#contents *²ÝÂê1 [#m33913e0] A4¥µ¥¤¥º¤Î»æ¤ËÃϸµ¤Ë´Ø¤¹¤ë´Á»úÆóʸ»ú¤ò½ñ¤¯¥í¥Ü¥Ã¥È¤òºî¤ë¡£ º£²ó»ä¤¬Áª¤ó¤Àʸ»ú¤Ï¡ÖÂçºå¡×¤Ç¤¹¡£ *ºîÀ®¤·¤¿¥í¥Ü¥Ã¥È [#eaf37845] ºîÀ®¤·¤¿¥í¥Ü¥Ã¥È¤ÏX¼´Y¼´¤Ç¤½¤ì¤¾¤ìÆÈΩ¤·¤ÆÆ°¤¯¥í¥Ü¥Ã¥È¤Ç¤¢¤ë¡£ ÉôÉÊÅÀ¿ô¤ò¾¯¤Ê¤¯¤¹¤ë¤³¤È¤Ë¤è¤ê·ÚÎ̲½¤·¡¢¥í¥Ü¥Ã¥È¤¬°ÂÄꤷ¤ÆÆ°ºî¤¹¤ë¤è¤¦¤Ë¤Ê¤ë¤Ù¤¯½Å¿´¤¬²¼¤Î°ÌÃ֤ˤʤë¤è¤¦¤ËºîÀ®¤·¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/IMG_5895.JPG,45%,½ñÆ»¥í¥Ü¥Ã¥È) #ref(2017b/Member/cyanomelana/Mission1/robo1IMG_5893.JPG,65%,½ñÆ»¥í¥Ü¥Ã¥È) **¥í¥Ü¥Ã¥È¤Î¾ÜºÙ [#mee85b7a] Y¼´Êý¸þ¡ÊÁ°¸åÊý¸þ¡Ë¤Î°ÜÆ° Y¼´Êý¸þ¡ÊÁ°¸åÊý¸þ¡Ë¤Ø¤Î°ÜÆ°¤Î¹©ÉפȤ·¤Æ¡¢¥¿¥¤¥ä¤ò4ÎØ°ìÎó¤Ëʤ٤뤳¤È¤Ë¤è¤Ã¤Æľ¿ÊÀ¤ò¹â¤á¤¿¡£~ ¤µ¤é¤Ë¥â¡¼¥¿¡¼¤Î°ÌÃÖ¤ò¥í¥Ü¥Ã¥È¤ÎÃæ±û¤Ë¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¥â¡¼¥¿¡¼¤Î°ÌÃÖ¤¬Ã¼¤Ë¤¢¤ë¤Î¤ÈÈæ¤Ù¤ÆÆ°ÎϤÎÅÁã¤ÎÃÙ¤ì¤òºÇ¾®¸Â¤Ë¤Ç¤¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/tire.jpg,30%,½ñÆ»¥í¥Ü¥Ã¥È) #ref(2017b/Member/cyanomelana/Mission1/robo_5873.JPG,45%,½ñÆ»¥í¥Ü¥Ã¥È) X¼´Êý¸þ¡Êº¸±¦Êý¸þ¡Ë¤Î°ÜÆ° X¼´Êý¸þ¡Êº¸±¦Êý¸þ¡Ë¤Ø¤Î°ÜÆ°¤Ë¤ÏÆóËܤΥ졼¥ë¤Î¾å¤ò¥¿¥¤¥ä¤¬Æ°¤¯¤³¤È¤Ç°ÜÆ°¤·¤Æ¤¤¤ë¡¢¤½¤·¤Æ¥ì¡¼¥ë¤ò¥¬¥¤¥É¤Ç¶´¤à¤³¤È¤Ë¤è¤Ã¤Æ¥¿¥¤¥ä¤¬¥ì¡¼¥ë¤«¤éæÎؤ·¤Ê¤¤¤è¤¦¤Ë¤·¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/rorobo.JPG,30%,½ñÆ»¥í¥Ü¥Ã¥È) #ref(2017b/Member/cyanomelana/Mission1/roboboIMG_5898.JPG,45%,½ñÆ»¥í¥Ü¥Ã¥È) ¥Ú¥ó¤Î¾å¤²²¼¤²¤Îµ¡¹½ X¼´Êý¸þ¤ËÆ°¤¯¥â¡¼¥¿¡¼¤ËÂФ·¤Æ¿âľ¤Ë¥â¡¼¥¿¡¼¤ò¼è¤êÉÕ¤±¤ë¤è¤¦¤Ë»î¤ß¤¿¤¬¡¢¹â¤µ¤¬¹â¤¯¤Ê¤ê¡¢X¼´Êý¸þ¤ËÆ°¤¯¥â¡¼¥¿¡¼¤¬ÉÔ°ÂÄê¤Ë¤Ê¤Ã¤¿¤Î¤Ç¡¢X¼´Êý¸þ¤ËÆ°¤¯¥â¡¼¥¿¡¼¤ËÊ¿¹Ô¤Ë¥â¡¼¥¿¡¼¤ò¼è¤êÉÕ¤±¤Æ°ÂÄꤵ¤»¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/roboobo_5873.JPG,60%,½ñÆ»¥í¥Ü¥Ã¥È)~ Æ°ºî¤Î³Îǧ¤Çʬ¤«¤Ã¤¿¤³¤È¤À¤¬¡¢¥Ú¥ó¤ò²¼¤·¤ÆY¼´²¼Êý¸þ¡Ê¼êÁ°¡Ë¤Ë°ÜÆ°¤¹¤ë¤È¤¥Ú¥óÀè¤È»æ¤È¤ÎÄñ¹³ÎϤˤè¤Ã¤ÆX¼´Êý¸þ¤ËÆ°¤¯¥â¡¼¥¿¡¼¤¬»ý¤Á¾å¤¬¤Ã¤Æ¤·¤Þ¤Ã¤¿¤¬¡¢¼êÁ°¤Î¥¬¥¤¥É¤òŤ¯¤·¡¢¥Ú¥ó¤È¥¬¥¤¥É¤Îµ÷Î¥¤ò¤Ê¤¯¤¹¤³¤È¤Ë¤è¤ê¥â¡¼¥¿¡¼¤Ï»ý¤Á¾å¤¬¤é¤Ê¤¯¤Ê¤Ã¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/pen.JPG,30%,½ñÆ»¥í¥Ü¥Ã¥È)~ ¤µ¤é¤Ë¥Ú¥ó¤ò¾å¤²²¼¤²¤ò·«¤êÊÖ¤¹¤È¾¯¤·¤º¤Ä¥Ú¥ó¤Î³ÑÅÙ¤¬¤º¤ì¤Æ¡¢¥Ú¥óÀ褬»æÌ̤ËÅö¤¿¤ê¤¹¤®¤ë¤È¤¤¤¦ÌäÂ꤬µ¯¤¤¿¤¬¥¹¥È¥Ã¥Ñ¡¼¤ò¼è¤êÉÕ¤±¤ë¤³¤È¤Ç²ò·è¤·¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/penrobo.JPG,30%,½ñÆ»¥í¥Ü¥Ã¥È)~ *ºîÀ®¤·¤¿¥×¥í¥°¥é¥ß¥ó¥° [#xf4828b2] ¡ÖÂçºå¡×¤È¤¤¤¦Ê¸»ú¤ò½ñ¤¯¤Ë¤¢¤¿¤ê¡¢¶ÊÀþ¤ÈÀµ¤·¤¤½ñ¤½ç¤ò°Õ¼±¤·¤¿¥×¥í¥°¥é¥ß¥ó¥°¤ò½ñ¤¤¤¿¡£~ ²¼¤Î¼Ì¿¿¤ÎÈÖ¹æ¤Î½ç¤Ë¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/IMG_5944.JPG,25%,Âçºå¤Î½ñ¤½ç)~ X¼´¤ÏA¡¢Y¼´¤ÏC¤Î¥â¡¼¥¿¡¼¤ÇÆ°¤¯¤è¤¦¤Ë¤·¤Æ¡¢~ ¤½¤ì¤¾¤ì¤Î°ÜÆ°Êý¸þ¤ò¿Þ¤Î¤è¤¦¤Ë·è¤á¤Ædefine¤ÇÄêµÁ¤·¤¿¡£~ #ref(2017b/Member/cyanomelana/Mission1/direction.JPG,30%,½ñÆ»¥í¥Ü¥Ã¥È)~ #define XR(t) OnFwd(OUT_A,40); Wait(t); Off(OUT_A); Wait(200); #define XL(t) OnRev(OUT_A,40); Wait(t); Off(OUT_A); Wait(200); #define YD(t) OnFwd(OUT_C,40); Wait(t); Off(OUT_C); Wait(200); #define YU(t) OnRev(OUT_C,40); Wait(t); Off(OUT_C); Wait(200);~ ¥Ú¥ó¤Î¾å¤²²¼¤²¤Ï³ÑÅÙ¤ÇÆ°¤¯¥×¥í¥°¥é¥ß¥ó¥°¤òdefine¤ÇÄêµÁ¤·¤¿¡£~ #define PU RotateMotor(OUT_B,20,30); Off(OUT_B);¡¡//¥Ú¥ó¤ò¾å¤²¤ë #define PD RotateMotor(OUT_B,-20,30); Off(OUT_B);¡¡//¥Ú¥ó¤ò²¼¤í¤¹ **¡ÖÂç¡×¤Î¥×¥í¥°¥é¥ß¥ó¥° [#p6ec576f] ¶ÊÀþ¤òÉÁ¤¯¤¿¤á¤Ë¡¢»þ´Ö¤´¤È¤Ë®ÅÙ¤òÊѤ¨¤ë¥×¥í¥°¥é¥ß¥ó¥°¤ò½ñ¤¤¤¿¡£~ Î㤨¤Ð¡ÖÂç¡×¤ÎÆó²èÌܤÏYD(C¤Î¥â¡¼¥¿¡¼)¤Î®Å٤οôÃͤò»þ´Ö¤´¤È¤Ë²¼¤²¡¢~ XL(A¤Î¥â¡¼¥¿¡¼)¤Î®Å٤οôÃͤò¤ò»þ´Ö¤´¤È¤Ë¾å¤²¤¿¡£~ PD;¡¡//°ì²èÌÜ¡Ê¡¡Ë XR(1200); PU; XL(620);¡¡//Æó²èÌܤνñ¤»Ï¤á¤Î°ÌÃ֤˰ÜÆ° YU(150); PD;¡¡//Æó²èÌÜ¡Ê¢¡Ë OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯ OnRev(OUT_A,10);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯ Wait(200); OnFwd(OUT_C,40); OnRev(OUT_A,20); Wait(200); OnFwd(OUT_C,30); OnRev(OUT_A,30); Wait(200); OnFwd(OUT_C,20); OnRev(OUT_A,40); Wait(200); OnFwd(OUT_C,10); OnRev(OUT_A,50); Wait(200); Off(OUT_AC); PU; XR(710);¡¡//»°²èÌܤνñ¤¤Ï¤¸¤á¤Î°ÌÃ֤˰ÜÆ° YU(510); PD;¡¡//»°²èÌÜ¡Ê£¡Ë OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯ OnRev(OUT_A,20);¡¡//£Ø¼´±¦Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯ Wait(150); OnFwd(OUT_C,30); OnFwd(OUT_A,26); Wait(200); OnFwd(OUT_C,20); OnFwd(OUT_A,30); Wait(200); OnFwd(OUT_C,20); OnFwd(OUT_A,40); Wait(200); OnFwd(OUT_C,10); OnFwd(OUT_A,50); Wait(230); Off(OUT_AC); PU; **¡Öºå¡×¤Î¥×¥í¥°¥é¥ß¥ó¥° [#t5dab093] ¡Öºå¡×¤âƱÍͤˡ¢¤³¤¶¤È¤Ø¤ó¡¢±¦Â¦¤Î¡ÖÈ¿¡×¤Î¶ÊÀþ¤¬½ñ¤±¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥ß¥ó¥°¤·¤¿¡£~ ¡Öºå¡×¤ò½ñ¤½ª¤ï¤ë¤È¸µ¤Î°ÌÃÖ¤ËÌá¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥ß¥ó¥°¤ò½ñ¤¤¤¿¡£ XL(1300);¡¡//¡Öºå¡×¤Î°ì²èÌܤνñ¤»Ï¤á¤Î°ÌÃ֤ؤΰÜÆ° YD(220); PD;¡¡//°ì²èÌÜ¡Ê¡¡Ë YD(735); PU;¡¡//Æó²èÌܤνñ¤¤Ï¤¸¤á¤Î°ÌÃ֤˰ÜÆ° YU(710); PD;¡¡//Æó²èÌÜ¡Ê¢¡Ë XR(520); OnRev(OUT_A,30); OnFwd(OUT_C,10); Wait(550); Off(OUT_AC); //»°²èÌÜ¡Ê£¡ËÊüʪÀþ¤òÉÁ¤¯¤¿¤á¤Ë£Ù¼´²¼Êý¸þ¤Î®ÅÙ¤ò°ìÄê¤Ë¤·¡¢£Ø¼´Êý¸þ¤Î®ÅÙ¤òÊѲ½¤µ¤»¤¿¡£ OnFwd(OUT_C,22);¡¡//£Ù¼´²¼Êý¸þ¤Î®Å٤ϰìÄê OnFwd(OUT_A,40);¡¡//£Ø¼´±¦Êý¸þ¤Î®ÅÙ¤òÅÓÃæ¤Þ¤Ç½ù¡¹¤Ë²¼¤²¤ë Wait(150); OnFwd(OUT_C,22); OnFwd(OUT_A,25); Wait(100); OnFwd(OUT_C,22); OnFwd(OUT_A,15); Wait(100); OnFwd(OUT_C,22); OnRev(OUT_A,15);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë¾å¤²¤ë Wait(100); OnFwd(OUT_C,22); OnRev(OUT_A,25); Wait(100); OnFwd(OUT_C,22); OnRev(OUT_A,40); Wait(150); Off(OUT_AC); PU; YU(450);¡¡//»Í²èÌܤνñ¤»Ï¤á¤Î°ÌÃ֤˰ÜÆ° XR(660); PD;¡¡//»Í²èÌܡʤ¡Ë XR(550); PU; XL(660);¡¡//¸Þ²èÌܤνñ¤»Ï¤á¤Î°ÌÃ֤˰ÜÆ° PD;¡¡//¸Þ²èÌÜ¡Ê¥¡Ëº¸¤Ø¾¯¤·¤º¤Ä¶Ê¤¬¤ë¶ÊÀþ¤òÉÁ¤¯¤¿¤á¤Ë£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò°ìÄê¤Ë¤·¤Æ¡¢£Ø¼´º¸Êý¸þ¤Î®¤µ¤òÊѲ½¤µ¤»¤¿¡£ OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤Ï°ìÄê OnRev(OUT_A,10);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯ Wait(300); OnFwd(OUT_C,40); OnRev(OUT_A,17); Wait(200); OnFwd(OUT_C,40); OnRev(OUT_A,25); Wait(240); Off(OUT_AC); PU; XR(265);¡¡//Ï»²èÌܤνñ¤»Ï¤á¤Î°ÌÃ֤˰ÜÆ° YU(520); PD;¡¡//Ï»²èÌܡʦ¡Ë XR(525);¡¡//ÅÓÃæ¤Þ¤ÇľÀþ OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯ OnRev(OUT_A,20);¡¡//£Ø¼´º¸Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯ Wait(240); OnFwd(OUT_C,40); OnRev(OUT_A,20); Wait(120); OnFwd(OUT_C,35); OnRev(OUT_A,30); Wait(120); OnFwd(OUT_C,30); OnRev(OUT_A,40); Wait(120); Off(OUT_AC); PU; YU(540);¡¡//¼·²èÌܤνñ¤»Ï¤á¤Î°ÌÃ֤˰ÜÆ° XL(150); PD;¡¡//¼·²èÌܡʧ¡Ë OnFwd(OUT_C,40);¡¡//£Ù¼´²¼Êý¸þ¤Î®¤µ¤ò½ù¡¹¤ËÃÙ¤¯¤·¤Æ¤¤¤¯ OnFwd(OUT_A,30);¡¡//£Ø¼´±¦Êý¸þ¤Î®¤µ¤ò½ù¡¹¤Ë®¤¯¤·¤Æ¤¤¤¯ Wait(180); OnFwd(OUT_C,40); OnFwd(OUT_A,40); Wait(110); OnFwd(OUT_C,35); OnFwd(OUT_A,40); Wait(130); OnFwd(OUT_C,30); OnFwd(OUT_A,50); Wait(240); Off(OUT_AC); PU; XL(1500);¡¡//¥í¥Ü¥Ã¥È¤¬Æ°¤»Ï¤á¤¿»Ï¤á¤Î°ÌÃÖ¤ËÌá¤ë YU(2000); *½ñ¤±¤¿Ê¸»ú [#oed7f7d3] Æɤá¤ëʸ»ú¤Ï¤«¤±¤¿¡£ #ref(2017b/Member/cyanomelana/Mission1/oosaka.jpg,65%,Âçºå) *´¶ÁÛ¡¢È¿¾ÊÅÀ [#c5981acb] ´¶ÁÛ ¥í¥Ü¥Ã¥È¤Ï°ÂÄꤷ¤ÆÆ°¤¤¤¿¤Î¤ÇãÀ®´¶¤¬¤¢¤Ã¤¿¡£~ ¶ÊÀþ¤Ï¤¤ì¤¤¤Ë¤«¤±¤¿¤È»×¤¦¤¬¡¢»ú¤Î·Á¤¬¤¢¤Þ¤êǼÆÀ¤¤¤¯¤â¤Î¤Ç¤Ï¤Ê¤«¤Ã¤¿¡£~ ´°À®¤¹¤ë¤Þ¤Ç¤ÎÆ»¤Î¤ê¤¬²Ì¤Æ¤·¤Ê¤«¤Ã¤¿¡£~ È¿¾ÊÅÀ ¥µ¥Ö¥ë¡¼¥Á¥ó¤¬¤È¤Æ¤âŤ¯¤Ê¤ë¤È»×¤¤¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¤òºî¤é¤Ê¤«¤Ã¤¿¤¬¡¢task main¤ò¾¯¤Ê¤¯¤¹¤ë¤¿¤á¤Ë¥µ¥Ö¥ë¡¼¥Á¥ó¤ò»È¤¦¤Ù¤¤À¤Ã¤¿¤È»×¤¦¡£~ ¤³¤¶¤È¤Ø¤ó¤Î½ñ¤½ç¤ò´Ö°ã¤¨¤Æ¤·¤Þ¤Ã¤¿¡£