[[2017a/Member]]
#contents
*²ÝÂê3¤ÈôÅö [#r967ec7c]
**²ÝÂê3 [#l471b155]
¥í¥Ü¥Ã¥È¤ò2Âæ»È¤¤¡¢[[²ÝÂê2:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMission2]]
¤Ç»È¤Ã¤¿¥³¡¼¥¹¤òÍѤ¤¤Æ¥³¡¼¥¹¾å¤ÎÍÍ¡¹¤Ê°ÌÃÖ¤ËÃÖ¤«¤ì¤¿´Ì¤ò»ØÄꤵ¤ì¤¿°ÌÃÖ¤ËÆþ¤ì¡¢ÆÀÅÀ¤ò¶¥¤¦¡£¤³¤Î¤È¤­¡¢´Ì¤òÀѤ߾夲¤ë¤ÈÆÀÅÀ¤¬¹â¤¯¤Ê¤ë¡£¾Ü¤·¤¯¤Ï[[²ÝÂê3:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMission3]]¤ò»²¾È¡£
**ôÅö¤·¤¿²Õ½ê [#h06a53a2]
ÈɤΥá¥ó¥Ð¡¼¤ÏRyoma¡¢Kawachan¡¢rayonne¡¢kk¤Î£´¿Í¤Ç¤¢¤ë¡£¤³¤ÎÈɤϥí¥Ü¥Ã¥È2Âæ¤ò¹çÂΤµ¤»¤º¤Ë¡¢´Ì¤òÀѤ߾夲¤ë¥í¥Ü¥Ã¥È¤È´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È¤òºî¤Ã¤¿¡£Ryoma¡¢Kawachan¤¬ÀѤ߾夲¤ë¥í¥Ü¥Ã¥È¤ò¡¢rayonne¡¢»ä¤¬±¿¤Ö¥í¥Ü¥Ã¥È¤òôÅö¤·¤¿¡£¤è¤Ã¤Æ¡¢¤³¤Î¥Ú¡¼¥¸¤Ç¤Ï¡¢´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤ÆÀâÌÀ¤¹¤ë¡£´Ì¤òÀѤ߾夲¤ë¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ¤Ï¡¢[[Ryoma:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMember%2FRyoma%2FMission3]]¡¢[[Kawachan:http://yakushi.shinshu-u.ac.jp/robotics/?cmd=edit&page=2017a%2FMember%2FKawachan%2FMission3&refer=2017a%2FMember]]¤ò»²¾È¡£
#ref(./ÀѤ߾夲¥í¥Ü¥Ã¥È.JPG,50%,ÀѤ߾夲¥í¥Ü¥Ã¥È);
ÀѤ߾夲¥í¥Ü¥Ã¥È
#ref(./»ý¤Á±¿¤Ó¥í¥Ü¥Ã¥È.png,50%,±¿ÈÂ¥í¥Ü¥Ã¥È);
±¿ÈÂ¥í¥Ü¥Ã¥È
*¥í¥Ü¥Ã¥È [#k57b7f1c]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ´Ì¤ò¼è¤ê¤Ë¹Ô¤¯¥í¥Ü¥Ã¥È¤Ç¤¢¤ë¡£²ÝÂê2¤Çºî¤Ã¤¿¥í¥Ü¥Ã¥È¤ò´ðËÜ·¿(¾Ü¤·¤¯¤Ï[[kk:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMember%2Fkk%2FMission2]])¤Ë¡¢´Ì¤ò¼è¤ë¥¢¡¼¥à¤ò¼è¤êÉÕ¤±¤¿¡£´Ì¤ò£±¤Ä¼è¤ë¤´¤È¤ËÃÏÅÀT¤Ë±¿¤Ö¤Î¤Ç¡¢¥¢¡¼¥à¤Ï´Ì£±¤Äʬ¤ÎÂ礭¤µ¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¤«¤Ê¤ê¥·¥ó¥×¥ë¤Ê¹½Â¤¤Ç¤¢¤ë¡£
#ref(./»ý¤Á±¿¤Ó¥í¥Ü¥Ã¥È.png,50%,±¿ÈÂ¥í¥Ü¥Ã¥È);
&br;
#ref(./»ý¤Á±¿¤Ó¥í¥Ü¥Ã¥È¡¡ÀµÌÌ.JPG,50%,±¿ÈÂ¥í¥Ü¥Ã¥ÈÀµÌÌ);
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ´Ì¤ò¼è¤ê¤Ë¹Ô¤¯¥í¥Ü¥Ã¥È¤Ç¤¢¤ë¡£²ÝÂê2¤Çºî¤Ã¤¿¥í¥Ü¥Ã¥È(¾Ü¤·¤¯¤Ï[[kk:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMember%2Fkk%2FMission2]])¤ò´ðËܤˡ¢´Ì¤ò¤¤¤ì¤ë¥¢¡¼¥à¤ò¼è¤êÉÕ¤±¤¿¡£´Ì¤ò£±¤Ä¼è¤ë¤´¤È¤ËÃÏÅÀT¤Ë±¿¤Ö¤Î¤Ç¡¢¥¢¡¼¥à¤Ï´Ì£±¤Äʬ¤ÎÂ礭¤µ¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¤È¤Æ¤â¥·¥ó¥×¥ë¤Ê¹½Â¤¤Ç¤¢¤ë¡£
*¥×¥í¥°¥é¥à [#m616e83c]
**Á´ÂÎŪ¤ÊÀâÌÀ [#u4c673a4]
±¿¤Ö´Ì¤ÏÃÏÅÀE¡¢ÃÏÅÀF¡¢EF´Ö¤Î¥«¡¼¥Ö¤Î3¤Ä¤Î¤ß¤Ç¤¢¤ë¡£Â¾¤Î´Ì¤Ï»þ´Ö¤¬Â­¤ê¤º¡¢Ãå¼ê¤Ç¤­¤Ê¤«¤Ã¤¿¡£¤Þ¤¿¡¢ÃÏÅÀT¤Î´Ì¤ÏÀѤ߾夲¥í¥Ü¥Ã¥È¤¬Æ°¤­½Ð¤¹¤È¤­¤Ë²¡¤·¤Î¤±¤é¤ì¤ÆÇÓ½ü¤µ¤ì¤ë¡£
&br;´ðËÜŪ¤Ë¤Ï¹õÀþ¤ò¥È¥ì¡¼¥¹¤·¤Æ´Ì¤ò±¿¤Ö¤¬¡¢ÅÓÃæ¤Ç¥È¥ì¡¼¥¹¤Ç¤Ï¤¦¤Þ¤¯´Ì¤ò¥¢¡¼¥à¤ËÆþ¤ì¤é¤ì¤Ê¤¤²Õ½ê¤ä¡¢ÃÏÅÀT¤Ë´Ì¤òÃÖ¤¯¤È¤­¤Ï¡¢¥È¥ì¡¼¥¹¤ò¤»¤º¤Ë¹õÀþ¤«¤é³°¤ì¤ÆÆ°¤¯¤³¤È¤â¤¢¤ë¡£¾Ü¤·¤¯¤Ï¥ë¡¼¥È¤Î¹àÌܤÇÀâÌÀ¤¹¤ë¡£
±¿¤Ö´Ì¤ÏE¡¢F¡¢EF´Ö¤Î¥«¡¼¥Ö¤Î3¤Ä¤Î¤ß¤Ç¤¢¤ë¡£Â¾¤Î´Ì¤Ï»þ´Ö¤¬Â­¤ê¤º¡¢Ãå¼ê¤Ç¤­¤Ê¤«¤Ã¤¿¡£¤Þ¤¿¡¢T¤Î´Ì¤ÏÀѤ߾夲¥í¥Ü¥Ã¥È¤¬Æ°¤­½Ð¤¹¤È¤­¤Ë²¡¤·¤Î¤±¤é¤ì¤ÆÇÓ½ü¤µ¤ì¤ë¡£
&br;´ðËÜŪ¤Ë¤Ï¹õÀþ¤ò¥È¥ì¡¼¥¹¤·¤Æ´Ì¤ò±¿¤Ö¤¬¡¢ÅÓÃæ¤Ç¥È¥ì¡¼¥¹¤Ç¤Ï¤¦¤Þ¤¯´Ì¤ò¥¢¡¼¥à¤ËÆþ¤ì¤é¤ì¤Ê¤¤²Õ½ê¤ä¡¢T¤Ë´Ì¤òÃÖ¤¯¤È¤­¤Ê¤É¤Ï¡¢¥È¥ì¡¼¥¹¤ò¤»¤º¤Ë¹õÀþ¤«¤é³°¤ì¤ÆÆ°¤¯¤³¤È¤â¤¢¤ë¡£¾Ü¤·¤¯¤Ï¥ë¡¼¥È¤Î¹àÌܤÇÀâÌÀ¤¹¤ë¡£
**¥ë¡¼¥È [#me834eb6]
ή¤ì¤Ï¡¢¥¹¥¿¡¼¥È-ÃÏÅÀE¤Î´Ì¤ò¼è¤ë-ÃÏÅÀT¤ËÃÖ¤¯-ÃÏÅÀF¤Î´Ì¤ò¼è¤ë-ÃÏÅÀT¤ËÃÖ¤¯-EF´Ö¤Î´Ì¤ò¼è¤ë-ÃÏÅÀT¤ËÃÖ¤¯¡¢¤Ç¤¢¤ë¡£ºÙ¤«¤¯¤ï¤±¤ÆÊÌ¡¹¤Ë¾Ü¤·¤¯ÀâÌÀ¤¹¤ë¡£
***¥¹¥¿¡¼¥È-ÃÏÅÀE¤Î´Ì¤ò¼è¤ë-ÃÏÅÀT¤ËÃÖ¤¯[#e8fab088]
¥¹¥¿¡¼¥È-ÃÏÅÀE-ÃÏÅÀP-ÃÏÅÀS-ÃÏÅÀR-ÃÏÅÀT¤ÎÌܤÎÁ° ¤ÈÆ°¤¯¡£ÃÏÅÀR¤Þ¤Ç¤Ï¹õÀþ¤ò¥È¥ì¡¼¥¹¤·¤Æ¡¢
±¿ÈÂ¥í¥Ü¥Ã¥È¤ÎÌòÌܤϴ̤òT¤Þ¤Ç±¿¤Ö¤³¤È¤Ç¤¢¤ë¡£´Ì¤òT¤Ë±¿¤ó¤Ç¤«¤éÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤òÁ÷¤ë¤È¡¢¤¢¤È¤ÏÀѤ߾夲¥í¥Ü¥Ã¥È¤¬´Ì¤ò²ó¼ý¤·¡¢ÀѤ߾夲¤ë¡£
´Ì¤òT¤Ë±¿¤Ö¥ë¡¼¥È¤Ï¡¢A-E¤Î´Ì¤ò¼è¤ë-T¤ËÃÖ¤¯-F¤Î´Ì¤ò¼è¤ë-T¤ËÃÖ¤¯-EF´Ö¤Î´Ì¤ò¼è¤ë-T¤ËÃÖ¤¯-¤·¤Ð¤é¤¯´Ì¤«¤éÎ¥¤ì¤ë-3ÃʤËÀѤ߾夲¤é¤ì¤¿´Ì¤ò¥´¡¼¥ë¤ÎÃæ¤ËÆþ¤ì¤ë-´Ì¤«¤éÎ¥¤ì¤ë¡¢¤Ç¤¢¤ë¡£ºÙ¤«¤¯¤ï¤±¤ÆÊÌ¡¹¤Ë¾Ü¤·¤¯ÀâÌÀ¤¹¤ë¡£²¼¿Þ¤ÎÀÖÀþ¤Ï¥È¥ì¡¼¥¹¤·¤ÆÆ°¤¯²Õ½ê¡¢ÎФϥȥ졼¥¹¤·¤Ê¤¤¤ÇÆ°¤¯²Õ½ê¤Ç¤¢¤ë¡£¥³¡¼¥¹¤Î²èÁü¤Ï[[²ÝÂê3:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMission3]]¤Î¤â¤Î¤ò»È¤Ã¤Æ¤¤¤ë¡£
***A-E¤Î´Ì¤ò¼è¤ë-T¤ËÃÖ¤¯[#e8fab088]
#ref(./start-t.JPG,50%,A-E-T);
A-E-P-S-R-T¤ÎÌܤÎÁ° ¤ÈÆ°¤¯¡£R¤Þ¤Ç¤Ï¹õÀþ¤ò¥È¥ì¡¼¥¹¤·¤Æ¡¢R¤«¤é¤ÏÉÿô¤ò»ØÄꤷ²óž¡¢Ä¾¿Ê¤¹¤ë¡£¤³¤ì¤Ï¡¢´Ì¤òT¤ËÃÖ¤¯¤¿¤á¤Ë¤Ï¡¢¥¢¡¼¥àÉôʬ¤ÎÂ礭¤µ¤ò¹Í¤¨¤Æµ¡ÂΤϸòº¹ÅÀ¤Î¼êÁ°¤Ç»ß¤Þ¤é¤Ê¤¤¤È¤¤¤±¤Ê¤¤¤¬¡¢»ä¤Îºî¤Ã¤¿¥×¥í¥°¥é¥à¤Ç¤Ïľ¿Ê¤ÎÅÓÃæ¤Ç¥È¥ì¡¼¥¹¤ò¤ä¤á¤ë¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤«¤é¤Ç¤¢¤ë¡£¤Ê¤Î¤Ç¡¢T¤Ë´Ì¤òÃÖ¤¯¤È¤­¤Ï¤¤¤Ä¤â¥È¥ì¡¼¥¹¤Ç¤Ï¤Ê¤¯ÉáÄ̤Ëľ¿Ê¤¹¤ë¡£¤Þ¤¿¡¢T¤Ë´Ì¤òÃÖ¤¤¤¿¤éÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤ò½Ð¤·¡¢ÀѤ߾夲¥í¥Ü¥Ã¥È¤ÏÆ°¤­½Ð¤¹¡£
***T-F¤Î´Ì¤ò¼è¤ë-T¤ËÃÖ¤¯ [#h81eaa77]
#ref(./f-t.JPG,50%,T-F-T);
´Ì¤òÃÖ¤¤¤¿¸å¡¢°ìÅ٥Х寤·¤ÆR¤ò±Û¤¨¤¿¤¢¤¿¤ê¤Þ¤Ç¹Ô¤¯¡£¤½¤Î¸åµ¡ÂΤÏÂ礭¤¯»þ·×²ó¤ê¤ò¤·¤Æ±ß¸ÌSR¤ò¸÷¥»¥ó¥µ¡¼¤Ç¸«¤Ä¤±½Ð¤¹¡£¤½¤³¤«¤é¥È¥ì¡¼¥¹¤ÇS-P¤ÈÆ°¤¤¤¿¤é¡¢P¤Ç¤·¤Ð¤é¤¯ÂÔµ¡¤·¡¢ÀѤ߾夲¥í¥Ü¥Ã¥È¤¬ºÇ½é¤Ë±¿¤ó¤À´Ì¤ò¤Ä¤«¤ß¥³¡¼¥¹¤«¤éÎ¥¤ì¤ë¤¿¤á¤Î»þ´Ö¤ò¤«¤»¤°¡£¤¢¤ëÄøÅÙÂÔµ¡¤·¤¿¤é¡¢F¤ÎÊý¸þ¤ò¸þ¤­¡¢Ä¾¿Ê¤·¤ÆF¤Î´Ì¤ò¼è¤ë¡£¤½¤Î¸å¡¢ºÆ¤Ó»þ·×²ó¤ê¤ò¤·¤Æ±ß¸ÌQR¤ò¸«¤Ä¤±¡¢¥È¥ì¡¼¥¹¤·¡¢R¤Ø¹Ô¤¯¡£R¤«¤é¤Ï°ì¤ÄÌܤδ̤ÈƱ¤¸Í×ÎΤÇT¤Ë´Ì¤òÃÖ¤¯¡£
&br;P¤«¤éF¤ËľÀþ¤Ç¸þ¤«¤¦¤Î¤Ï¡¢P-Q-F¤È¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¯¤ÈQ¤«¤éF¤ÎÊý¸þ¤ò¸þ¤¯¤È¤­¤Ë¥¢¡¼¥à¤¬´Ì¤Ë¤¢¤¿¤ê¡¢´Ì¤òÃƤ­Èô¤Ð¤·¤Æ¤·¤Þ¤¦¤«¤é¤Ç¤¢¤ë¡£
***T-EF´Ö¤Î´Ì¤ò¼è¤ë-T¤ËÃÖ¤¯ [#l46bbe24]
#ref(./ef-t.JPG,50%,T-EF-T);
Ʊ¤¸¤è¤¦¤Ë¥Ð¥Ã¥¯¡¢»þ·×²ó¤ê¤Ç±ß¸ÌSR¤ò¸«¤Ä¤±¤ë¡£¤½¤³¤«¤éS-P-E-EF´Ö¤Ç´Ì¤ò¼è¤ë-F-Q-P-S-R¤È¥È¥ì¡¼¥¹¤·Â³¤±¤ë¡£¤¿¤À¤·¡¢P¤Ç°ìÅٻߤޤäÆÀѤ߾夲¥í¥Ü¥Ã¥È¤¬»Å»ö¤ò¤¹¤ë»þ´Ö¤ò²Ô¤°¡£¤½¤·¤Æ¡¢R¤Þ¤ÇÍ褿¤é¤Þ¤¿Æ±¤¸Í×ÎΤǴ̤òT¤Þ¤Ç±¿¤Ö¡£
&br;EF´Ö¤Î´Ì¤Ï¹õÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¯¤È¼«Æ°Åª¤Ë¥¢¡¼¥à¤Ë¼ý¤Þ¤ë¡£
&br;¤Þ¤¿¡¢Q¤ËÃ夤¤¿¸å¤ËQ-R¤È¸þ¤«¤ï¤º¤ËQ-P-S-R¤È±ó²ó¤ê¤¹¤ë¤Î¤Ï¡¢F-Q¤ÏÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤Æ¡¢Àþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤ë¤È¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¤È¤­¤Ëµ¡ÂΤ¬¾¯¤·±¦¤Ë¶Ê¤¬¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¸òº¹ÅÀ¤òº¸¤Ë¶Ê¤¬¤ë¥×¥í¥°¥é¥à¤òºî¤ë¤è¤ê¤â¡¢¤½¤Î¤Þ¤Þ±¦¤Ë¶Ê¤¬¤ë¤Û¤¦¤¬´Êñ¤À¤Ã¤¿¤«¤é¤Ç¤¢¤ë¡£
***T-°ìÅÙÎ¥¤ì¤ë-¥´¡¼¥ë¤Ë´Ì¤ò²¡¤·¹þ¤à [#kf3efc98]
#ref(./end.JPG,50%,end);
£³¤ÄÌܤδ̤òT¤Ë±¿¤ó¤À¤¢¤È¡¢ÀѤ߾夲¥í¥Ü¥Ã¥È¤¬ºî¶È¤¹¤ë´Ö¤Ï±¿ÈÂ¥í¥Ü¥Ã¥È¤ÏT¤«¤éÎ¥¤ì¤Æ¤¤¤Ê¤¤¤È¤¤¤±¤Ê¤¤¡£¤Þ¤¿¡¢ÀѤߤ¢¤¬¤Ã¤¿´Ì¤¬¥´¡¼¥ë¤Î±ß¤è¤êR¦¤Ë¤Ê¤Ã¤Æ¡¢¥´¡¼¥ë¤Ë¤­¤Á¤ó¤ÈÆþ¤Ã¤Æ¤¤¤Ê¤¤¤³¤È¤¬¤¢¤ë¡£¤è¤Ã¤Æ¡¢Æ±¤¸Íͤ˥Х寡¢»þ·×²ó¤ê¤Ç±ß¸ÌPS¤ò¸«¤Ä¤±¡¢S-P¤È¥È¥ì¡¼¥¹¤·¤ÆÂÔµ¡¤·ÀѤ߾夲¥í¥Ü¥Ã¥È¤¬´Ì¤òÀѤ߾夲¤ë¤Î¤òÂԤġ£ÂÔµ¡¤·½ª¤ï¤Ã¤¿¤éP-Q-R-T¤È¥È¥ì¡¼¥¹¤·¡¢R-T´Ö¤ÇÀѤߤ¢¤¬¤Ã¤¿´Ì¤ò¼è¤ë(ÂçÄñ¤Î¾ì¹ç¤Ï¤­¤Á¤ó¤È¥¢¡¼¥à¤Ë¤Ï¤¤¤ë)¡£¤³¤Î¤È¤­¡¢º¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤ë¤Î¤Ç¡¢T¤Ç¸òº¹ÅÀ¤ÈȽÃǤ·¤ÆÄä»ß¤¹¤ë¤È¤­¡¢¾¯¤·º¸¤Ë¶Ê¤¬¤Ã¤Æ¤«¤éÄä»ß¤¹¤ë¡£¤³¤ÎÆ°ºî¤Ç´Ì¤ò¥´¡¼¥ë¤Ë¤¤¤ì¤ë¡£ºÇ¸å¤Ë¥Ð¥Ã¥¯¤·¤Æ´Ì¤«¤éÎ¥¤ì¤Æ½ªÎ»¤¹¤ë¡£
**¥×¥í¥°¥é¥à [#j635eab0]
*Áíɾ [#n4eb9d8d]
»þ´Ö¤¬Â­¤ê¤º¡¢ºÇ¸å¤ËÄ´À°¤äÊѹ¹¤·¤¿²Õ½ê¤Î¥×¥í¥°¥é¥à¤¬À°Íý¤µ¤ì¤Æ¤¤¤Ê¤¤¡£¥µ¥Ö¥ë¡¼¥Á¥ó¤ò»È¤¨¤Ð´Êñ¤Ë¤Ç¤­¤ë¤È¤³¤í¤ò²¿ÅÙ¤â½ñ¤¤¤Æ¤¤¤¿¤ê¤·¤Æ¸«¤Ë¤¯¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤¤¤ë¡£
&br;
&br;¤Þ¤º¡¢ÄêµÁ¡¢ÊÑ¿ô¤ò½ñ¤¯¡£
    #define CONN 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀѤ߾夲¥í¥Ü¥Ã¥È¤È¤ÎÀܳÈÖ¹æ
    int a;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥È¥ì¡¼¥¹¤·¤Æ¸òº¹ÅÀȽÃǤ˻Ȥ¦
    long t;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//»þ´Ö¤ò¬¤ë¤¿¤á¤Ë»È¤¦
¼¡¤Ë¥µ¥Ö¥ë¡¼¥Á¥ó¤ò½ñ¤¯¡£
&br;­¡¤­¤Á¤ó¤ÈÆ°¤¤¤Æ¤¤¤ë¤«¤ò³Îǧ¤¹¤ë¤¿¤á¤Ë²»¤òÌĤ餹¡£
    sub sound_up()                        //SOUND_UP¤òÌĤ餹¡£
    {    
	    PlaySound(SOUND_UP);
    }
­¢¹õÀþ¤Î±¦Â¦¡¢º¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¡£´ðËܤθòº¹ÅÀ¤ÎȽÊÌÊýË¡¤Ï[[²ÝÂê2:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMember%2Fkk%2FMission2]]¤Î¤â¤Î¤È°ì½ï¤Ç¤¢¤ë¤¬¡¢²ÝÂê2¤Î¥×¥í¥°¥é¥à¤¬½ÐÍè¤Î°­¤¤¤â¤Î¤À¤Ã¤¿¤Î¤Ç¡¢º£²ó¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤Î½ñ¤­Êý¤òÊѹ¹¤·¤Æ¤¤¤ë¡£°ú¿ô£øÉðÊÆâ¤Ê¤é¥È¥ì¡¼¥¹¤Ï½ªÎ»¤·¤Ê¤¤¤¬¡¢£øÉäò±Û¤¨¤Æ¤«¤éµ¡ÂΤ¬µÞ³ÑÅ٤Ƕʤ¬¤ë¤Èµ¡ÂΤÏÄä»ß¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£
    sub migi_susumu(int x)                    //¹õÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¡£x¤Ï½Ðȯ¤¹¤ë¸òº¹ÅÀ¤Î¶Ê¤¬¤ê»Ï¤á¤ä¸íǧ¤·¤ä¤¹¤¤¥«¡¼¥Ö¤òĶ¤¨¤ëÂçÂΤÎÉÿô¤òÆþ¤ì¤ë¡£ 
    {
        t=CurrentTick();
        while(CurrentTick()-t<x){
            a=0;
            while(a<=3){
                if(SENSOR_1>=55){            //º¸
                    OnFwd(OUT_A,30);
                    OnRev(OUT_C,30);
                }else if(SENSOR_1>
                    OnFwd(OUT_A,30);
                    Off(OUT_C);
                }else if(SENSOR_1>=45){
                    OnFwd(OUT_C,30);
                    Off(OUT_A);
                }else{                    //±¦
                    OnFwd(OUT_C,30);
                    OnRev(OUT_A,30);
                    a=a+1;
                }
            } 
        }
    sound_up();
    }
    
    sub hidari_susumu(int y)                    //¹õÀþ¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¡£y¤Ï¾å¤Îx¤ÈƱ¤¸¡£
    {
        t=CurrentTick();
        while(CurrentTick()-t<y){
            a=0;
            while(a<=3){
                if(SENSOR_1>=55){            //±¦
                    OnFwd(OUT_C,30);
                    OnRev(OUT_A,30);
                }else if(SENSOR_1>=50){
                    OnFwd(OUT_C,30);
                    Off(OUT_A);
                }else if(SENSOR_1>=45){
                    OnFwd(OUT_A,30);
                    Off(OUT_C);
                }else{                    //º¸
                    OnFwd(OUT_A,30);
                    OnRev(OUT_C,30);
                    a=a+1;
                }
            }
        }
        sound_up();
    }
­£µ¡ÂΤϸòº¹ÅÀ¤òǧ¼±¤·¤Æ»ß¤Þ¤ë¤È¤­¡¢¾¯¤·¶Ê¤¬¤Ã¤Æ¤«¤éÄä»ß¤¹¤ë¤¿¤á¡¢¸òº¹ÅÀ¤òľ¿Ê¤·¤¿¤¤¤È¤­¤Ïµ¡ÂΤγÑÅÙ¤òÄ´À°¡¢¹Ô¤­¤¿¤¤Àþ¾å¤Ë»ý¤Ã¤Æ¤¤¤¯¡£
    sub chousei()                    //¹õÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¿¤È¤­¤Ë»È¤¦
    {
        OnFwd(OUT_A,35);¡¡¡¡¡¡¡¡¡¡¡¡ //Á°¤ò¸þ¤¯
        OnRev(OUT_C,35);
        Wait(600);
        OnFwd(OUT_AC,30);¡¡¡¡¡¡¡¡¡¡  //¸òº¹ÅÀ¤ò±Û¤¨¤ë
        Wait(400);
    }
    
    sub chousei_2()  ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õÀþ¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¿¤È¤­¤Ë»È¤¦¡£¤ä¤Ã¤Æ¤¤¤ë¤³¤È¤Ïchousei()¤ÈƱ¤¸
    {
        OnFwd(OUT_C,30);
        OnRev(OUT_A,30);
        Wait(750);
        OnFwd(OUT_AC,30);
        Wait(500);
    }
­¤S(Q)¦¤«¤éR¤ËÍ褿µ¡ÂΤòT¤ÎÁ°¤ÇÄä»ß¤µ¤»¤ë¡£
    sub s_t()                    //S¦¤«¤éR¤ËÍ褿µ¡ÂΤòT¤ÎÁ°¤ÇÄä»ß¤µ¤»¤ë¡£   
    {
        OnFwd(OUT_C,20);¡¡¡¡¡¡¡¡ //T¤ò¸þ¤¯
        OnFwd(OUT_A,10);
        Wait(600);
        OnFwd(OUT_AC,30);
        Wait(950);
        Off(OUT_AC);
        Wait(400);
        sound_up();
    } 
    
    sub q_t()                    //Q¦¤«¤éR¤ËÍ褿µ¡ÂΤòT¤ÎÁ°¤ÇÄä»ß¤µ¤»¤ë¡£
    {
        OnRev(OUT_A,15);¡¡¡¡¡¡¡¡ //T¤ò¸þ¤¯
        OnFwd(OUT_C,40);
        Wait(230);
        OnFwd(OUT_AC,30);
        Wait(600);
        sound_up();
    }
­¥T¤Ë´Ì¤òÃÖ¤¤¤¿¸å¡¢¸åÂष¤ÆÀû²ó¡¢±ß¸ÌSR¤ò¸«¤Ä¤±½Ð¤·¡¢S¤Þ¤Ç¿Ê¤à¡£
    sub hukki_s()                    
    {
        OnRev(OUT_AC,40);
        Wait(950);
        OnFwd(OUT_C,35);¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤Î´Ö¤ËľÀþRT¤ò±Û¤¨¡¢¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Ê¤¤¤è¤¦¤Ë¤¹¤ë
        OnRev(OUT_A,10);
        Wait(1000);
        while(SENSOR_1>=50){¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æ¡¢¹õÀþ(±ß¸ÌSR)¤¬¤¯¤ë¤Þ¤ÇÀû²ó¤·Â³¤±¤ë¡£
            OnFwd(OUT_C,30);
            OnRev(OUT_A,10);
        }
        Off(OUT_AC);
        hidari_susumu(1000);¡¡¡¡¡¡¡¡//S¤Þ¤Ç¥È¥ì¡¼¥¹¤¹¤ë
        sound_up();
    }
­¦ÃÏÅÀF¤Î´Ì¤ò¼è¤Ã¤¿¸å¡¢Àû²ó¤·¤Æ±ß¸ÌQR¤ò¸«¤Ä¤±½Ð¤·¡¢ÃÏÅÀR¤Þ¤Ç¿Ê¤à¡£
    sub hukki_r()                    
    {
        OnFwd(OUT_C,30);            //¤³¤Î´Ö¤ËľÀþEF¤ò±Û¤¨¡¢¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Ê¤¤¤è¤¦¤Ë¤¹¤ë
        OnRev(OUT_A,10);
        Wait(3000);
        while(SENSOR_1>=50){        //¸÷¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æ¡¢¹õÀþ(±ß¸ÌQR)¤¬¤¯¤ë¤Þ¤ÇÀû²ó¤·Â³¤±¤ë¡£
            OnFwd(OUT_C,30);
            OnRev(OUT_A,10);
        }
        Off(OUT_AC);
        hidari_susumu(1500);         //R¤Þ¤Ç¥È¥ì¡¼¥¹¤¹¤ë
        sound_up();
    }
task main()¤ò½ñ¤¯
    task main()
    {
        SetSensorLight(S1);
        OnFwd(OUT_AC,30);             //A¤«¤é½Ð¤ë¤¿¤á¾¯¤·Ä¾¿Ê¤¹¤ë
        Wait(600);
        migi_susumu(1500);            //ÃÏÅÀE¡¢´Ì¤ò¼è¤ë
        migi_susumu(1500);            //ÃÏÅÀP
        migi_susumu(1500);            //ÃÏÅÀS
        chousei();
        migi_susumu(2000);            //ÃÏÅÀR
        s_t();                        //ÃÏÅÀT¤Ë´Ì¤òÃÖ¤¯
        RemoteStartProgram(CONN,"taiki.rxe");     //ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤òÁ÷¤ë¡£¤³¤ÎÉôʬ¤ò¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤·¤Æ¤ª¤¯¤ÈÊØÍø¤À¤Ã¤¿¡£
        hukki_s();                    //ÃÏÅÀS
        chousei_2();
        hidari_susumu(2000);          //ÃÏÅÀP
        Off(OUT_AC);                ¡¡//¥Ö¥ì¤ò¤Ê¤¯¤¹¤¿¤á¤Ë¥â¡¼¥¿¡¼¤Î²óž¤ò»ß¤á¤ë¡¢¤Þ¤¿¤·¤Ð¤é¤¯ÂÔµ¡¤¹¤ë
        Wait(20000);
        OnFwd(OUT_C,30);            ¡¡//ÃÏÅÀF¤ÎÊý¸þ¤Ø¸þ¤­¡¢¤Þ¤Ã¤¹¤°¿Ê¤à
        OnRev(OUT_A,30);
        Wait(900);
        OnFwd(OUT_AC,30);
        Wait(1900);
        sound_up();              ¡¡   //F¤Î´Ì¤ò¼è¤Ã¤¿¹ç¿Þ
        hukki_r();                    //ÃÏÅÀR
        q_t();                        //ÃÏÅÀT¤Ë´Ì¤òÃÖ¤¯
        OnRev(OUT_A,10);
        RemoteStartProgram(CONN,"tumu.rxe");    //ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤òÁ÷¤ë¤Ë¹ç¿Þ¤òÁ÷¤ë
        hukki_s();                    //ÃÏÅÀS
        chousei_2();
        hidari_susumu(2000);          //ÃÏÅÀP
        OnFwd(OUT_AC,30);             //µ¡ÂΤò¹õÀþ¤Îº¸Â¦¤«¤é±¦Â¦¤ËÊѤ¨¤ë
        Wait(600);
        Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔµ¡
        Wait(15000);
        migi_susumu(1500);            //ÃÏÅÀE
        migi_susumu(28000);           //ÃÏÅÀQ
        migi_susumu(1500);            //ÃÏÅÀP
        chousei();
        migi_susumu(2000);            //ÃÏÅÀS
        chousei();
        migi_susumu(2000);            //ÃÏÅÀR
        s_t();                        //ÃÏÅÀT¤Ë´Ì¤òÃÖ¤¯
        OnFwd(OUT_A,30);              //ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ï´Ì¤òÀѤà°ÌÃÖ¤¬´Ì¤òÃÖ¤¤¤¿°ÌÃÖ¤è¤ê¤âÁ°¤Ë¤Ê¤ë¡£¤¢¤Þ¤ê¤ËÁ°¤Ë¿Ê¤ó¤Ç¤·¤Þ¤¦¤È¡¢¥´¡¼¥ë¤«¤é³°¤ì¤¿°ÌÃ֤˴̤òÀѤ߾夲¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¾¯¤·¤À¤±´Ì¤òT¤è¤ê¤âÁ°¿Ê¤µ¤»¤ë¡£
        OnFwd(OUT_C,35);
        Wait(500);
        RemoteStartProgram(CONN,"tumu2.rxe");¡¡¡¡//ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤òÁ÷¤ë
        OnRev(OUT_AC,30);             //T¤è¤ê¤âÁ°¿Ê¤·¤¿Ê¬¡¢¸åÂह¤ë
        Wait(500);
        hukki_s();                    //ÃÏÅÀS
        chousei_2();
        hidari_susumu(2000);          //ÃÏÅÀP
        chousei_2();
        hidari_susumu(2000);        ¡¡//ÃÏÅÀQ
        chousei_2();
        Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔµ¡
        Wait(15000);
        hidari_susumu(2000);          //ÃÏÅÀR
        hidari_susumu(1500);¡¡¡¡¡¡¡¡¡¡//ÃÏÅÀT
        Off(OUT_AC);
        OnRev(OUT_AC,30);¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤«¤éÎ¥¤ì¤ë
        Wait(1500);
    }
*¥í¥Ü¥³¥ó·ë²Ì¤ÈÁíɾ [#n4eb9d8d]
¥í¥Ü¥³¥ó¤Ç¤Ï¡¢µ¡ÂΡ¢¥×¥í¥°¥é¥à¤È¤â¤Ë¤¦¤Þ¤¯Æ°¤­¡¢Í½Äꤷ¤Æ¤¤¤¿¹ÔÆ°¤Ï¤¹¤Ù¤Æ¤È¤ë¤³¤È¤¬¤Ç¤­¤¿¡£¤è¤Ã¤Æ¡¢¹ç·×¤Ç18ÅÀ¤ò³ÍÆÀ¤Ç¤­¡¢¸«»öÍ¥¾¡¤·¤¿¡£¤³¤ó¤Ê¤Ë¤¦¤Þ¤¯¥×¥í¥°¥é¥à¤¬Æ°¤¯¤³¤È¤¬Îý½¬¤Ç¤Ï¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢ÀµÄ¾¤Ó¤Ã¤¯¤ê¤·¤Æ¤¤¤ë¡£¤·¤«¤·¡¢ËÜÈÖ¤ÎÄ«¤ËÅÅÃÓ¤òÊѤ¨¤¿¤³¤È¤Ë¤è¤Ã¤Æ¤¦¤Þ¤¯Æ°¤«¤Ê¤¯¤Ê¤Ã¤¿¤ê¤ÈÂçÊѤÀ¤Ã¤¿¡£
&br;º£²ó¤Î²ÝÂê¤Ç¤Ï¡¢ºÇ½é¤Ï2¿Í¤º¤Ä¤Ëʬ¤«¤ì¤Æºî¶È¤·¤Æ¤¤¤¿¤Î¤Ç¡¢¸Ä¡¹¤Îµ¡ÂΤϤ·¤Ã¤«¤êÆ°¤¤¤Æ¤â¡¢¤¦¤Þ¤¯Ï¢·È¤µ¤»¤ë¤³¤È¤¬Æñ¤·¤«¤Ã¤¿(¥í¥Ü¥Ã¥ÈƱ»Î¤¬¤Ö¤Ä¤«¤ë¤Ê¤É)¡£Ê¬¤«¤ì¤Æºî¶È¤¹¤ë¤Ë¤·¤Æ¤â¡¢Äê´üŪ¤ËÏ¢·È¤µ¤»¤Æ¤¤¤ì¤Ð¡¢ËÜÈÖľÁ°¤Ë¥×¥í¥°¥é¥à¤òÊѹ¹¤·¤¿¤ê¤·¤Ê¤¯¤Æ¤â¥¹¥à¡¼¥º¤ËÆ°¤«¤»¤¿¤«¤â¤·¤ì¤Ê¤¤¡£


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