[[2016a/Member]]

#contents

*¤Ï¤¸¤á¤Ë [#t815dee9]

º£²ó¤Î²ÝÂê¤ÏÄ̾ï2¡Á3¿Í¤Ç¤¢¤ë¥Á¡¼¥à¤¬ÊÌ¥Á¡¼¥à¤È¹çÂΤ·5¡Á6¿Í¤Î¥Á¡¼¥à¤Ç¤Î³èÆ°¤È¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

»ä¤Î¥Á¡¼¥à¥á¥ó¥Ð¡¼¤Ï¡¢

¡Özawati¡×¡¢¡Öngtrz¡×¡¢¡ÖAri¡×¡¢¡ÖEtu¡×¡¢¡ÖTea¡×¤Î5¿Í¥Á¡¼¥à¤Ç¤¹¡£

([[2016ǯÅÙÁ°´ü ¼õ¹ÖÀ¸¤Î¥Ú¡¼¥¸:http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMember]]»²¾È)

**²ÝÂê¤Ë¤Ä¤¤¤Æ [#e56365cb]

[[²ÝÂê2:http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMission2]]¤ÇºîÀ®¤·¤¿¥³¡¼¥¹¤òÍѤ¤¤Æ¥¿¥¤¥à¥ì¡¼¥¹¤ò¹Ô¤¦¡£

**¥ë¡¼¥ë [#pa880256]

***´ðËܥ롼¥ë [#l7b74867]

¡¦»æ¥³¥Ã¥×¤òCÃÏÅÀ¡¢DÃÏÅÀ¤Ë¤½¤ì¤¾¤ì3¸Ä(¹ç·×6¸Ä)ÃÖ¤­¡¢CÃÏÅÀ¤ËÃÖ¤¤¤¿»æ¥³¥Ã¥×¤Ë¤ÏC¤ò¡¢DÃÏÅÀ¤ËÃÖ¤¤¤¿»æ¥³¥Ã¥×¤Ë¤ÏD¤ò»æ¥³¥Ã¥×¤ÎÄìÌ̤˥ޡ¼¥¯¤¹¤ë

¡¦»æ¥³¥Ã¥×¤Ï¾å²¼¤É¤Á¤é¤Ë¤ª¤¤¤Æ¤â¤«¤Þ¤ï¤Ê¤¤

¡¦2Âæ¤Î¥í¥Ü¥Ã¥È¤Î¾ì¹ç¤ÏAÃÏÅÀ¤ÈBÃÏÅÀ¤«¤é¥¹¥¿¡¼¥È¡¢°ìÂη¿¤Î¾ì¹ç¤ÏAÃÏÅÀ¤ÈBÃÏÅÀ¤Î¤¤¤º¤ì¤«¤«¤é¥¹¥¿¡¼¥È¤¹¤ë

¡¦ºÇ½ªÅª¤Ë¹õÀþ¤Ç°Ï¤Þ¤ì¤¿ÎؤÎÃæ¤ËCÃÏÅÀ¤«¤é¤Î»æ¥³¥Ã¥×¤ÈDÃÏÅÀ¤«¤é¤Î»æ¥³¥Ã¥×¤ò¸ò¸ß¤Ë½Å¤Í¤ë (²¼Â¦¤«¤é¿ô¤¨¤Æ´ñ¿ôÈÖÌܤÏCÃÏÅÀ¤«¤é¤Î¥³¥Ã¥×¡¢¶ö¿ôÈÖÌܤÏDÃÏÅÀ¤«¤é¤Î¥³¥Ã¥×¤Ë¤Ê¤ë¤è¤¦¤Ë¤¹¤ë)

¡¦»æ¥³¥Ã¥×¤ò½Å¤Í¤ë¾ì½ê¤Ï¡¢É¬¤º¤·¤âÌÜŪÃÏÅÀ¤ÎÎؤÎÃæ¤Ç¤Ê¤¯¤Æ¤â¤«¤Þ¤ï¤Ê¤¤

¡¦ºÇ½ªÅª¤Ë»æ¥³¥Ã¥×¤¬¼«ÎϤÇΩ¤Ã¤Æ¤¤¤ë¤³¤È¡¢¤Þ¤¿¥í¥Ü¥Ã¥È¤¬»æ¥³¥Ã¥×¤Ë¿¨¤ì¤Æ¤¤¤Ê¤¤¤³¤È¡¢¤¿¤À¤·¥¹¥¿¡¼¥È»þ¤È¾å²¼µÕ¤Ë¤Ê¤Ã¤Æ¤¤¤Æ¤â¤«¤Þ¤ï¤Ê¤¤

¡¦¶¥µ»»þ´Ö¤Ï¤¹¤Ù¤Æ¤Î¥³¥Ã¥×¤ò½Å¤Í½ª¤ï¤ë¤Þ¤Ç¡¢¤¢¤ë¤¤¤Ï¿³È½¤¬Â³¹ÔÉÔǽ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¡£

¡¦¿³È½¤Î¹ç¿Þ¤Î¸å¡¢5ÉðÊÆâ¤Ë¥í¥Ü¥Ã¥È¤ò¥¹¥¿¡¼¥È¤µ¤»¡¢¤½¤ì°Ê¹ß¤Ï¥í¥Ü¥Ã¥È¤ä»æ¥³¥Ã¥×¤Ë¿¨¤Ã¤Æ¤Ï¤¤¤±¤Ê¤¤

¡¦»æ¥³¥Ã¥×¤Ë¿§¤òÅɤ俤êʸ»ú¤ä³¨¤ò¤«¤¤¤Æ¤â¤è¤¤¤¬¡¢·ê¤ò³«¤±¤¿¤ê¸Î°Õ¤ËÊÑ·Á¤µ¤»¤Æ¤Ï¤¤¤±¤Ê¤¤

¡¦¸÷¥»¥ó¥µ¤Ï2¥»¥Ã¥È¹ç¤ï¤»¤Æ2¤Ä¤Þ¤Ç»È¤Ã¤ÆÎɤ¤¡¢¤½¤Î¾¤Î¥»¥ó¥µ¤äÉôÉʤϥ­¥Ã¥È¤Ë´Þ¤Þ¤ì¤Æ¤¤¤ë¤â¤Î¤À¤±¤ò»ÈÍѤ¹¤ë¤³¤È

***´ðËÜÆÀÅÀ¤Î·×»»ÊýË¡ [#iff21f93]

1ÃÊÌܤλ楳¥Ã¥×3ÅÀ¡¢2ÃÊÌܤλ楳¥Ã¥×6ÅÀ¡¢¡¦¡¦¡¢nÃÊÌܤΥ³¥Ã¥×3nÅÀ¡¢6ÃÊÌܤΥ³¥Ã¥×18ÅÀ

´ñ¿ôÃÊÌܤˤ¢¤ëD¤Î¥³¥Ã¥×¤È¶ö¿ôÃÊÌܤˤ¢¤ëC¤Î¥³¥Ã¥×¤Ï0ÅÀ

***µ»½ÑÅÀ¤Î·×»»ÊýË¡ [#cfca77c3]

°Ê²¼¤ÎÆ°ºî¤ÎÀºÅÙ¡¦¥¹¥Ô¡¼¥É¡¦³Î¼ÂÀ­¤Ê¤É¤ò´Þ¤á¤¿µ»½ÑŪ¤Ê¹©Éפä·Ý½ÑÀ­¤Ë¤Ä¤¤¤Æ¾¤ÎÁ´¤Æ¤Î¥Á¡¼¥à¤¬20ÅÀËþÅÀ¤ÇºÎÅÀ¤·¡¢¤½¤ÎÊ¿¶ÑÅÀ¤òµá¤á¤ë¡£ 

ÆÀÅÀ¤ÎÌܰ¡§

¥¹¥¿¡¼¥È¤·¤Æ¤«¤é»æ¥³¥Ã¥×¤ÎÃÏÅÀ¤Þ¤Ç°ÜÆ°¤¹¤ë®¤µ¡¢Àµ³Î¤µ (2ÅÀ)

»æ¥³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî (3ÅÀ)

»æ¥³¥Ã¥×¤ò¥´¡¼¥ë¤Þ¤Ç±¿¤ÖÆ°ºî¤Î®¤µ¡¢Àµ³Î¤µ (2ÅÀ)

»æ¥³¥Ã¥×¤ò½Å¤Í¤ëÆ°ºî (3ÅÀ)

2Âæ¤Î¥í¥Ü¥Ã¥È¤ÎÏ¢·È¤ÎÎɤµ (3ÅÀ)

¼«Î©·¿¤Î¥í¥Ü¥Ã¥È¤È¤·¤Æ¤Î·Á¤äÆ°ºî¤ÎÈþ¤·¤µ¡¢»Â¿·¤µ (3ÅÀ)

¥í¥Ü¥³¥ó½Ð¾ì¥í¥Ü¥Ã¥È¤È¤·¤Æ¤Î´°À®ÅÙ (2ÅÀ)

¤½¤Î¾ (2ÅÀ)

([[2016ǯÅÙÁ°´ü ²ÝÂê3:http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMission3]]°úÍÑ¡¢EV3´ØÏ¢»ö¹à¤Ë¤Ä¤¤¤Æ¤Ï³ä°¦¤µ¤»¤Æ¤â¤é¤¤¤Þ¤¹)

**ºîÀï [#y5ca8070]

»ä¤¿¤Á¤Ï¡¢¥í¥Ü¥Ã¥È2Âæ¤òÊ̹ÔÆ°¤µ¤»¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£

1Âæ¤Ï»æ¥³¥Ã¥×¤ò¼«Ê¬¤¿¤Á¤¬·è¤á¤¿¾ì½ê¤Ø±¿¤Ó(°Ê²¼¤³¤Î¥í¥Ü¥Ã¥È¤ò¥¹¥ì¡¼¥Ö(½¾)¤È¸Æ¤Ó¤Þ¤¹)¡¢

¤â¤¦1Âæ¤Ï»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²·è¤á¤é¤ì¤¿¾ì½ê¤Ø±¿¤Ó¤Þ¤¹(°Ê²¼¤³¤Î¥í¥Ü¥Ã¥È¤ò¥Þ¥¹¥¿¡¼(¼ç)¤È¸Æ¤Ó¤Þ¤¹)¡£

¶ñÂÎŪ¤Ë½Ò¤Ù¤ë¤È¡¢


¿Þ1

#ref(2016a-mission3(1).png)

¥¹¥ì¡¼¥Ö(S¡¢ÀÖÀþ)¤ÏAÃÏÅÀ¤«¤é½Ðȯ¤·CÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤­¤Þ¤¹¡£

¤½¤Î´Ö¥Þ¥¹¥¿¡¼(M¡¢ÎÐÀþ)¤ÏBÃÏÅÀ¤«¤é½Ðȯ¤·¡ù¤Î¤È¤³¤í¤ÇÂÔµ¡¤·¤Æ¤¤¤Þ¤¹¡£



¿Þ2

#ref(2016a-mission3(2).png)

¤½¤·¤Æ¡¢¥¹¥ì¡¼¥Ö¤ÏCÃÏÅÀ¤«¤éPÃÏÅÀ¤Ø¤È»æ¥³¥Ã¥×¤ò±¿¤Ó¥Þ¥¹¥¿¡¼¤Ø¿®¹æ¤òÁ÷¤ê¤Þ¤¹¡£

¿®¹æ¤ò¼õ¤±¼è¤Ã¤¿¥Þ¥¹¥¿¡¼¤Ï»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¡¢QÃÏÅÀ¶á¤¯¤Î¥µ¡¼¥¯¥ë¤Ø»ý¤Ã¤Æ¤¤¤­¤Þ¤¹¡£



¿Þ3

#ref(2016a-mission3(3).png)

¥Þ¥¹¥¿¡¼¤¬ºî¶È¤ò¤·¤Æ¤¤¤ë´Ö¡¢¥¹¥ì¡¼¥Ö¤ÏPÃÏÅÀ¤«¤é½Ðȯ¤·DÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤­¤Þ¤¹¡£

¥Þ¥¹¥¿¡¼¤Ïºî¶È½ªÎ»¸å¡ù¤Î¤È¤³¤í¤ËÌá¤ê¿®¹æ¤¬Á÷¤é¤ì¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡¤·¤Æ¤¤¤Þ¤¹¡£

°Ê²¼»æ¥³¥Ã¥×¤ò±¿¤Ó¡¢¿®¹æ¤òÁ÷¤ê¡¢»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²±¿¤Ö¤Î·«¤êÊÖ¤·¤Ç¤¹¡£

¥Þ¥¹¥¿¡¼Ã´Åö¤Ï¡Özawati¡×¡¢¡Öngtrz¡×¡¢¥¹¥ì¡¼¥ÖôÅö¤Ï¡ÖAri¡×¡¢¡ÖEtu¡×¡¢¡ÖTea¡×¤È¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

¤Ê¤ª¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î̵ͭ¤Ï³ÆôÅö¤Ç·è¤á¤Þ¤·¤¿¡£

*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#v02d2181]

**¥¹¥ì¡¼¥Ö¦ [#wfdb7a35]

#ref(robo5.jpg)

¸÷¥»¥ó¥µ¤òÍѤ¤¤Æ¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Ê¤¬¤é¿Ê¤à¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£

¤Þ¤¿Ä¶²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ¡¢¾ã³²Êª(»æ¥³¥Ã¥×)¤òǧ¼±¤·¤¿¤é¥¢¡¼¥à¤òÆ°¤«¤¹¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£

¥¢¡¼¥à¤Î¹½Â¤¡¢¤½¤Î¾ºÙ¤«¤¤Éôʬ¤Ë¤Ä¤¤¤Æ¤Ï¥¹¥ì¡¼¥ÖôÅö¤Ç¤¢¤ë3¿Í()¤Î¥Ú¡¼¥¸¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£

**¥Þ¥¹¥¿¡¼Â¦ [#qeed6834]

#ref(robo6.jpg)

¤³¤Á¤é¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Þ¤»¤ó¤Ç¤·¤¿¡£

»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤Æ¤¤¤ë¤È¤­¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤È¡¢¼ã´³¤Î¿¶Æ°¤Ë¤è¤êÅÓÃæ¤Ç»æ¥³¥Ã¥×¤ò²¼¤í¤·¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç̵¤¯¤·¤Þ¤·¤¿¡£(¾Ü¤·¤¯¤Ï¸å½Ò¤·¤Þ¤¹)

¤Þ¤¿¤³¤Á¤é¤âĶ²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ¡¢¾ã³²Êª(»æ¥³¥Ã¥×)¤òǧ¼±¤·¤¿¤é¥¢¡¼¥à¤òÆ°¤«¤¹¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£

¥¢¡¼¥à¤Î¹½Â¤¡¢¤½¤Î¾ºÙ¤«¤¤Éôʬ¤Ë¤Ä¤¤¤Æ¤â¸å½Ò¤·¤Þ¤¹¡£

#ref(robo7.jpg)

¤Á¤Ê¤ß¤Ë¡¢¥Þ¥¹¥¿¡¼¤¬¥Þ¥¹¥¿¡¼¤À¤Èʬ¤«¤ë¤è¤¦¤Ë(¥í¥Ü¥Ã¥È¤ÎÂ礭¤µ¤Çʬ¤«¤ë¤è¤¦¤Ê¤â¤Î¤À¤¬)¥Þ¥¹¥¿¡¼¤Ë¤Ï¡Ö¥Þ¥¹¥¿¡¼¤Á¤ã¤ó¡×¤òÉÕ¤±¤Æ¤ª¤­¤Þ¤·¤¿¡£

(¡Ö¥Þ¥¹¥¿¡¼¤Á¤ã¤ó¡×¤È¤¤¤¦Ì¾Á°¤Ï»ä¤¬¾¡¼ê¤ËÉÕ¤±¤Þ¤·¤¿)

**¥Þ¥¹¥¿¡¼¥¢¡¼¥à¤Î¹½Â¤¤È·Ð°Þ [#y9c8180e]

***¥¢¡¼¥à¤Ï¤É¤¦¤¹¤ë¤« [#l3a4b7f2]

NXT¤Î¥­¥Ã¥È¤Ë¤Ï¥â¡¼¥¿¡¼¤¬3¤Ä¤¢¤ê¤Þ¤¹¤¬¡¢¤½¤Î¤¦¤Á2¤Ä¤Ï¥¿¥¤¥ä¤Ë»È¤ï¤ì¤Æ¤¤¤ë¤¿¤á¡¢»È¤¨¤ë¥â¡¼¥¿¡¼¤Ï1¤Ä¤·¤«¤¢¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£

»ä¤ÎƬ¤ÎÃæ¤Ç¤Ï¡¢

¡Ô»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¤Î¤Ë1¤Ä¡¢»ý¤Á¾å¤²¤ë¤Î¤Ë1¤Ä¤ÏɬÍפǤϤʤ¤¤À¤í¤¦¤«¡©

¤·¤«¤·¡¢¥â¡¼¥¿¡¼¤Ï1¤Ä¤·¤«¤Ê¤¤Ž¥Ž¥Ž¥¤É¤¦¤·¤¿¤éŽ¥Ž¥Ž¥¡Õ

¤È¡¢¤À¤¤¤ÖǺ¤ß¤Þ¤·¤¿¤¬·ë¶É¤¤¤¤°Æ¤Ï½Ð¤Æ¤³¤Ê¤¯¡¢²áµî¤ÎÀèÇڤΥì¥Ý¡¼¥È¤ò¸«¤Þ¤·¤¿¡£

¤¹¤ë¤È¡¢¥â¡¼¥¿¡¼1¤Ä¤Ç¤Ä¤«¤ó¤Ç»ý¤Á¾å¤²¤Æ¤¤¤ë¥í¥Ü¥Ã¥È¤¬Â¿¡¹Í­¤ê¡¢ÀµÄ¾¶Ã¤­¤Þ¤·¤¿¡£

¤½¤ÎÃ椫¤é¤¤¤¯¤Ä¤«»²¹Í¤Ë¤µ¤»¤Æ¤â¤é¤¤¡¢²¼¤Î²èÁü¤Î¤è¤¦¤Ê¥¢¡¼¥à¤¬¤Ç¤­¤¢¤¬¤ê¤Þ¤·¤¿¡£

ÀèÇÚÊý¤Ë¤Ï´¶¼Õ¤¤¤¿¤·¤Þ¤¹¡£

***¤Ä¤«¤à»ÅÁÈ¤ß [#b8192726]

#ref(arm1.jpg)

¶ìÏ«¤ÎËö¤Ç¤­¤¢¤¬¤ê¤Þ¤·¤¿¡Ö¥¯¥ï¥¬¥¿·¿¥¢¡¼¥à¡×¤Ç¤¹¡£

¿¿¤óÃæ¤Î¹õ¤¤ËÀ¤Ï»Ä¤Ã¤Æ¤¤¤¿¥Ñ¡¼¥Ä¤Î¼ïÎà¤ÎÅÔ¹ç¾å¡¢¤É¤¦¤·¤Æ¤â̵¤¯¤»¤Þ¤»¤ó¤Ç¤·¤¿¡£

¤³¤Î»þÅÀ¤Ç¤ÏÉÔɬÍפʤâ¤Î¤È»×¤Ã¤Æ¤¤¤Þ¤·¤¿¤¬¤¢¤È¤ÇÌò¤ËΩ¤Á¤Þ¤·¤¿¡£(¸å½Ò)

¤Ä¤«¤à»ÅÁȤߤϰʲ¼¤ÎÄ̤ê¤Ç¡¢

#ref(arm2.jpg)

²èÁü²¼Éô¤Î¿âľ¥®¥¢¤ò²ó¤¹¤³¤È¤Ç¡¢2¤Ä¤Î»õ¼Ö´Ö¤Ë¤¢¤ë¥¦¥©¡¼¥à¥®¥¢¤¬²óž¤·¤Þ¤¹(ÎÐ)¡£

¤¹¤ë¤È¡¢¤½¤Î²óž¤¬Î¾Î٤λõ¼Ö¤ËÅÁ¤ï¤ê(ÀÖ)¡¢»õ¼Ö¤È¤¯¤Ã¤Ä¤¤¤Æ¤¤¤ë¥¢¡¼¥à¤âÆ°¤­¤Þ¤¹(ÀÄ)¡£

¿âľ¥®¥¢¤ò»þ·×²ó¤ê¤Ë²ó¤»¤Ð¥¢¡¼¥à¤Ï³«¤­¡¢È¿»þ·×²ó¤ê¤Ë²ó¤»¤ÐÊĤ¸¤Þ¤¹¡£

¤Ç¤Ï¤³¤ì¤Ç»æ¥³¥Ã¥×¤ò¤Ä¤«¤ó¤Ç¤ß¤è¤¦¤È¡¢¼ÂºÝ¤Ë²¼¤Î¤è¤¦¤Ë¤Ä¤«¤à¤ÈŽ¥Ž¥Ž¥¾¯¤·¤°¤é¤°¤é¤¹¤ë¤ó¤Ç¤¹¡£

#ref(arm3.png)

(´Ý¤¤¤Î¤Ï»®¤Ç¤Ï¤Ê¤¯¾å¤«¤é¸«¤¿»æ¥³¥Ã¥×¤Ç¤¹¡£)

¤°¤é¤°¤é¤·¤Æ¤¤¤Æ¤Ï°Â¿´¤â¤Ç¤­¤Þ¤»¤ó¡£º¤¤Ã¤Æ¤¤¤ë¤ÈƱôÅö¤Î¡Özawati¡×¤¬¸«¤Ä¤±¤¿¤Î¤Ç¤¹¡£

¡Ö¤³¤Î¹õ¤¤ËÀŽ¥Ž¥Ž¥»È¤¨¤Ê¤¤¤«¡©¡×

¤¹¤ë¤È¡¢

#ref(arm4.png)

¤°¤é¤Ä¤­¤¬Ìµ¤¯¤Ê¤Ã¤¿¤Î¤Ç¤¹¡£

2ÅÀ¤è¤ê¤â3ÅÀ(ÀÖÅÀ)¤Î¤Û¤¦¤¬°ÂÄê´¶¤¬Áý¤¹¤Î¤Ï¤³¤¦¤¤¤¦¤³¤È¤À¤È²þ¤á¤Æ´¶¤¸¤Þ¤·¤¿¡£

¤³¤ì¤Ë¤è¤ê¹õ¤¤ËÀ¤ÏɬÍפʤâ¤Î¤È¤Ê¤ê¤Þ¤·¤¿¡£

***»ý¤Á¾å¤²¤ë»ÅÁÈ¤ß [#b35436b7]

(³¨¤¬¥¬¥¿¥¬¥¿¤Ê·ï¡¢¹õ¤¤ËÀ¤ÎÂÀ¤µ¤¬°ã¤¦·ï¡¢µ¤¤Ë¤·¤Ê¤¤¤Ç¤¯¤À¤µ¤¤¡£»ä¤Î¼ÂÎÏÉÔ­¤Ç¤¹¡£)

#ref(arm5.png)

¥¢¡¼¥à¤òÌϼ°Åª¤Ëɽ¤¹¤È¾å¤Î¤è¤¦¤Ë¤Ê¤ê¤Þ¤¹¡£

¿âľ¥®¥¢¤ò²ó¤¹¤³¤È¤Ç(ÎÐ)¡¢¥¢¡¼¥à¤ÏÊĤ¸¤Æ¤¤¤­¤Þ¤¹(ÀÄ)¡£

#ref(arm6.png)

#ref(arm7.png)

#ref(arm8.png)

#ref(arm9.png)

 float GetAngle(float d) /* d¤Ë¤Ï¿Ê¤ß¤¿¤¤µ÷Î¥¤¬Æþ¤ë */
 {
  const float diameter=5.45;  //¥¿¥¤¥ä¤Îľ·Â(­Ñ)
  const float pi=3.1415;      //±ß¼þΨ(¦Ð)
  float ang =d/(diameter*pi)*360.0;  //³ÑÅÙ¤ò·×»»¤¹¤ë
  return ang;                 //³ÑÅÙ¤òÊÖ¤¹¡¡
 }
 
 #define Tozire RotateMotor(OUT_A,50,800);
 #define Hirake RotateMotor(OUT_A,-25,800);
 
 #define Ninety GetAngle(8.25)
 #define Turn_r RotateMotorEx(OUT_BC,35,Ninety,-100,true,false);
 #define Turn_l RotateMotorEx(OUT_BC,35,Ninety,100,true,false); 
 
 #define Rotary(l) GetAngle(l)
 #define Go_F(l) RotateMotorEx(OUT_BC,25,Rotary(l),0,true,true);
 #define Go_B(l) RotateMotorEx(OUT_BC,-25,Rotary(l),0,true,true);
 
 sub Papercop()
 {
  SetSensorLowspeed(S1);
  int n=0;
  while(n<1){
   if (SensorUS(S1)<=10){
    Go_F(5);
    Tozire;
    Turn_r;
    OnRev(OUT_B,50);
    Wait(100);
    Go_F(10);
    Hirake;
    Go_B(10);
    OnRev(OUT_C,50);
    Wait(200);
    Turn_l;
    OnFwd(OUT_B,50);
    Wait(100);
    Off(OUT_B);
    Go_B(5);
    n++;
    Off(OUT_BC);
   }else{
    OnFwd(OUT_BC,50);  
   }
  }
  n=0;
 }
 
 #define CONN 1
 #define Boot 11
 
 task main()
 {
  Go_F(25);
  Turn_r;
  OnFwd(OUT_C,50);
  Wait(100);
  Off(OUT_C);
  Go_F(15);
  OnRev(OUT_C,50);
  Wait(100);
  Off(OUT_C);
  Turn_l;
  Off(OUT_BC);
  OnFwd(OUT_B,50);
  Wait(100);
  Off(OUT_B);
  Go_B(8);
  Off(OUT_BC);
  
  int x=0;
  while(x<6){
   int msg;
   ReceiveRemoteNumber(MAILBOX1,true,msg);
   
   if(msg == Boot){
    Wait(1000);
    Papercop();
    x++;
   }else{
    Off(OUT_BC);
   }
  }
 }

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