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//¥ß¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä PlayTone(DO_H,90);Wait(100); //¹â¤¤¥É¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä PlayTone(MI_H,90);Wait(100); //¹â¤¤¥ß¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä PlayTone(DO_H,90);Wait(100); //¹â¤¤¥É¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä } sub one_UP_SE() { PlayTone(MI,110);Wait(120); //¥ß¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä PlayTone(SO_H,110);Wait(120); //¹â¤¤¥½¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä PlayTone(MI_H,110);Wait(120); //¹â¤¤¥ß¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä PlayTone(DO_H,110);Wait(120); //¹â¤¤¥É¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä PlayTone(RE,110);Wait(120); //¥ì¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä PlayTone(SO_SH,110);Wait(120); //¹â¤¤¥½¤Î¥·¥ã¡¼¥×¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä } sub coin_SE() { PlayTone(SI,90);Wait(100); //¥·¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä PlayTone(MI_H,140);Wait(150); //¹â¤¤¥ß¤ò0.14ÉÃÌĤ餷0.15ÉôÖÂÔ¤Ä } sub Start_SE() { PlayTone(MI,100);Wait(110); //¥ß¤ò0.1ÉÃÌĤ餷0.11ÉôÖÂÔ¤Ä PlayTone(MI,100);Wait(250); //¥ß¤ò0.1ÉÃÌĤ餷0.25ÉôÖÂÔ¤Ä PlayTone(MI,100);Wait(160); //¥ß¤ò0.1ÉÃÌĤ餷0.16ÉôÖÂÔ¤Ä PlayTone(DO,90);Wait(100); //¥É¤ò0.09ÉÃÌĤ餷0.1ÉôÖÂÔ¤Ä PlayTone(MI,90);Wait(230); //¥ß¤ò0.11ÉÃÌĤ餷0.12ÉôÖÂÔ¤Ä PlayTone(SO_H,90);Wait(420); //¹â¤¤¥½¤ò0.09ÉÃÌĤ餷0.42ÉôÖÂÔ¤Ä PlayTone(SO,170);Wait(180); //¥½¤ò0.17ÉÃÌĤ餷0.18ÉôÖÂÔ¤Ä } ***°ÜÆ°´ØÏ¢ [#td2ff648] #define average 45 //¸÷¥»¥ó¥µ¡¼¤ÎÃͤδð½à #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //±¦¤Î¥¿¥¤¥ä¤òÁ°¤Ë40¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë35¤Î¶¯¤µ¤ÇÆ°¤«¤¹ #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //±¦¤Î¥¿¥¤¥ä¤òÁ°¤Ë30¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë20¤Î¶¯¤µ¤ÇÆ°¤«¤¹ #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //±¦¤Î¥¿¥¤¥ä¤òÁ°¤Ë54¡¢º¸¤Î¥¿¥¤¥ä¤òÁ°¤Ë54¤Î¶¯¤µ¤ÇÆ°¤«¤¹ #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //º¸¤Î¥¿¥¤¥ä¤òÁ°¤Ë30¡¢±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë20¤Î¶¯¤µ¤ÇÆ°¤«¤¹ #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //º¸¤Î¥¿¥¤¥ä¤òÁ°¤Ë40¡¢±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë35¤Î¶¯¤µ¤ÇÆ°¤«¤¹ #define reverse_move1 OnFwd(OUT_A,-10);OnFwd(OUT_B,-30); //±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë10¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë30¤Î¶¯¤µ¤ÇÆ°¤«¤¹ #define reverse_move2 OnFwd(OUT_A,-54);OnFwd(OUT_B,-50); //±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë54¡¢º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë50¤Î¶¯¤µ¤ÇÆ°¤«¤¹ #define reverse_move3 OnFwd(OUT_B,-10);OnFwd(OUT_A,-30); //º¸¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë10¡¢±¦¤Î¥¿¥¤¥ä¤ò¸å¤í¤Ë30¤Î¶¯¤µ¤ÇÆ°¤«¤¹ sub Stop_Motion() { Wait(300); //0.3ÉÃÂÔ¤Ä pose_SE(); //¥µ¥Ö´Ø¿ôpose_SE()¤ò¸Æ¤Ó½Ð¤¹ Wait(1000); //1ÉÃÂÔ¤Ä } sub L_Assist_line(int Assist_time) { long ta=CurrentTick(); //»þ´Ö¤ò¬Äê while (CurrentTick()-ta<=Assist_time){ //¬Äê»þ´Ö¤¬Assist_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹ if (SENSOR_2<average-11) { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤ move1; //move1¤ò¸Æ¤Ó½Ð¤¹ }else if (SENSOR_2<average-7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤ move2; //move2¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average+7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤ move3; //move3¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average+11){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤ move4; //move4¤ò¸Æ¤Ó½Ð¤¹ } else { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤ move5; //move5¤ò¸Æ¤Ó½Ð¤¹ } } coin_SE(); //¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹ } sub R_Assist_line(int Assist_time) { long tb=CurrentTick(); //»þ´Ö¤ò¬Äê while (CurrentTick()-tb<=Assist_time){ //¬Äê»þ´Ö¤¬Assist_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹ if (SENSOR_2<average-11) { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤ move5; //move5¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average-7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤ move4; //move4¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average+7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤ move3; //move3¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average+11){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤ move2; //move2¤ò¸Æ¤Ó½Ð¤¹ } else { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤ move1; //move1¤ò¸Æ¤Ó½Ð¤¹ } } coin_SE(); //¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹ } sub L_line(int Assist_time,int Stop_time) { L_Assist_line(Assist_time); //¥µ¥Ö´Ø¿ôL_Assist_line(int Assist_time)¤ò¸Æ¤Ó½Ð¤¹ long t1=CurrentTick(); //»þ´Ö¤ò¬Äê while (CurrentTick()-t1<=Stop_time){ //¬Äê»þ´Ö¤¬Stop_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹ if (SENSOR_2<average-11) { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤ move1; //move1¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average-7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤ move2; //move2¤ò¸Æ¤Ó½Ð¤¹ t1=CurrentTick(); //»þ´Ö¤ò½é´ü²½ } else if (SENSOR_2<average+7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤ move3; //move3¤ò¸Æ¤Ó½Ð¤¹ t1=CurrentTick(); //»þ´Ö¤ò½é´ü²½ } else if (SENSOR_2<average+11){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤ move4; //move4¤ò¸Æ¤Ó½Ð¤¹ t1=CurrentTick(); //»þ´Ö¤ò½é´ü²½ } else { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤ move5; //move5¤ò¸Æ¤Ó½Ð¤¹ t1=CurrentTick(); //»þ´Ö¤ò½é´ü²½ } } Off(OUT_AB); //Ää»ß coin_SE(); //¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹ } sub R_line(int Assist_time,int Stop_time) { R_Assist_line(Assist_time); //¥µ¥Ö´Ø¿ôR_Assist_line(int Assist_time)¤ò¸Æ¤Ó½Ð¤¹ long t2=CurrentTick(); //»þ´Ö¤ò¬Äê while(CurrentTick()-t2<=Stop_time){ //¬Äê»þ´Ö¤¬Stop_time°Ê²¼¤Î´Ö·«¤êÊÖ¤¹ if(SENSOR_2<average-11) { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-11)̤Ëþ¤Î¤È¤ move5; //move5¤ò¸Æ¤Ó½Ð¤¹ }else if (SENSOR_2<average-8){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-8)̤Ëþ¤Î¤È¤ move4; //move4¤ò¸Æ¤Ó½Ð¤¹ t2=CurrentTick(); //»þ´Ö¤ò½é´ü²½ }else if (SENSOR_2<average+6){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+6)̤Ëþ¤Î¤È¤ move3; //move3¤ò¸Æ¤Ó½Ð¤¹ t2=CurrentTick(); //»þ´Ö¤ò½é´ü²½ }else if (SENSOR_2<average+11){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)̤Ëþ¤Î¤È¤ move2; //move2¤ò¸Æ¤Ó½Ð¤¹ t2=CurrentTick(); //»þ´Ö¤ò½é´ü²½ } else { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+11)°Ê¾å¤Î¤È¤ move1; //move1¤ò¸Æ¤Ó½Ð¤¹ t2=CurrentTick(); //»þ´Ö¤ò½é´ü²½ } } Off(OUT_AB); //Ää»ß coin_SE(); ¥µ¥Ö´Ø¿ôcoin_SE()¤ò¸Æ¤Ó½Ð¤¹ } sub White_to_Black(int blight,int A_speed,int B_speed) { while (SENSOR_2>blight)[ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬blight¤è¤êÂ礤¤´Ö·«¤êÊÖ¤¹ OnFwd(OUT_A,A_speed); //±¦¤òA_speed¤ÇÆ°¤«¤¹ OnFwd(OUT_B,B_speed); //º¸¤òB_speed¤ÇÆ°¤«¤¹ } Off(OUT_AB); //Ää»ß } sub Black_to_White(int blight,int A_speed,int B_speed) { while (SENSOR_2<blight){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬blight̤Ëþ¤Î´Ö·«¤êÊÖ¤¹ OnFwd(OUT_A,A_speed); //±¦¤òA_speed¤ÇÆ°¤«¤¹ OnFwd(OUT_B,B_speed); //º¸¤òB_speed¤ÇÆ°¤«¤¹ } Off(OUT_AB); //Ää»ß } sub reverse_R_Assist_line(int Assist_time) { long tc=CurrentTick(); //»þ´Ö¤ò¬Äê while (CurrentTick()-tc<=Assist_time){ //¬Äê»þ´Ö¤¬Assist_time°Ê²¼¤Î¤È¤ if (SENSOR_2<average-7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤ reverse_move3; //reverse_move3¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average+7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤ reverse_move2; //reverse_move2¤ò¸Æ¤Ó½Ð¤¹ } else { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)°Ê¾å¤Î¤È¤ reverse_move1; //reverse_move1¤ò¸Æ¤Ó½Ð¤¹ } } } sub reverse_R_line(int Assist_time,int Stop_time) { reverse_R_Assist_line(Assist_time); long t3=CurrentTick(); //»þ´Ö¤ò¬Äê while (CurrentTick()-t3<=Stop_time){ //¬Äê»þ´Ö¤¬Stop_time°Ê²¼¤Î¤È¤ if (SENSOR_2<average-7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ-7)̤Ëþ¤Î¤È¤ reverse_move3; //reverse_move3¤ò¸Æ¤Ó½Ð¤¹ } else if (SENSOR_2<average+7){ //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)̤Ëþ¤Î¤È¤ reverse_move2; //reverse_move2¤ò¸Æ¤Ó½Ð¤¹ t3=CurrentTick(); //»þ´Ö¤ò½é´ü²½ } else { //¸÷¥»¥ó¥µ¡¼¤¬ÆÀ¤¿Ãͤ¬(´ð½àÃÍ+7)°Ê¾å¤Î¤È¤ reverse_move1; //reverse_move1¤ò¸Æ¤Ó½Ð¤¹ } } Off(OUT_AB); Ää»ß } sub reverse_Start_Set() { reverse_move2; //reverse_move2¤ò¸Æ¤Ó½Ð¤¹ Start_SE(); //¥µ¥Ö´Ø¿ôStart_SE()¤ò¸Æ¤Ó½Ð¤¹ Wait(2000); //2ÉôÖÂÔ¤Ä White_to_Black(48,20,35);¡¡ //¥µ¥Ö´Ø¿ôWhite_to_Black¤Ë¿ôÃͤòÂåÆþ¤·¤Æ¸Æ¤Ó½Ð¤¹ } ***¥³¥Ã¥×´ØÏ¢ [#q1feb784] #define FAST 50 //¥â¡¼¥¿¡¼¤Î¶¯¤µ¤ÎÄêµÁ(¶¯) #define SLOW 30 //¥â¡¼¥¿¡¼¤Î¶¯¤µ¤ÎÄêµÁ(¼å) #define CONN 1 //ÄÌ¿®¤ÎÀܳÈÖ¹æ #define SIGNALON1 11 //ÄÌ¿®ÍѤΥá¥Ã¥»¡¼¥¸1 #define SIGNALON2 12 //ÄÌ¿®ÍѤΥá¥Ã¥»¡¼¥¸2 int d; //d¤òÀ°¿ô¤È¤¹¤ë const float diameter=5.45; //diameter¤òÄê¿ô5.45¤È¤¹¤ë¡£¤³¤ì¤Ï¥¿¥¤¥ä¤Îľ·Â¤Ç¤¢¤ë const float tread=11.3; //tread¤òÄê¿ô11.3¤È¤¹¤ë¡£¤³¤ì¤Ï¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý¤Ç¤¢¤ë¡£ const float pi=3.1415; //pi¤òÄê¿ô3.1415¤È¤¹¤ë¡£¤³¤ì¤Ï±ß¼þΨ¤Ç¤¢¤ë¡£ ¤³¤³¤Þ¤ÇÄêµÁ¤Ç¤¢¤ë¡£ sub keep_cop() //¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤¿¤Þ¤Þ°Ý»ý¤¹¤ë { ResetTachoCount(OUT_C); //¥¢¡¼¥à¤Î²óž³Ñ¤ò¥ê¥»¥Ã¥È RotateMotor(OUT_C,-SLOW,50); //¥â¡¼¥¿¡¼¤ò¶¯¤µSLOW¤Ç50Åٲ󞤵¤»¥¢¡¼¥à¤ò»ý¤Á¾å¤²¤ë OnFwd(OUT_C,-20); //¥¢¡¼¥à¤ò¶¯¤µ20¤Ç»ý¤Á¾å¤²¤ëÊý¸þ¤ËÆ°¤«¤·Â³¤±¤ë } ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤¿¤Þ¤Þ°Ý»ý¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£Ï¢Â³¤Ç»î¹Ô¤·¤¿¤È¤¤Ï²¿ÅÙ¤«¥¢¡¼¥à¤¬²õ¤ì¤¿¡Ê¾¯¤·ÌµÍý¤ËÆ°¤«¤·Â³¤±¤ë¤¿¤á¡Ë¡£ sub fwdDist(float d) //µ÷Î¥dcmÁ°¿Ê¤µ¤»¤ë { long angle=d/(diameter*pi)*360.0; //dcm¿Ê¤Þ¤»¤ë¤Î¤ËɬÍפʥ¿¥¤¥ä¤Î²óž³Ñ RotateMotorEx(OUT_AB,SLOW,angle,0,true,true); //¥í¥Ü¥Ã¥È¤ò¤½¤Î²óž³Ñ¤À¤±¶¯¤µSLOW¤ÇÆ°¤«¤¹ } ¥í¥Ü¥Ã¥È¤òǤ°Õ¤Îµ÷Î¥(cm)¤À¤±¿Ê¤Þ¤»¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ sub turnAng(long ang) //angÅ٤λþ·×²ó¤ê¤ÎÀû²ó { long angle=tread/diameter*ang; //angÅÙ¤ÎÀû²ó¤ËɬÍפʲóž³ÑÅÙ RotateMotorEx(OUT_AB,SLOW,angle,100,true,true); //¥í¥Ü¥Ã¥È¤ò¤½¤Î³ÑÅÙ¤À¤±Àû²ó¤µ¤»¤ë } ¥í¥Ü¥Ã¥È¤òǤ°Õ¤Î³ÑÅÙ¤À¤±»þ·×²ó¤ê¤ËÀû²ó¤µ¤»¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ int searchDirection(long ang) //¥í¥Ü¥Ã¥È¤¬¤½¤Î»þ¸þ¤¤¤Æ¤¤¤ëÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤǥ³¥Ã¥×¤òõ¤·¤½¤³¤Þ¤Ç¤Îµ÷Î¥¤ò¬Äꤹ¤ë { long tacho_min; //ºÇ¤â¶á¤¤µ÷Î¥¤È¤Ê¤ë¥¿¥¤¥ä¤Î²óž¿ô int d_min=300; //ºÇ¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ¡£½½Ê¬Â礤¤Ãͤˤ·¤Æ¤ª¤¯ long angle=(tread/diameter)*ang; //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë turnAng(ang/2); //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó ResetTachoCount(OUT_AB); //³ÑÅٷ׬¤ò½é´ü²½ OnFwdSync(OUT_AB,SLOW,-100); //È¿»þ·×²ó¤ê¤Ë¶¯¤µSLOW¤ÇÀû²ó while(MotorTachoCount(OUT_A)<=angle){ //±¦¤Î¥¿¥¤¥ä¤Î¬Äê³ÑÅÙ¤¬·×»»¤·¤¿³ÑÅÙ¤è¤ê¾®¤µ¤¤´Ö if(SensorUS(S3)<d_min){ //¸½ºß¤Îµ÷Î¥¤¬²¾¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¾ì¹ç d_min=SensorUS(S3); //²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë tacho_min=MotorTachoCount(OUT_A); //¤³¤Î»þ¤Î±¦¤Î¥¿¥¤¥ä¤Î²óž¿ô¤òµÏ¿¤¹¤ë } } OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE); until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min); Wait(14); //ÈùÄ´À° Off(OUT_AB); Wait(500); return d_min; } ÀèÀ¸¤¬¼ø¶ÈÃæ¤ËÇۤä¿¥×¥ê¥ó¥È¤ò»²¹Í¤Ë¤·¤Æ½ñ¤¤¤¿¡¢¥í¥Ü¥Ã¥È¤òÃæ¿´¤Ë¡¢Ç¤°Õ¤ÎÈϰϤˤ¢¤ë¤â¤Î¤ò¸«¤Ä¤±¤Æ¤½¤³¤Þ¤Ç¤Îµ÷Î¥¤ò¬Äꤹ¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ sub tag() //¥³¥Ã¥×¤ò½Å¤Í¤ë { keep_cop(); //¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤Æ°Ý»ý¤¹¤ë¡£ d=searchDirection(15); //¥í¥Ü¥Ã¥È¤Î¸þ¤¤òÃæ¿´¤Ë³ÑÅÙ15ÅÙ¤ÎÈϰϤǻҵ¡¤¬ÃÖ¤¤¤¿¥³¥Ã¥×¤òõ¤¹ if(d>5.0){ //¬Äꤷ¤¿µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¤È¤ SendRemoteNumber(CONN,MAILBOX1,SIGNALON1); //»Òµ¡¤ËÄÌ¿®¤·¥á¥Ã¥»¡¼¥¸1¤òÁ÷¤ë¡Ê¿Þ4¡Ë Wait(5000); //5ÉôÖÂԤġʿÞ5¡Ë fwdDist(d-8.0); //¬Äꤷ¤¿µ÷Î¥¤Î8ѼêÁ°¤Ç»ß¤Þ¤ë ResetTachoCount(OUT_ABC); //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ RotateMotorEx(OUT_AB,-SLOW,40,0,true,true); //¥¿¥¤¥ä¤ò40Åٲ󞤵¤»¤ÆÁ°¿Ê RotateMotor(OUT_C,SLOW,50); //¥â¡¼¥¿¤ò50ÅÙÆ°¤«¤·¥¢¡¼¥à¤ò²¼¤²¤ë SendRemoteNumber(CONN,MAILBOX1,SIGNALON2); //»Òµ¡¤ËÄÌ¿®¤·¥á¥Ã¥»¡¼¥¸2¤òÁ÷¤ë¡Ê¿Þ6¡Ë Wait(5000); //5ÉôÖÂԤġʿÞ7¡Ë RotateMotor(OUT_C,SLOW,100); //¥â¡¼¥¿¤ò100ÅÙÆ°¤«¤·¥¢¡¼¥à¤ò²¼¤²¤ë ResetTachoCount(OUT_ABC); //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_C,SLOW,720); //¥â¡¼¥¿¤ò720ÅÙÆ°¤«¤·¥¢¡¼¥à¤ò³«¤¯¡Ê¿Þ8¡Ë RotateMotorEx(OUT_AB,-SLOW,120,0,true,true); //¥¿¥¤¥ä¤ò120Åٲ󞤵¤»¤Æ¸åÂà } } ¥³¥Ã¥×¤ò½Å¤Í¤ë¤¿¤á¤Î¿Æµ¡¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ÄÌ¿®¤ò¹Ô¤Ã¤Æ¤¤¤ë°Ê³°¤ÏÆÃÊ̤ʤâ¤Î¤Ï¤Ê¤¤¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò´Þ¤á¤ëÁ°¤Î¼Â¸³Ãʳ¬¤Ç¤Ï¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ç¥³¥Ã¥×¤ò½Å¤Í¤ë¤³¤È¤ËÀ®¸ù¤·¤¿¡£¥³¥á¥ó¥ÈʸÃæ¤Î¿Þ¤ÎÈÖ¹æ¤Ï[[¥³¥Ã¥×¤ò½Å¤Í¤ëÊýË¡:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#f9944814]]¤ò»²¾È¡£ sub catch_cop(long ang1) //¥³¥Ã¥×¤ò¤Ä¤«¤à { ResetTachoCount(OUT_C); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½ RotateMotor(OUT_C,-SLOW,ang1); //¶¯¤µSLOW¤Ç³ÑÅÙang1¤À¤±¥â¡¼¥¿¡¼¤ò²ó¤·ÏÓ¤òÊĤ¸¤ë } ÏÓ¤òǤ°Õ¤Î³ÑÅÙ¤À¤±ÊĤ¸¤ë¥µ¥Ö´Ø¿ô¤Ç¤¢¤ë¡£¥á¥¤¥ó´Ø¿ô¤Ç¤Ï»È¤Ã¤Æ¤¤¤ë¤¬Àè¤Û¤É¤Î¥µ¥Ö´Ø¿ôtag()¤Ç¤Ï˺¤ì¤Æ¤¤¤¿¡£ sub release_cop(long ang2) //¥³¥Ã¥×¤òÊü¤¹ { ResetTachoCount(OUT_C); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½ RotateMotor(OUT_C,SLOW,ang2); //¶¯¤µSLOW¤Ç³ÑÅÙang2¤À¤±¥â¡¼¥¿¡¼¤ò²ó¤·ÏÓ¤ò³«¤¯ } ÏÓ¤òǤ°Õ¤Î³ÑÅÙ¤À¤±³«¤¯¥µ¥Ö´Ø¿ô¤Ç¤¢¤ë¡£ sub release_ball() //¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë { ResetTachoCount(OUT_ABC); //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ OnFwd(OUT_AB,SLOW); Wait(700); //0.7Éôֶ¯¤µSLOW¤ÇÁ°¿Ê Off(OUT_AB); //Ää»ß ResetTachoCount(OUT_C); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½¡Ê¤¤¤é¤Ê¤¤¡Ë RotateMotor(OUT_C,-SLOW,50); //¥â¡¼¥¿¡¼¤ò50Åٲ󞤵¤»¥¢¡¼¥à¤ò»ý¤Á¾å¤²¤ë OnFwd(OUT_C,-20); // Wait(1000); //1Éôֻý¤Á¾å¤²¤¿¤Þ¤Þ°Ý»ý¤¹¤ë OnFwd(OUT_AB,-SLOW); Wait(700); //¶¯¤µSLOW¤Ç0.7ÉôָåÂह¤ë Off(OUT_AB); //Ää»ß } ¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¼Â¸³Ãʳ¬¤Ç¤Ï0.7Éô֤θåÂà¤ÎÂå¤ï¤ê¤Ë²óž³Ñ¤Ç»î¤·¡¢¤½¤Î»þ¤Ï¤¦¤Þ¤¯¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤³¤È¤¬¤Ç¤¤Æ¤¤¤¿¡£ËÜÈÖÍÑ¤Î¥×¥í¥°¥é¥à¤ËÁȤ߹þ¤ó¤À»þ¤ËÆ°ºî¤¬¤ª¤«¤·¤¤¤È¸À¤ï¤ì¤¿¤Î¤ÇÊѤ¨¤¿¤Î¤À¤¬¡¢·ë¶É¾å¼ê¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£ ***¥×¥í¥°¥é¥àÁ´ÂÎ [#o46e00ab] »È¤Ã¤¿¤â¤Î¤ò¤½¤Î¤Þ¤ÞºÜ¤»¤¿¤Î¤Ç¡¢¥³¥Ã¥×´ØÏ¢¤Î¥×¥í¥°¥é¥à¤È¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤¬º®¤¶¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤¤¤ë¡£¸«¤Å¤é¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢¥×¥í¥°¥é¥à¤Î»î¹Ô¤È½¤Àµ¤Î¤È¤¤Ë¥¹¥à¡¼¥º¤Ë¤¤¤«¤Ê¤«¤Ã¤¿¤³¤È¤â¼ºÇԤθ¶°ø¤È¤¤¤¨¤ë¤À¤í¤¦¡£¥á¥¤¥ó´Ø¿ô¤Ï²¼¤ÎÊý¤Ë¤¢¤ë¡£¥á¥¤¥ó´Ø¿ô¤Î¥³¥á¥ó¥ÈʸÃæ¤Î·ÐÏ©¤ÎÈÖ¹æ¤Ï¡Ö[[¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Î:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#gac8807e]]¡×[[¿Þ9:http://yakushi.shinshu-u.ac.jp/robotics/?plugin=attach&refer=2017b%2FMember%2Farso%2FMission3&openfile=%C2%E83%B2%F3%A5%B3%A1%BC%A5%B91.jpg]]µÚ¤Ó[[¿Þ10:http://yakushi.shinshu-u.ac.jp/robotics/?plugin=attach&refer=2017b%2FMember%2Farso%2FMission3&openfile=%C2%E83%B2%F3%A5%B3%A1%BC%A5%B92.jpg]]¤ò»²¾È¡£ #define SO 392 #define DO 523 #define MI 659 #define SO_H 784 #define SI 988 #define DO_H 1047 #define MI_H 1318 #define RE 1175 #define SO_SH 1568 sub pose_SE() { PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); } sub one_UP_SE() { PlayTone(MI,110);Wait(120); PlayTone(SO_H,110);Wait(120); PlayTone(MI_H,110);Wait(120); PlayTone(DO_H,110);Wait(120); PlayTone(RE,110);Wait(120); PlayTone(SO_SH,110);Wait(120); } sub coin_SE() { PlayTone(SI,90);Wait(100); PlayTone(MI_H,140);Wait(150); } sub Start_SE() { PlayTone(MI,100);Wait(110); PlayTone(MI,100);Wait(250); PlayTone(MI,100);Wait(160); PlayTone(DO,90);Wait(100); PlayTone(MI,90);Wait(230); PlayTone(SO_H,90);Wait(420); PlayTone(SO,170);Wait(180); } #define FAST 50 #define SLOW 30 #define CONN 1 #define SIGNALON1 11 #define SIGNALON2 12 int d; const float diameter=5.45; const float tread=11.3; const float pi=3.1415; sub keep_cop() { ResetTachoCount(OUT_C); RotateMotor(OUT_C,-SLOW,50); OnFwd(OUT_C,-20); } sub fwdDist(float d) { long angle=d/(diameter*pi)*360.0; RotateMotorEx(OUT_AB,SLOW,angle,0,true,true); } sub turnAng(long ang) { long angle=tread/diameter*ang; RotateMotorEx(OUT_AB,SLOW,angle,100,true,true); } int searchDirection(long ang) { long tacho_min; int d_min=300; long angle=(tread/diameter)*ang; turnAng(ang/2); ResetTachoCount(OUT_AB); OnFwdSync(OUT_AB,SLOW,-100); while(MotorTachoCount(OUT_A)<=angle){ if(SensorUS(S3)<d_min){ d_min=SensorUS(S3); tacho_min=MotorTachoCount(OUT_A); } } OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE); until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min); Wait(14); Off(OUT_AB); Wait(500); return d_min; } sub tag() { keep_cop(); d=searchDirection(15); if(d>5.0){ SendRemoteNumber(CONN,MAILBOX1,SIGNALON1); Wait(5000); fwdDist(d-8.0); ResetTachoCount(OUT_ABC); RotateMotorEx(OUT_AB,-SLOW,40,0,true,true); RotateMotor(OUT_C,SLOW,50); SendRemoteNumber(CONN,MAILBOX1,SIGNALON2); Wait(5000); RotateMotor(OUT_C,SLOW,100); ResetTachoCount(OUT_ABC); RotateMotor(OUT_C,SLOW,720); RotateMotorEx(OUT_AB,-SLOW,120,0,true,true); } } sub catch_cop(long ang1) { ResetTachoCount(OUT_C); RotateMotor(OUT_C,-SLOW,ang1); } sub release_cop(long ang2) { ResetTachoCount(OUT_C); RotateMotor(OUT_C,SLOW,ang2); } sub release_ball() { ResetTachoCount(OUT_ABC); OnFwd(OUT_AB,SLOW); Wait(700); Off(OUT_AB); ResetTachoCount(OUT_C); RotateMotor(OUT_C,-SLOW,50); OnFwd(OUT_C,-20); Wait(1000); OnFwd(OUT_AB,-SLOW); Wait(700); Off(OUT_AB); } #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); #define average 45 sub Stop_Motion() { Wait(300); pose_SE(); Wait(1000); } sub L_Assist_line(int Assist_time) { long ta=CurrentTick(); while (CurrentTick()-ta<=Assist_time){ if (SENSOR_2<average-11) { move1 }else if (SENSOR_2<average-7){ move2; }else if (SENSOR_2<average+7){ move3; }else if (SENSOR_2<average+11){ move4; }else { move5; } } coin_SE(); } sub R_Assist_line(int Assist_time) { long tb=CurrentTick(); while (CurrentTick()-tb<=Assist_time){ if (SENSOR_2<average-11) { move5; } else if (SENSOR_2<average-7){ move4; } else if (SENSOR_2<average+7){ move3; } else if (SENSOR_2<average+11){ move2; } else { move1; } } coin_SE(); } sub L_line(int Assist_time,int Stop_time) { L_Assist_line(Assist_time); long t1=CurrentTick(); while (CurrentTick()-t1<=Stop_time){ if (SENSOR_2<average-11) { move1; } else if (SENSOR_2<average-7){ move2; t1=CurrentTick(); } else if (SENSOR_2<average+7){ move3; t1=CurrentTick(); } else if (SENSOR_2<average+11){ move4; t1=CurrentTick(); } else { move5; t1=CurrentTick(); } } Off(OUT_AB); coin_SE(); } sub R_line(int Assist_time,int Stop_time) { R_Assist_line(Assist_time); long t2=CurrentTick(); while (CurrentTick()-t2<=Stop_time){ if (SENSOR_2<average-11) { move5; } else if (SENSOR_2<average-8){ move4; t2=CurrentTick(); } else if (SENSOR_2<average+6){ move3; t2=CurrentTick(); } else if (SENSOR_2<average+11){ move2; t2=CurrentTick(); } else { move1; t2=CurrentTick(); } } Off(OUT_AB); coin_SE(); } sub White_to_Black(int blight,int A_speed,int B_speed) { while (SENSOR_2>blight){ OnFwd(OUT_A,A_speed); OnFwd(OUT_B,B_speed); } Off(OUT_AB); } sub Black_to_White(int blight,int A_speed,int B_speed) { while (SENSOR_2<blight){ OnFwd(OUT_A,A_speed); OnFwd(OUT_B,B_speed); } Off(OUT_AB); } #define reverse_move1 OnFwd(OUT_A,-10);OnFwd(OUT_B,-30); #define reverse_move2 OnFwd(OUT_A,-54);OnFwd(OUT_B,-50); #define reverse_move3 OnFwd(OUT_B,-10);OnFwd(OUT_A,-30); sub reverse_R_Assist_line(int Assist_time) { long tc=CurrentTick(); while (CurrentTick()-tc<=Assist_time){ if (SENSOR_2<average-7){ reverse_move3; } else if (SENSOR_2<average+7){ reverse_move2; } else { reverse_move1; } } } sub reverse_R_line(int Assist_time,int Stop_time) { reverse_R_Assist_line(Assist_time); long t3=CurrentTick(); while (CurrentTick()-t3<=Stop_time){ if (SENSOR_2<average-7){ reverse_move3; } else if (SENSOR_2<average+7){ reverse_move2; t3=CurrentTick(); } else { reverse_move1; } } Off(OUT_AB); } sub reverse_Start_Set() { reverse_move2; Start_SE(); Wait(2000); White_to_Black(48,20,35); } task main() { SetSensorLight(S2); //¸÷¥»¥ó¥µ¡¼¤òÀßÄê SetSensorLowspeed(S3); //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤òÀßÄê reverse_Start_Set(); //¸å¤í¸þ¤¤Ç¥¹¥¿¡¼¥È¤·À֤Ρ¡¢¢¤Î·ÐÏ©¤ò°ÜÆ° L_line(1300,110); //¥é¥¤¥ó¥È¥ì¡¼¥¹¡ÊÀ֤Σ¤Î·ÐÏ©¡Ë OnFwd(OUT_AB,-SLOW); Wait(500); //¸òº¹ÅÀ¤Ç0.5ÉôָåÂà Off(OUT_AB); //Ää»ß White_to_Black(43,20,25); //°ÌÃÖ¤òÄ´À° White_to_Black(33,20,25); //°ÌÃÖ¤òÄ´À° ResetTachoCount(OUT_A); //±¦Â¦¤Î¥¿¥¤¥ä¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_A,-SLOW,150); //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò150ÅÙ¸å¤í¸þ¤¤Ë²óž¤µ¤»¤ÆÊý¸þž´¹ d=searchDirection(15); //¥í¥Ü¥Ã¥È¤òÃæ¿´¤Ë15ÅÙ¤ÎÈϰϤǻ楳¥Ã¥×¤òõ¤·µ÷Î¥¤ò¬Äꤹ¤ë if(d>5.0){ //µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¾ì¹ç catch_cop(600); //ÏÓ¤ò¾¯¤·ÊĤ¸¤Æ¤ª¤¯¡ÊÏӤκ¸¤ä±¦¤Î¶õ´Ö¤Ë¥³¥Ã¥×¤¬Æþ¤ê¹þ¤à¤È¤Ä¤«¤á¤Ê¤¯¤Ê¤ë¤¿¤á¡Ë OnFwd(OUT_AB,SLOW); Wait(1000); //1ÉôÖÁ°¿Ê Off(OUT_AB); //Ää»ß catch_cop(500); //¥³¥Ã¥×¤ò¤Ä¤«¤à OnFwd(OUT_AB,-SLOW); Wait(400); //0.4ÉôָåÂà Off(OUT_AB); //Ää»ß } //£½ªÎ»¸å¤«¤é¤³¤³¤Þ¤Ç¤¬À֤ηÐÏ©¤ ResetTachoCount(OUT_B); //º¸Â¦¤Î¥¿¥¤¥ä¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_B,-SLOW,110); //º¸Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò110ÅÙ¸å¤í¸þ¤¤Ë²óž¤µ¤»¤ÆÊý¸þž´¹ release_ball(); //¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¡ÊÀ֤ηÐÏ©¥¡Ë ResetTachoCount(OUT_A); //±¦Â¦¤Î¥¿¥¤¥ä¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_A,-SLOW,130);//±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò130ÅÙ¸å¤í¸þ¤¤Ë²óž¤µ¤»¤ÆÊý¸þž´¹ tag(); //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀ֤ηÐÏ©¦¡Ë OnFwd(OUT_AB,-SLOW); Wait(1000); //1ÉôָåÂà Off(OUT_AB); //Ää»ß¡ÊÀ֤ηÐÏ©§¡Ë White_to_Black(48,35,25); //¹õÀþ¤òõ¤¹¡ÊÀ֤ηÐÏ©¨¡Ë L_line(300,130); //¥é¥¤¥ó¥È¥ì¡¼¥¹¡ÊÀ֤ηÐÏ©©¡Ë Black_to_White(48,0,-30); //¸òº¹ÅÀ¤Ç°ÌÃÖ¤òÄ´À° White_to_Black(33,0,-30); //¸òº¹ÅÀ¤Ç°ÌÃÖ¤òÄ´À° d=searchDirection(15); //¥í¥Ü¥Ã¥È¤òÃæ¿´¤ËÈÏ°Ï15Å٤ǥ³¥Ã¥×¤òõ¤·µ÷Î¥¤ò¬Äꤹ¤ë if(d>5.0){ //µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¾ì¹ç catch_cop(600); //ÏÓ¤ò¾¯¤·ÊĤ¸¤Æ¤ª¤¯¡ÊÏӤκ¸¤ä±¦¤Î¶õ´Ö¤Ë¥³¥Ã¥×¤¬Æþ¤ê¹þ¤à¤È¤Ä¤«¤á¤Ê¤¯¤Ê¤ë¤¿¤á¡Ë OnFwd(OUT_AB,SLOW); Wait(1000); //1ÉôÖÁ°¿Ê Off(OUT_AB); //Ää»ß catch_cop(500); //¥³¥Ã¥×¤ò¤Ä¤«¤à OnFwd(OUT_AB,-SLOW); Wait(400); //0.4ÉôָåÂà Off(OUT_AB); //Ää»ß¡ÊÀ֤ηÐÏ©ª¡Ë } White_to_Black(33,-30,-30); //¹õÀþ¤òõ¤¹ L_line(150,130); //¥é¥¤¥ó¥È¥ì¡¼¥¹ Black_to_White(48,30,30); //¸òº¹ÅÀ¤ò±Û¤¨¤ë release_ball(); //¥Ô¥ó¥Ý¥ó¶Ì¤òÏȤËÆþ¤ì¤ë¡ÊÀ֤ηÐÏ©«¡Ë ResetTachoCount(OUT_A); //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½ RotateMotor(OUT_A,-SLOW,130); //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò130ÅÙ²ó¤·Êý¸þž´¹¡ÊÀ֤ηÐÏ©¬¡Ë tag(); //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀ֤ηÐÏ©¡Ë ResetTachoCount(OUT_C); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½ RotateMotor(OUT_C,-SLOW,1100); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1100ÅÙ²ó¤·ÏÓ¤òÊĤ¸¤ë White_to_Black(33,-30,-30); //°ÌÃÖ¤òÄ´À° Black_to_White(48,-30,-30); //°ÌÃÖ¤òÄ´À° White_to_Black(33,-30,-30); //°ÌÃÖ¤òÄ´À° OnFwd(OUT_AB,SLOW); Wait(300); //0.3ÉôÖÁ°¿Ê Off(OUT_AB); //Ää»ß ResetTachoCount(OUT_C); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò½é´ü²½ RotateMotor(OUT_C,SLOW,1200); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1100ÅÙ²ó¤·ÏÓ¤ò³«¤¯¡ÊÀ֤ηÐÏ©®¡Ë } **»Òµ¡ [#u3b39ac6] ***²»³Ú [#q5a855b5] ²»³Ú¤Ï¿Æµ¡¤È°ì½ï¤Ç¤¢¤ë¡£¿Æµ¡¤Î[[²»³Ú:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#y202a7a6]]¤ò»²¾È¡£ ***¥é¥¤¥ó¥È¥ì¡¼¥¹´ØÏ¢ [#o06e647d] ¿Æµ¡¤È°Û¤Ê¤ë¤Î¤ÏÄêµÁ¤È¥µ¥Ö´Ø¿ô¤Î°ìÉô¤¬¤Ê¤¤¤³¤È¤È¡¢°Û¤Ê¤ë¥µ¥Ö´Ø¿ô¤¬1¤Ä¤¢¤ë¤³¤È¤Ê¤Î¤ÇÄɲ䵤줿¤â¤Î¤Î¤ßºÜ¤»¤Æ¤ª¤¯¡£Â¾¤Ï¿Æµ¡¤Î[[¥é¥¤¥ó¥È¥ì¡¼¥¹´ØÏ¢:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#td2ff648]]¤ò»²¾È¡£ sub Start_Set() { Start_SE(); //¥µ¥Ö´Ø¿ôStart_SE()¤ò¸Æ¤Ó½Ð¤¹ move3; //move3¤ò¸Æ¤Ó½Ð¤¹ Wait(600); //0.6ÉôÖÂÔ¤Ä White_to_Black(48,30,5); //¹õÀþ¤òõ¤¹ } ***¥³¥Ã¥×´ØÏ¢ [#mbb4a56f] ¤³¤Á¤é¤â¿Æµ¡¤È°Û¤Ê¤ë¤Î¤ÏÄÌ¿®¤Î¥×¥í¥°¥é¥à¤Î¤ß¤Ê¤Î¤Ç¡¢¤½¤ì¤À¤±ºÜ¤»¤Æ¤ª¤¯¡£Â¾¤Ï¿Æµ¡¤Î[[¥³¥Ã¥×´ØÏ¢:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#q1feb784]]¤ò»²¾È¡£ #define SIGNALON 11 //¿Æµ¡¤Ç¤ÏSIGNALON1¤Ë¤Ê¤Ã¤Æ¤¤¤¿¤Î¤Ç°ì±þ Æ°ºî¤Ë¤Ï±Æ¶Á¤·¤Ê¤¤¤¬¡¢Äê¿ô̾¤Ë¡Ö1¡×¤ò½ñ¤Ëº¤ì¤Æ¤¤¤¿¤è¤¦¤Ç¤¢¤ë¤Î¤ÇºÜ¤»¤Æ¤ª¤¯¡£ sub tag() //¥³¥Ã¥×¤ò½Å¤Í¤ë { int msg,counter; //msg,counter¤òÀ°¿ô¤È¤¹¤ë ResetTachoCount(OUT_ABC); //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_C,SLOW,1080); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤ò³«¤¯ RotateMotorEx(OUT_AB,-SLOW,360,0,true,true); //¸åÂह¤ë RotateMotor(OUT_C,-SLOW,1080); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤òÊĤ¸¤ë while(counter==0){ //¥«¥¦¥ó¥¿¡¼¤¬0¤Î´Ö·«¤êÊÖ¤¹¡Ê¿Þ4¡Ë ReceiveRemoteNumber(MAILBOX1,true,msg); //MAILBOX1¤ÎÃͤòmsg¤Ë³ÊǼ if(msg==SIGNALON){ //¥á¥Ã¥»¡¼¥¸SIGNALON¤ò¼õ¤±¼è¤Ã¤¿¾ì¹ç ResetTachoCount(OUT_ABC); //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_C,SLOW,1080); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤ò³«¤¯ RotateMotorEx(OUT_AB,SLOW,120,0,true,true); //Á°¿Ê¤¹¤ë RotateMotor(OUT_C,-SLOW,1080); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò1080ÅÙ²ó¤·ÏÓ¤òÊĤ¸¤ë counter++; //counter¤Ë1¤ò²Ã¤¨¤ë¡Ê¿Þ5¡Ë } } counter=0; //¥«¥¦¥ó¥¿¡¼¤ò0¤Ë¤¹¤ë while(counter==0){ //¥«¥¦¥ó¥¿¡¼¤¬0¤Î´Ö·«¤êÊÖ¤¹¡Ê¿Þ6¡Ë ReceiveRemoteNumber(MAILBOX1,true,msg); //MAILBOX1¤ÎÃͤòmsg¤Ë³ÊǼ if(msg==SIGNALON2) { //¥á¥Ã¥»¡¼¥¸SIGNALON2¤ò¼õ¤±¼è¤Ã¤¿¾ì¹ç ResetTachoCount(OUT_ABC); //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_C,SLOW,360); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò360ÅÙ²ó¤·ÏÓ¤ò³«¤¯ RotateMotorEx(OUT_AB,SLOW,40,0,true,true); //Á°¿Ê¤¹¤ë¡Ê¿Þ7¡Ë counter++; //counter¤Ë1¤ò²Ã¤¨¤ë } } counter=0; //¥«¥¦¥ó¥¿¡¼¤ò0¤Ë¤¹¤ë ResetTachoCount(OUT_ABC); //Á´¤Æ¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_C,SLOW,720); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò720ÅÙ²ó¤·ÏÓ¤ò³«¤¯¡Ê¿Þ8¡Ë RotateMotorEx(OUT_AB,-SLOW,120,0,true,true); //¸åÂह¤ë } msg¤Ï¼õ¤±¼è¤Ã¤¿¥á¥Ã¥»¡¼¥¸¤ò³ÊǼ¤¹¤ëÊÑ¿ô¤Ç¤¢¤ë¡£counter¤Ï·«¤êÊÖ¤·¤Î¤¿¤á¤Ë¿ô»ú¤ò¿ô¤¨¤ëÌò³ä¤ò¤·¤Æ¤¤¤ë¡£ º£²ó¡¢¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¥×¥í¥°¥é¥à¤ò¥á¥Ã¥»¡¼¥¸¤¬ÆϤ¯¤Þ¤Ç·«¤êÊÖ¤µ¤»¤ë¤¿¤á¤Ë¡¢¥«¥¦¥ó¥¿¡¼¤òÍѤ¤¤¿¡£counter¤¬0¤Î´Ö¤Ï±ä¡¹¤È¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¥×¥í¥°¥é¥à¤ò²ó¤·¡¢¥á¥Ã¥»¡¼¥¸1¤ò¼õ¤±¼è¤ë¤Èifʸ¤ÎÃæ¤ÎÆ°ºî¤ò¹Ô¤Ã¤Æ¤«¤écounter¤Ë1¤ò²Ã¤¨¤ë¤³¤È¤Ç¥ë¡¼¥×¤òÈ´¤±¡¢counter¤ò½é´ü²½¤¹¤ë¡£¤½¤Î¸å¡¢Æ±¤¸¤è¤¦¤Ë¤·¤Æ¥á¥Ã¥»¡¼¥¸2¤¬ÆϤ¯¤Þ¤ÇºÆ¤Ó¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¥×¥í¥°¥é¥à¤ò²ó¤·¡Ä¡¢¤È¤Ê¤Ã¤Æ¤¤¤ë¡£¼Â¸³Ãʳ¬¤Ç¤Ï¿Æµ¡¤È¹ç¤ï¤»¤Æ¥³¥Ã¥×¤ò½Å¤Í¤ë¤³¤È¤ËÀ®¸ù¤·¤¿¤Î¤Ç¤ª¤½¤é¤¯ÁÀ¤¤Ä̤ê¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¥³¥á¥ó¥ÈʸÃæ¤Î¿Þ¤ÎÈÖ¹æ¤Ï[[¥³¥Ã¥×¤ò½Å¤Í¤ëÊýË¡:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#f9944814]]¤ò»²¾È¡£ ***¥×¥í¥°¥é¥àÁ´ÂÎ [#e743cbf5] ¿Æµ¡Æ±ÍͻȤ俤â¤Î¤ò¤½¤Î¤Þ¤ÞºÜ¤»¤¿¤Î¤Ç¡¢¥³¥Ã¥×´ØÏ¢¤Î¥×¥í¥°¥é¥à¤È¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤¬º®¤¶¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤¤¤ë¡£¥á¥¤¥ó´Ø¿ô¤Ï²¼¤Î¤Û¤¦¤Ë¤¢¤ë¡£¥á¥¤¥ó´Ø¿ô¤Î¥³¥á¥ó¥ÈʸÃæ¤Î·ÐÏ©¤ÎÈÖ¹æ¤Ï¡Ö[[¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Î:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Farso%2FMission3#gac8807e]]¡×[[¿Þ9:http://yakushi.shinshu-u.ac.jp/robotics/?plugin=attach&refer=2017b%2FMember%2Farso%2FMission3&openfile=%C2%E83%B2%F3%A5%B3%A1%BC%A5%B91.jpg]]µÚ¤Ó[[¿Þ10:http://yakushi.shinshu-u.ac.jp/robotics/?plugin=attach&refer=2017b%2FMember%2Farso%2FMission3&openfile=%C2%E83%B2%F3%A5%B3%A1%BC%A5%B92.jpg]]¤ò»²¾È¡£ #define SO 392 #define DO 523 #define MI 659 #define SO_H 784 #define SI 988 #define DO_H 1047 #define MI_H 1318 #define RE 1175 #define SO_SH 1568 #define SIGNALON 11 #define SIGNALON2 12 #define SLOW 30 const float diameter=5.45; const float tread=11.3; const float pi=3.1415; int d; sub fwdDist(float d) { long angle=d/(diameter*pi)*360.0; RotateMotorEx(OUT_AB,SLOW,angle,0,true,true); } sub turnAng(long ang) { long angle=tread/diameter*ang; RotateMotorEx(OUT_AB,SLOW,angle,100,true,true); } int searchDirection(long ang) { long tacho_min; int d_min=300; long angle=(tread/diameter)*ang; turnAng(ang/2); ResetTachoCount(OUT_AB); OnFwdSync(OUT_AB,SLOW,-100); while(MotorTachoCount(OUT_A)<=angle){ if(SensorUS(S3)<d_min){ d_min=SensorUS(S3); tacho_min=MotorTachoCount(OUT_A); } } OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE); until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min); Wait(14); Off(OUT_AB); Wait(500); return d_min; } sub tag() { int msg,counter; ResetTachoCount(OUT_ABC); RotateMotor(OUT_C,SLOW,1080); RotateMotorEx(OUT_AB,-SLOW,360,0,true,true); RotateMotor(OUT_C,-SLOW,1080); while(counter==0){ ReceiveRemoteNumber(MAILBOX1,true,msg); if(msg==SIGNALON) { ResetTachoCount(OUT_ABC); RotateMotor(OUT_C,SLOW,1080); RotateMotorEx(OUT_AB,SLOW,120,0,true,true); RotateMotor(OUT_C,-SLOW,1080); counter++; } } counter=0; while(counter==0){ ReceiveRemoteNumber(MAILBOX1,true,msg); if(msg==SIGNALON2) { ResetTachoCount(OUT_ABC); RotateMotor(OUT_C,SLOW,360); RotateMotorEx(OUT_AB,SLOW,40,0,true,true); counter++; } } counter=0; ResetTachoCount(OUT_ABC); RotateMotor(OUT_C,SLOW,720); RotateMotorEx(OUT_AB,-SLOW,120,0,true,true); } sub pose_SE() { PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); PlayTone(MI_H,90);Wait(100); PlayTone(DO_H,90);Wait(100); } sub one_UP_SE() { PlayTone(MI,110);Wait(120); PlayTone(SO_H,110);Wait(120); PlayTone(MI_H,110);Wait(120); PlayTone(DO_H,110);Wait(120); PlayTone(RE,110);Wait(120); PlayTone(SO_SH,110);Wait(120); } sub coin_SE() { PlayTone(SI,90);Wait(100); PlayTone(MI_H,140);Wait(150); } sub Start_SE() { PlayTone(MI,100);Wait(110); PlayTone(MI,100);Wait(250); PlayTone(MI,100);Wait(160); PlayTone(DO,90);Wait(100); PlayTone(MI,90);Wait(230); PlayTone(SO_H,90);Wait(420); PlayTone(SO,170);Wait(180); } #define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); #define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); #define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); #define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); #define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); #define average 45 sub Stop_Motion() { Wait(300); pose_SE(); Wait(1000); } sub L_Assist_line(int Assist_time) { long ta=CurrentTick(); while (CurrentTick()-ta<=Assist_time){ if(SENSOR_2<average-11) { move1 }else if (SENSOR_2<average-7){ move2; }else if (SENSOR_2<average+7){ move3; }else if (SENSOR_2<average+11){ move4; }else { move5; } } coin_SE(); } sub R_Assist_line(int Assist_time) { long tb=CurrentTick(); while (CurrentTick()-tb<=Assist_time){ if(SENSOR_2<average-11) { move5; }else if(SENSOR_2<average-7){ move4; }else if(SENSOR_2<average+7){ move3; }else if(SENSOR_2<average+11){ move2; }else { move1; } } coin_SE(); } sub L_line(int Assist_time,int Stop_time) { L_Assist_line(Assist_time); long t1=CurrentTick(); while (CurrentTick()-t1<=Stop_time){ if (SENSOR_2<average-11) { move1; } else if (SENSOR_2<average-7){ move2; t1=CurrentTick(); } else if (SENSOR_2<average+7){ move3; t1=CurrentTick(); } else if (SENSOR_2<average+11){ move4; t1=CurrentTick(); } else { move5; t1=CurrentTick(); } } Off(OUT_AB); coin_SE(); } sub R_line(int Assist_time,int Stop_time) { R_Assist_line(Assist_time); long t2=CurrentTick(); while (CurrentTick()-t2<=Stop_time){ if (SENSOR_2<average-11) { move5; } else if (SENSOR_2<average-8){ move4; t2=CurrentTick(); } else if (SENSOR_2<average+6){ move3; t2=CurrentTick(); } else if (SENSOR_2<average+11){ move2; t2=CurrentTick(); } else { move1; t2=CurrentTick(); } } Off(OUT_AB); coin_SE(); } sub White_to_Black(int blight,int A_speed,int B_speed) { while (SENSOR_2>blight){ OnFwd(OUT_A,A_speed); OnFwd(OUT_B,B_speed); } Off(OUT_AB); } sub Black_to_White(int blight,int A_speed,int B_speed) { while (SENSOR_2<blight){ OnFwd(OUT_A,A_speed); OnFwd(OUT_B,B_speed); } Off(OUT_AB); } sub Start_Set() { Start_SE(); move3; Wait(600); White_to_Black(48,30,5); } sub catch_cop(long ang1) { ResetTachoCount(OUT_C); RotateMotor(OUT_C,-SLOW,ang1); } sub release_cop(long ang2) { ResetTachoCount(OUT_C); RotateMotor(OUT_C,SLOW,ang2); } sub release_ball() { ResetTachoCount(OUT_ABC); OnFwd(OUT_AB,SLOW); Wait(700); Off(OUT_AB); ResetTachoCount(OUT_C); RotateMotor(OUT_C,-SLOW,50); OnFwd(OUT_C,-20); Wait(1000); OnFwd(OUT_AB,-SLOW); Wait(700); Off(OUT_AB); } sub keep_cop() { ResetTachoCount(OUT_C); RotateMotor(OUT_C,-SLOW,50); OnFwd(OUT_C,-20); } task main() { SetSensorLight(S2); //¸÷¥»¥ó¥µ¡¼¤òÀßÄê SetSensorLowspeed(S3); //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤òÀßÄê Start_Set(); R_line(300,150); //Á°¿Ê¸å¥é¥¤¥ó¥È¥ì¡¼¥¹ d=searchDirection(15); //¥í¥Ü¥Ã¥È¤òÃæ¿´¤Ë15ÅÙ¤ÎÈϰϤǥ³¥Ã¥×¤òõ¤¹ if(d>5.0){ //µ÷Î¥¤¬5cm¤è¤ê±ó¤¤¾ì¹ç catch_cop(700); //ÏÓ¤ò¾¯¤·ÊĤ¸¤Æ¤ª¤¯¡ÊÏӤκ¸¤ä±¦¤Î¶õ´Ö¤Ë¥³¥Ã¥×¤¬Æþ¤ê¹þ¤à¤È¤Ä¤«¤á¤Ê¤¯¤Ê¤ë¤¿¤á¡Ë OnFwd(OUT_AB,SLOW); Wait(1400); //1.4ÉôÖÁ°¿Ê Off(OUT_AB); //Ää»ß catch_cop(300); //¥³¥Ã¥×¤ò¤Ä¤«¤à OnFwd(OUT_AB,-SLOW); Wait(100); //0.1ÉôָåÂà Off(OUT_AB); //Ää»ß¡ÊÀĤηÐÏ©¡¡Ë } ResetTachoCount(OUT_A); //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò½é´ü²½ RotateMotor(OUT_A,-SLOW,370); //±¦Â¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤ò370ÅÙ¸å¤í¤Ë²ó¤·Êý¸þž´¹ OnFwd(OUT_AB,SLOW); Wait(600); //0.6ÉôÖÁ°¿Ê Off(OUT_AB); //Ää»ß catch_cop(40); //¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò40ÅÙ²ó¤·¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë OnFwd(OUT_C,-SLOW); Wait(1000); //»ý¤Á¾å¤²¤¿¤Þ¤Þ1Éôְݻý¤¹¤ë Off(OUT_C); //Ää»ß OnFwd(OUT_AB,-SLOW); Wait(1000); //1ÉôָåÂà Off(OUT_AB); //Ää»ß¡ÊÀĤηÐÏ©¢¡Ë White_to_Black(33,35,15); Black_to_White(48,35,15); White_to_Black(33,40,25); Black_to_White(48,-30,0); White_to_Black(33,-30,0); Black_to_White(50,0,-30); White_to_Black(33,35,30); Black_to_White(48,35,30); //8¤Ä¤Î¥µ¥Ö´Ø¿ô¤ÇÎдݤÎÃÏÅÀ¤Ë°ÜÆ°¡ÊÀĤηÐÏ©£¡Ë release_cop(50); tag(); //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀĤηÐÏ©¤¡Ë keep_cop(); //¥³¥Ã¥×¤ò»ý¤Á¾å¤²°Ý»ý¤¹¤ë tag(); //¥³¥Ã¥×¤ò½Å¤Í¤ë¡ÊÀĤηÐÏ©¥¡Ë OnFwd(OUT_AB,-SLOW); Wait(1000); //1ÉôָåÂà Off(OUT_AB); //Ää»ß } *·ë²Ì [#j0192476] ȯɽ1²óÌܤϡ¢»Òµ¡¤¬1¸Ä¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤ËÆþ¤ì¤¿¤¬¡¢¤½¤Î¸åÆ°ºî¤¬¤ª¤«¤·¤¯¤Ê¤ê¡¢¤Þ¤¿¿Æµ¡¤â¤ª¤«¤·¤¤Æ°ºî¤ò¤·¤Æ¼ºÇÔ¤·2ÅÀ¤À¤Ã¤¿¡£2²óÌܤϻҵ¡¤¬2¸Ä¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤ËÆþ¤ì¤¿¤¬¡¢¤½¤Î¸åº¸Â¦¥¹¥¿¡¼¥ÈÃÏÅÀ¡ÊAÃÏÅÀ¡Ë¤Î¾ã³²Êª¤Î¥³¥Ã¥×¤òÃƤÈô¤Ð¤·4ÅÀ¤È¤Ê¤Ã¤¿¡£2²ó¤È¤â¼ºÇԤǤ¢¤ë¡£ µ»½ÑÅÀ¤Ï8.8ÅÀ¤Ç¡¢¹ç·×12.8ÅÀ¤È¤Ê¤ê¡¢9¥Á¡¼¥àÃæ6°Ì¤Î·ë²Ì¤È¤Ê¤Ã¤¿¡£ *¹Í»¡ [#i63ecd49] ¥ì¥Ý¡¼¥È¤òºî¤ë¤Ë¤¢¤¿¤Ã¤Æ¥í¥Ü¥Ã¥È¤Îµ¡¹½¤ä¥×¥í¥°¥é¥à¤ò¸«Ä¾¤·¤¿¤¬¡¢¤É¤Á¤é¤âºî¤ê¤³¤ß¤¬Èó¾ï¤Ë´Å¤«¤Ã¤¿¤è¤¦¤Ë»×¤¦¡£ ¤Þ¤º¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ¤À¤¬¡¢1¤ÄÌܤϡ¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤Ïº¸±¦¤É¤Á¤é¤«¡Ê¤É¤Ã¤Á¤«¤Ï˺¤ì¤Þ¤·¤¿¡Ë¤«¤éĶ²»ÇȤòȯ¤·¡¢¤â¤¦°ìÊý¤Ç¼õ¤±¼è¤Ã¤Æ¤¤¤ë¤é¤·¤¤¤¬¡¢¤³¤ì¤ò²£¸þ¤¤Ë¼è¤êÉÕ¤±¤¿¤³¤È¤Ç¡¢¼õ¤±¼è¤ê¤Ë¤º¤ì¤¬À¸¤¸¤¿¤ê¡¢¤½¤â¤½¤â¸¡ÃΤ˼ºÇÔ¤·¤Æ¤·¤Þ¤¦¸¶°ø¤È¤Ê¤Ã¤¿²ÄǽÀ¤¬¤¢¤ë¡£²ò·èºö¤È¤·¤Æ¤Ï¡¢Â¾¤ÎÈɤˤ¢¤Ã¤¿¤â¤Î¤À¤¬¡¢¥¢¡¼¥à¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤òÁ°¸å¤Ëʬ¤±¤ë¤È¤¤¤¦ÊýË¡¤À¡£¤³¤ì¤Ê¤é¤Ð¥»¥ó¥µ¡¼¤ò½Ä¤Ë¼è¤êÉÕ¤±¤ë¤³¤È¤¬¤Ç¤¡¢¸í¸¡ÃΤò¸º¤é¤»¤¿¤À¤í¤¦¡£ 2¤ÄÌܤϡ¢¥¢¡¼¥à¤Î¼«½Å¤¬Â礤¯¤Ê¤ê¡¢¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤¿¾õÂÖ¤ò°Ý»ý¤¹¤ë¤Î¤¬Æñ¤·¤¯¤Ê¤Ã¤¿¤³¤È¤À¡£¾å¼ê¤¯°ú¤Ã¤«¤«¤Ã¤¿¾ì¹ç¤Ï»ß¤Þ¤ë¤³¤È¤â¤¢¤ë¤¬¡¢´ðËÜŪ¤Ë»ý¤Á¾å¤²¤¿¤À¤±¤Ç¤Ï¥¢¡¼¥à¤ÏÍî¤Á¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢°Ý»ý¤¹¤ë¤¿¤á¤Ë¤Ï¼å¤¤ÎϤò²Ã¤¨Â³¤±¤ëɬÍפ¬¤¢¤Ã¤¿¡£¤³¤ì¤À¤±¤Ê¤é´Êñ¤½¤¦¤À¤¬¡¢²Ã¤¨¤ë»þ´Ö¤ä¶¯¤µ¤ò¸í¤ë¤È¥¢¡¼¥à¤¬ÇË»¤·¤Æ¤·¤Þ¤¦¤¿¤á¡¢Ä´À°¤¬ÂçÊѤÀ¤Ã¤¿¡£¤è¤ê·ÚÎ̤ˤ·¤¿¤ê¡¢°ÂÄꤵ¤»¤é¤ì¤ëÉôʬ¤Ë¤Ä¤±¤ë¤È¼«½Å¤òµ¤¤Ë¤»¤º¤ËºÑ¤ó¤À¤À¤í¤¦¡£ 3¤ÄÌܤϡ¢µ¡ÂΤ¬Ä¹¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤À¡£¤³¤ì¤Î±Æ¶Á¤Ç¡¢¾ã³²Êª¤Ë¤Ö¤Ä¤«¤ë¤Î¤òËɤ¤¤À¤ê¡¢¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤ËÆþ¤ì¤ë¤È¤¤Ë¥³¥Ã¥×¤òÉ⤫¤»¤ëÁ°¤ËÏȤËÅö¤¿¤é¤Ê¤¤¤è¤¦¤ËÆ°¤¤òÄ´À°¤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¯¤Ê¤Ã¤¿¡£¤³¤ì¤Ï¡¢¥¢¡¼¥à¤Î¼è¤êÉÕ¤±°ÌÃÖ¤òÊѤ¨¤ë¤«¡¢¤¢¤ë¤¤¤Ï¥¢¡¼¥à¤òÁ´¤¯Ê̤Τâ¤Î¤Ë¤¹¤ë¤·¤«¤Ê¤¤¤À¤í¤¦¡£ ¤Þ¤È¤á¤ë¤È¡¢3¤Ä¤ÎÍýͳ¤Çµ¡ÂΤÎÆ°¤¤¬À©¸Â¤µ¤ì¤Æ¤·¤Þ¤Ã¤¿¤È¤¤¤¦¤³¤È¤À¡£ÅöÁ³¡¢¥í¥Ü¥Ã¥È¤Ë¹ç¤ï¤»¤Æ¥×¥í¥°¥é¥à¤òºî¤ë¤Î¤Ç¡¢¾å¼ê¤¯¤¤¤¯¤è¤¦¤ËÅØÎϤ·¤¿¤¬¡¢·ë²Ì¤Ï¤Ò¤É¤¤¤â¤Î¤À¤Ã¤¿¡£½½Ê¬¤Ê¥×¥í¥°¥é¥àºîÀ®Ç½ÎϤ¬¤¢¤ì¤Ð°Û¤Ê¤ë·ë²Ì¤òÆÀ¤é¤ì¤¿¤«¤â¤·¤ì¤Ê¤¤¤¬¡¢¤Ê¤¤¤â¤Î¤ò¸À¤Ã¤Æ¤â»ÅÊý¤Ê¤¤¡£¤â¤Ã¤ÈÈɤǽ¸¤Þ¤Ã¤Æ¡¢½½Ê¬¤ÊÏ䷹礤¤È¥í¥Ü¥Ã¥È¤ÎºîÀ®¤ò¤¹¤ë¤Ù¤¤À¤Ã¤¿¡£ ¤Þ¤¿¡¢¥×¥í¥°¥é¥à¤Ë¤âÌäÂ꤬¤¢¤Ã¤¿¤È¹Í¤¨¤é¤ì¤ë¡£¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò´Þ¤á¤Ê¤¤»î¹Ô¤ÎÃʳ¬¤Ç¤Ï¡¢¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤ËÆþ¤ì¤ëÆ°ºî¤Ï¤Û¤È¤ó¤ÉÀ®¸ù¤·¤Æ¤¤¤¿¤·¡¢¥³¥Ã¥×¤ò½Å¤Í¤ëÆ°ºî¤âÀ®¸ùΨ¤Ï¹â¤¤¤È¤Ï¸À¤¨¤Ê¤«¤Ã¤¿¤¬¤Ç¤¤Æ¤¤¤¿¡£¤³¤ì¤òȯɽÍÑ¤Î¥×¥í¥°¥é¥à¤Ë¤¹¤ë¤ÈÆæ¤Î¹ÔÆ°¤ò¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¡£²þ¤á¤Æ¥×¥í¥°¥é¥à¤ò¸«¤Æ¤ß¤ë¤È¡¢°ÜÆ°ÍÑ¤Î¥×¥í¥°¥é¥à¤ÈÁȤ߹ç¤ï¤»¤ë¤È¤¤Ë¡¢ËÜÍèɬÍפÊÆ°ºî¤ò½ñ¤Ëº¤ì¤¿¤ê¡¢µÕ¤ËÉÔÍפÊÆ°ºî¤òÆþ¤ì¤Æ¤·¤Þ¤Ã¤¿¤è¤¦¤Ç¤¢¤ë¡£¤µ¤é¤Ë¡¢ºî¤Ã¤¿¥µ¥Ö´Ø¿ô¤ò»È¤¨¤ë¤È¤³¤í¤Ç»È¤Ã¤Æ¤¤¤Ê¤«¤Ã¤¿¤ê¡¢¡ÊɬÍפʤΤ«¤â¤·¤ì¤Ê¤¤¤¬¡Ë¼«Ê¬¤Ç¤â¤è¤¯¤ï¤«¤é¤Ê¤¤Æ°ºî¤¬º®¤¸¤Ã¤Æ¤¤¤ë¤è¤¦¤À¡£¥×¥í¥°¥é¥à¤òºî¤Ã¤Æ¤¤¤ë¤È¤¤Ë¤Ïµ¤¤Å¤±¤Ê¤«¤Ã¤¿¤³¤È¤«¤é¡¢¤½¤Î¤È¤¤Ï¤«¤Ê¤ê½¸ÃæÎϤ¬¤Ê¤¯ÀÚ¤ì¤Æ¤¤¤¿¤è¤¦¤Ç¤¢¤ë¡£¤Þ¤¿¡¢¡¢Â礤ÊÍ×°ø¤È¤Ê¤Ã¤¿¤«¤Ïʬ¤«¤é¤Ê¤¤¤¬¡¢°ÜÆ°¤¬¹ç¤ï¤µ¤ë¤³¤È¤ÇľÁ°¤ÎÆ°ºî¤Ë¤è¤ë´·À¤ä¥í¥Ü¥Ã¥È¤Î¸þ¤¤Ë±Æ¶Á¤ò¼õ¤±¤¿²ÄǽÀ¤â¤¢¤ë¡£ *´¶ÁÛ [#ha368ba0] ¤¢¤é¤æ¤ë¾õ¶·¤äÌäÂê¤ò¹Íθ¤·¤¿¾å¤Ç¡¢·ë²Ì¤ò½Ð¤»¤ë¥×¥í¥°¥é¥à¤ä¥í¥Ü¥Ã¥È¤òºî¤é¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤Î¤ÏÅöÁ³¤Î¤³¤È¤Ê¤Î¤À¤¬¡¢·ë²Ì¤Ï±ó¤¯µÚ¤Ð¤Ê¤¤¤â¤Î¤À¤Ã¤¿¡£¾¯¤Ê¤¤»þ´Ö¤ÇÎɤ¤¤â¤Î¤òºî¤ë¤È¤¤¤¦ÍýÁÛ¤ò¼Â¸½¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤Ï¤ä¤Ï¤ê»ÄÇ°¤Ç¤¢¤Ã¤¿¡£ *¤Þ¤È¤á [#mdab3f6e] ¤³¤ì¤Þ¤Ç¤Î3¤Ä¤Î²ÝÂê¤òÄ̤·¤Æ¡¢¥×¥í¥°¥é¥ß¥ó¥°¤Î´ðÁäò¤·¤Ã¤«¤ê³Ø¤Ö¤³¤È¤¬¤Ç¤¤¿¤è¤¦¤Ë»×¤¦¡£¤Þ¤¿¡¢¥Ï¡¼¥ÉÌ̤νÅÍ×À¤â¤è¤¯Íý²ò¤Ç¤¤¿¡£¤É¤ìÄøÍ¥¤ì¤¿¥×¥í¥°¥é¥à¤òºî¤ì¤¿¤È¤·¤Æ¤â¡¢¥Ï¡¼¥É¤¬¤·¤Ã¤«¤ê¤·¤Æ¤¤¤Ê¤±¤ì¤Ð½½Ê¬¤Ê·ë²Ì¤òÆÀ¤ë¤³¤È¤Ï¤Ç¤¤Ê¤¤¤È¤¤¤¦¤³¤È¤ò¼Â´¶¤¹¤ë¤³¤È¤¬¤Ç¤¤¿¡£¤³¤ì¤«¤é¤â¥×¥í¥°¥é¥ß¥ó¥°¤ò¤¹¤ë¤³¤È¤Ï¤¢¤ë¤È»×¤¦¤Î¤Ç¡¢¤³¤Î¼ø¶È¤ÇÆÀ¤é¤ì¤¿Ã챤ä·Ð¸³¤òÀ¸¤«¤·¤Æ¤¤¤¤¿¤¤¡£