[[2017a/Member]] Ìܼ¡ #contents *²ÝÂê [#hf67df50] 15cm¡ß15cm¤ÎÀµÊý·Á¤ËÆþ¤ë¤è¤¦¤ËÂç³Ø¤Ç¤Î¿·À¸³è¤òɽ¤¹´Á»ú°ì»ú¤ò½ñ¤¯¡£ ¡Ê¾Ü¤·¤¯¤Ï[[²ÝÂê1>2017a/Mission1]]¤ò»²¾È¡£¡Ë **Áª¤ó¤À´Á»ú [#hce235cd] »ä¤Ï¡Öµá¡×¤È¤¤¤¦´Á»ú¤òÁª¤Ó¤Þ¤·¤¿¡£Íýͳ¤Ïñ°Ì¤òµá¤á¤Æ¤¤¤ë¤«¤é¤Ç¤¹¡£ *¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#xe266d76] &ref(2017a/Member/Mitsuki/Mission1/hontai.1.JPG,50%,ËÜÂβèÁü£±); &ref(2017a/Member/Mitsuki/Mission1/hontai.2.JPG,50%,ËÜÂβèÁü£²); &ref(2017a/Member/Mitsuki/Mission1/hontai.3.JPG,50%,ËÜÂβèÁü£³); **¥í¥Ü¥Ã¥ÈÁ´ÂΤˤĤ¤¤Æ [#r00375c5] »ä¤¿¤Á¤¬¤Ä¤¯¤Ã¤¿¥í¥Ü¥Ã¥È¤ÏRIS¤ÎÀâÌÀ½ñ¤ËºÜ¤Ã¤Æ¤¤¤ë¥¿¥¤¥ä¤ò»È¤Ã¤¿¥â¥Ç¥ë¤ò¤½¤Î¤Þ¤ÞºÎÍѤ·¡¢ ¤½¤³¤Ë¥Þ¥¸¥Ã¥¯¥Ú¥ó¤òÁõÃ夷¤¿À߷פǤ¹¡£ **¥Ú¥óÁõÃåÉôʬ¤Ë¤Ä¤¤¤Æ [#u32344c1] º£²ó¥í¥Ü¥Ã¥È¤òÁȤßΩ¤Æ¤ë²ÈÄí¤Ç°ìÈÖ¶ìÏ«¤·¤¿¤Î¤¬¤³¤ÎÉôʬ¤Ç¤¹¡£ ºÇ½é¤Ë¥í¥Ü¥Ã¥ÈÁ°Êý¤Î¿¿¤óÃæ¤Ë¤¢¤ë¥¿¥¤¥ä¤¬¤Ä¤¤¤¿ÉôÉʤòºî¤ê¥Ú¥ó¤ò¾å²¼¤µ¤»¤ë¤³¤È¤ËÀ®¸ù¤·¤Þ¤·¤¿¤¬¤³¤ì¤À¤±¤Ç¤Ï¤Ú¤ó¤Î¸ÇÄ꤬¼å¤¯¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¤È¥Ú¥ó¤¬¤Ö¤ì¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£ &ref(2017a/Member/Mitsuki/Mission1/pen1.JPG,50%,¥Ú¥ó¾å¤²²¼¤²ÉôÉÊ); ¤³¤ÎÌäÂê¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¥í¥Ü¥Ã¥ÈÁ°Êý²¼¤ÎÉôÉʤòºî¤ê¤Þ¤·¤¿¡£¤½¤Î·ë²Ì¡¢¥Ú¥ó¤¬¤Ö¤ì¤ë¤È¤¤¤¦ÌäÂê¤Ï²ò·è¤·¤Þ¤·¤¿¤¬¡¢¤³¤Î¾õÂ֤Ǥâ¥í¥Ü¥Ã¥È¤òÆ°¤«¤»¤ÐÀþ¤ò½ñ¤±¤Þ¤·¤¿¤¬¡¢Àþ¤¬¤«¤¹¤ì¤Æ¤·¤Þ¤¦¤Î¤¬µ¤¤Ë¤Ê¤ê²ò·è¤ò»î¤ß¤Þ¤·¤¿¡£ &ref(2017a/Member/Mitsuki/Mission1/sita1.JPG,50%,¥Ú¥ó¸ÇÄêÉôÉÊ); ¤½¤³¤ÇÀþ¤¬¤«¤¹¤ì¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤Ë¤Ï¥Ú¥ó¤ò²¼Êý¸þ¤Ë²¡¤µ¤¨¤ë¤³¤È¤¬É¬ÍפÀ¤È»×¤¤¥í¥Ü¥Ã¥ÈÁ°Êý¾å¤ÎÉôÉʤòºî¤ê¤Þ¤·¤¿¡£¤³¤ÎÉôÉʤϥڥ󤬲¼¤Ë¹ß¤ê¤Æ¤ë»þ¤À¤±²¡¤µ¤¨¤Ä¤±¥Ú¥ó¤¬¾å¤¬¤Ã¤Æ¤¤¤ë»þ¤Ï²¡¤µ¤¨¤Ä¤±¤ëÉôʬ¤¬¤º¤ì²¡¤µ¤¨¤Ê¤¯¤Ê¤ê¤Þ¤¹¡£¤è¤Ã¤Æ¡¢¤³¤ÎÉôÉʤΤª¤«¤²¤Ç¤¤ì¤¤¤ËÀþ¤ò½ñ¤±¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£¤³¤ÎÉôʬ¤Ë¤Ä¤¤¤Æ¤Ï¸«¤¿Ìܤ¬µ¤¤ËÆþ¤é¤Ê¤«¤Ã¤¿¤Î¤Çºî¤êľ¤·¤Þ¤·¤¿¡£ ²þÎÉÁ° &ref(2017a/Member/Mitsuki/Mission1/arm.1gou1.JPG,50%,¥Ú¥óÍÞ¤¨ÉôÉʲþÎÉÁ°); ²þÎɸå &ref(2017a/Member/Mitsuki/Mission1/arm1.JPG,50%,¥Ú¥óÍÞ¤¨ÉôÉʲþÎɸ壱); &ref(2017a/Member/Mitsuki/Mission1/arm2.JPG,50%,¥Ú¥óÍÞ¤¨ÉôÉʲþÎɸ売); ¤³¤³¤Þ¤ÇÁȤßΩ¤Æ¤¿»þÅÀ¤Ç¤Ï ¥í¥Ü¥Ã¥È¤ÎÀÖ³°Àþ¼õ¿®Éô¤Ï¥Ú¥ó¤ÎÁõÃåÉôʬ¤ÎÊý¸þ¤ò¸þ¤¤¤Æ¤¤¤Þ¤·¤¿¤¬¥Ç¡¼¥¿¤ÎÁ÷¿®¤¬ÉÔÊؤʤ³¤È¤Ëµ¤¤Å¤¤¤¿¤Î¤ÇRISËÜÂΤθþ¤¤òµÕ¤Ë¤·¤Þ¤·¤¿¡£ ¤è¤Ã¤Æ¥³¡¼¥É¤¬¾¯¤·Íí¤ß¹ç¤Ã¤Æ¤·¤Þ¤¦¤¬¥Ç¡¼¥¿¤Î¼õ¿®¤¬³Ú¤Ë¤Ê¤ê¤Þ¤·¤¿¡£ *¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¡ÊRIS¡Ë [#yf1e6ddd] **½ñ¤½ç [#xe2717e7] ËÜÍè¤Î½ñ¤½ç¤È¤Ï°ã¤¦½çÈ֤ǽñ¤¤¤Æ¤¤¤Þ¤¹¡£ #ref(./kakijun.JPG,50%,½ñ¤½ç) **¥â¡¼¥¿¤ÎÀܳ¤Ë¤Ä¤¤¤Æ [#nf23197d] A¢ªº¸¥¿¥¤¥ä (OnFwd:Á°¿Ê¡¡OnRev:¸åÂà¡Ë B¢ª¥Ú¥ó¾å¤²²¼¤²¡¡¡ÊOnFwd:¾å¤²¤ë¡¡OnRev:²¼¤²¤ë¡Ë C¢ª±¦¥¿¥¤¥ä¡¡¡ÊOnFwd:Á°¿Ê¡¡OnRev:¸åÂà¡Ë **¥×¥í¥°¥é¥àÁ´ÂÎ [#h7439910] ¤Þ¤º°ìÈֻȤ¦¤È»×¤Ã¤¿¡ÖÁ°¿Ê¤·¤Ê¤¬¤é½ñ¤¯¡×¡Ö¸åÂष¤Ê¤¬¤é½ñ¤¯¡×¤È¤¤¤¦Æ°ºî¤òdefine¤Ç¤½¤ì¤¾¤ì¡Öwrite_fwd¡×¡Öwrite_back¡×¤È¤¤¤¦Ì¾Á°¤ÇÄêµÁ¤·¤Þ¤·¤¿¡£ ¤Þ¤¿¡¢¥Ú¥ó¤Î¾å¤²²¼¤²¤ÎÀª¤¤¤¬¤Ê¤«¤Ê¤«Â礤¯¤Æ¥Þ¥·¡¼¥ó¤¬Íɤì¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¥Ú¥ó¤ò¾å¤²²¼¤²¤·¤¿Ä¾¸å¤ËÄä»ß¤¹¤ë»þ´Ö¤òºî¤ë¤³¤È¤Ç¤¤ì¤¤¤ËÀþ¤ò½ñ¤»Ï¤á¤ì¡¢½ñ¤½ª¤ï¤ì¤Þ¤¹¡£ define¤Î¾Ü¤·¤¤¹ÔÆ°¤Ï write_fwd¡§¥Ú¥ó¤ò²¼¤²¤ë¢ª0.1ÉÃÄä»ß¢ªt/100ÉÃÁ°¿Ê¢ª0.1ÉÃÄä»ß¢ª¥Ú¥ó¤ò¾å¤²¤ë write_back¡§¥Ú¥ó¤ò²¼¤²¤ë¢ª0.1ÉÃÄä»ß¢ªt/100ÉøåÂࢪ0.1ÉÃÄä»ß¢ª¥Ú¥ó¤ò¾å¤²¤ë ¤È¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£ #define write_fwd(t) OnRev(OUT_B);Wait(6);Off(OUT_B);Wait(10);OnFwd(OUT_AC);Wait(t);Off(OUT_AC);Wait(10);OnFwd(OUT_B);Wait(6);Off(OUT_B); #define write_back(t) OnRev(OUT_B);Wait(6);Off(OUT_B);Wait(10);OnRev(OUT_AC);Wait(t);Off(OUT_AC);Wait(10);OnFwd(OUT_B);Wait(6);Off(OUT_B); task main¤Ïʬ¤«¤ê¤Ë¤¯¤¤¤Ç¤¹¤¬¾å¤Î½ñ¤½ç¤Çdefine¤ò»È¤Ã¤Æ¥×¥í¥°¥é¥ß¥ó¥°¤·¤Æ¤¢¤ê¤Þ¤¹¡£ ¡ÊÀþ¤ò¾å¤Î½ñ¤½ç¤Î²èÁü¤Ë¤¢¤ëÈÖ¹æ¤Ç¼¨¤¹¡£¡Ë £¤ò½ñ¤¯¾ì¹ç¤À¤±¡Ö¤Ï¤Í¡×¤Þ¤Ç°ìµ¤¤Ë½ñ¤¤¿¤«¤Ã¤¿¤Î¤Çdefine¤ò»È¤ï¤º¤Ë¥×¥í¥°¥é¥ß¥ó¥°¤·¤Þ¤·¤¿¡£¡Ê¡Ö¤Ï¤Í¡×¤Ï¥Ú¥ó¤ò²¼¤í¤·¤¿¤Þ¤ÞξÎؤò»È¤Ã¤Æ±¦¤ØÀû²ó¤·¤Æ½ñ¤¤Þ¤·¤¿¡Ë task main() { OnFwd(OUT_B);Wait(5);Off(OUT_B);//¥Ú¥ó¤ò¾å¤²¤ë write_fwd(90);//¡¤ò½ñ¤¯ OnFwd(OUT_AC);Wait(80);Off(OUT_AC);//Á°¿Ê OnFwd(OUT_A);OnRev(OUT_C);Wait(80);Off(OUT_AC);//±¦¤ØÀû²ó OnRev(OUT_AC);Wait(90);Off(OUT_AC);//¸åÂà write_back(20);//¢¤ò½ñ¤¯ OnFwd(OUT_A);OnRev(OUT_C);Wait(30);Off(OUT_AC);//±¦¤ØÀû²ó OnRev(OUT_AC);Wait(10);Off(OUT_AC);//¸åÂà OnRev(OUT_B);Wait(6);Off(OUT_B);Wait(10);OnFwd(OUT_AC);Wait(120);Off(OUT_AC);Wait(10); OnFwd(OUT_A);OnRev(OUT_C);Wait(15);Off(OUT_AC);Wait(10);OnFwd(OUT_B);Wait(6);Off(OUT_B); Wait(10);£¤ò½ñ¤¯ OnFwd(OUT_C);OnRev(OUT_A);Wait(15);Off(OUT_AC);//º¸¤ØÀû²ó OnFwd(OUT_AC);Wait(30);Off(OUT_AC);//Á°¿Ê OnFwd(OUT_A);OnRev(OUT_C);Wait(60);Off(OUT_AC);//±¦¤ØÀû²ó OnRev(OUT_AC);Wait(20);//¸åÂà write_back(30);//¤¤ò½ñ¤¯ OnRev(OUT_AC);Wait(30);Off(OUT_AC);//¸åÂà write_back(30);//¥¤ò½ñ¤¯ OnFwd(OUT_AC);Wait(120);Off(OUT_AC);//Á°¿Ê OnFwd(OUT_C);OnRev(OUT_A);Wait(120);Off(OUT_AC);//º¸¤ØÀû²ó OnRev(OUT_AC);Wait(50);Off(OUT_AC);//¸åÂà write_back(30);//¦¤ò½ñ¤¯ OnRev(OUT_AC);Wait(30);Off(OUT_AC);//¸åÂà write_back(30);//§¤ò½ñ¤¯ } *¤Þ¤È¤á [#z230720e] **½ñ¤±¤¿»ú [#uca8dd9c] &ref(2017a/Member/Mitsuki/Mission1/kaitazi1.JPG,50%,½ñ¤±¤¿»ú); **´¶ÁÛ [#i94a7fe2] »ä¤Ï¾®¤µ¤¤º¢¤«¤éLEGO¤ÇÍ·¤ó¤Ç¤¤¤¿¤³¤È¤â¤¢¤ê¡¢º£²ó¤Î¥í¥Ü¥Ã¥È¤ÎÁȤßΩ¤Æ¤âÌäÂê²ò·è¤¹¤ë¤¿¤á¤Ë²þÎɤâ³Ú¤·¤¯¤Ç¤¤Þ¤·¤¿¡£ºÇ½é¥×¥í¥°¥é¥ß¥ó¥°¤Îdefine¤Î»È¤¤Êý¤â¤è¤¯¤ï¤«¤é¤Ê¤«¤Ã¤¿¤Ç¤¹¤¬¥×¥í¥°¥é¥ß¥ó¥°¤·¤Æ¤¤¤ë¤¦¤Á¤ÎÍý²ò¤â¿¼¤Þ¤ê¤À¤ó¤À¤ó¤È³Ú¤·¤¯ºî¶È¤¬¤Ç¤¤Þ¤·¤¿¡£¥í¥Ü¥Ã¥È¤ÎÁȤßΩ¤Æ¤Æ¤¤ì¤¤¤ËÀþ¤¬½ñ¤±¤¿»þ¤ä¡¢¥×¥í¥°¥é¥ß¥ó¥°¤·¤Æ»ú¤¬½ñ¤±¤Æ´°À®¤·¤¿»þ¤Ï¤È¤Æ¤â´ò¤·¤«¤Ã¤¿¤Ç¤¹¡£