡Ö°ì¡×¤ÎÉôʬ)

 		              //£¹²èÌÜ(±¦²¼¤Î¡Ö|¡×¤ÎÉôʬ)¤Þ¤Ç°ÜÆ°
 	spin_re(90.0,1); 		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙ±¦²óž
 	write(3.0);        //£¹²èÌÜ(±¦²¼¤Î¡Ö|¡×¤ÎÉôʬ)

 	spin_re(90.0,1);   //¥í¥Ü¥Ã¥È¤Î¸þ¤­¤ò£·²èÌܤΡ֡¼¡×¤ÈÊ¿¹Ô¤Ë¤¹¤ë

 			      //ºÇ¸å¤Î¡Ö¸ý¡×¤ÎÉôʬ¤Þ¤Ç°ÜÆ°
 	forward(3.5);    		//3.5(cm)Á°Å¾
 	spin_re(90.0,-1);		//¥Ú¥ó¤òÃæ¿´¤Ë90ÅÙº¸²óž
 	reverse(2.5);   		//2.5(cm)¸åž
  	kuti(1.0, 2.25);   //ºÇ¸å¤Î¡Ö¸ý¡×¤ò½ñ¤¯
		
 }

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