#contents

[[2017b/Member]]

*²ÝÂꣳ [#b9fd6f1e]

²ÝÂꣲ¤Ç»ÈÍѤ·¤¿¥³¡¼¥¹¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤¬Æþ¤Ã¤¿»æ¥³¥Ã¥×¤¬»ØÄꤵ¤ì¤¿¾ì½ê¤Ë¤ª¤¤¤Æ¤¢¤ê¡¢¤½¤ì¤é¤òÊÌ¡¹¤Ë²ó¼ý¤·¤Æ½êÄê¤Î¾ì½ê¤Ë±¿¤Ö¡£¤µ¤é¤Ë¾ã³²Êª¤È¤·¤Æ¤â»æ¥³¥Ã¥×¤¬ÃÖ¤¤¤Æ¤¢¤ê¤½¤ì¤é¤òÆ°¤«¤·¤Æ¤Ï¤Ê¤é¤Ê¤¤
²ÝÂꣲ¤Ç»ÈÍѤ·¤¿¥³¡¼¥¹¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤¬Æþ¤Ã¤¿»æ¥³¥Ã¥×¤¬»ØÄꤵ¤ì¤¿¾ì½ê¤Ë¤ª¤¤¤Æ¤¢¤ê¡¢¤½¤ì¤é¤òÊÌ¡¹¤Ë²ó¼ý¤·¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤ÏXÃÏÅÀ¤Ë¡¢»æ¥³¥Ã¥×¤ÏYÃÏÅÀ¤Ë±¿¤Ö¡£¤µ¤é¤Ë¾ã³²Êª¤È¤·¤Æ¤â»æ¥³¥Ã¥×¤¬ÃÖ¤¤¤Æ¤¢¤ê¤½¤ì¤é¤òÆ°¤«¤·¤Æ¤Ï¤Ê¤é¤Ê¤¤¡£

#ref(2017b/Member/cyanomelana/Mission3/2017b-mission3.png,80%,²ÝÂê3)

º£²ó¤Î²ÝÂꣳ¤Ïºî¶ÈÆâÍƤ¬¤È¤Æ¤â¿¤¤¤Î¤Ç¡¢¥Á¡¼¥àÆâ¤Ç¥í¥Ü¥Ã¥È¤òºî¤ëºî¶È¤È¥×¥í¥°¥é¥à¤òºî¤ëºî¶È¤È¤Ç¡¢Ê¬Ã´¤·¤Æºî¶È¤ò¹Ô¤Ã¤¿¡£»ä¤Ï¼ç¤Ë¥í¥Ü¥Ã¥È¤Îµ¡ÂΤòºîÀ®¤·¤¿¤Î¤Ç¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Î¾ÜºÙ¤ÏÂçëÉ÷¸ã¡¢¥«¥Ç¥ó¥¨¥ó¡¢¥Á¥ç¥¦¥«¥¤¥É¥¦¤Î¥ì¥Ý¡¼¥È¤ò»²¹Í¤Ë¤·¤Æ²¼¤µ¤¤¡£¡Ê¡Ö¥Á¡¼¥à¥á¥ó¥Ð¡¼¡×¤Î¹àÌܤ˥ê¥ó¥¯¤¬¤¢¤ê¤Þ¤¹¡Ë

***¥ë¡¼¥ë¤Î¾ÜºÙ [#f899a952]
¥ë¡¼¥ë¤Î¾ÜºÙ¤Ï¤³¤Á¤é¤Î¥ê¥ó¥¯¤Ë¤¢¤ê¤Þ¤¹¤Î¤Ç»²¹Í¤Ë¤·¤Æ¤¯¤À¤µ¤¤¡£~
http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMission3#red46b61

***¥Á¡¼¥à¥á¥ó¥Ð¡¼ [#oa518bc5]
²£Àî ͧÌé~

Âçë É÷¸ãhttp://yakushi.shinshu-u.ac.jp/robotics/?cmd=edit&page=2017b%2FMember%2Fwaitu%2FMission3&refer=2017b%2FMember

¥« ¥Ç¥ó¥¨¥óhttp://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Fyan%2FMission3

¥Á¥ç¥¦ ¥«¥¤¥É¥¦http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2FAlex%2FMission3~
(¾¤Î¥á¥ó¥Ð¡¼¤Î¥ì¥Ý¡¼¥È¤â»²¹Í¤Ë¤·¤Æ¤¯¤À¤µ¤¤¡£)

*ºîÀ®¤·¤¿¥í¥Ü¥Ã¥È[#sd56a80b]

ºîÀ®¤·¤¿¥í¥Ü¥Ã¥È¤Ï°ìÂΤǡ¢¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¡¢¤Ä¤«¤à¡¢½Å¤Í¤ë¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò»ØÄê°ÌÃ֤ޤDZ¿¤ÖÆ°ºî¡¢¤¹¤Ù¤Æ¤ÎÆ°ºî¤ò°ìÂΤǤ³¤Ê¤»¤ë¤è¤¦¤Ê¥í¥Ü¥Ã¥È¤òºîÀ®¤·¤¿¡£¡Ê¾ÜºÙ¤Ï²¼¤Î¥í¥Ü¥Ã¥È¤Î²èÁü¤ò»²¾È¡Ë~

#ref(2017b/Member/cyanomelana/Mission3/robo2.PNG,50%,¥í¥Ü¥Ã¥È¤Î¾ÜºÙ1)
#ref(2017b/Member/cyanomelana/Mission3/robo3.PNG,70%,¥í¥Ü¥Ã¥È¤Î¾ÜºÙ2)

**¥í¥Ü¥Ã¥È¤Î¾ÜºÙ [#jbd98e7d]
¤³¤Î¥í¥Ü¥Ã¥È¤ÏÁ°ÎضîÆ°¤È¤Ê¤Ã¤Æ¤ª¤ê¡¢¥í¥Ü¥Ã¥È¤Î¼ÖÂΤ¬¤È¤Æ¤â½Å¤¤¤Î¤Ç¡¢¥í¥Ü¥Ã¥È¤ÎºîÀ®¥Þ¥Ë¥å¥¢¥ëËܤˤ¢¤ë¥í¥Ü¥Ã¥È¤Î¸åÎؤμÖÎؤòÆó¤Äºî¤ê¡¢¥í¥Ü¥Ã¥È¤Î¸å¤í¤Ë¼è¤êÉÕ¤±¤ë¤³¤È¤Ç¥í¥Ü¥Ã¥È¤Î½ÅÎ̤ò»Ù¤¨¡¢¥¹¥à¡¼¥º¤ËÆ°¤±¤ë¤è¤¦¹©Éפ·¤¿¡£

#ref(2017b/Member/cyanomelana/Mission3/foto1.PNG,80%,²ÝÂê3¤Î¥í¥Ü¥Ã¥È)

***¥í¥Ü¥Ã¥È¤Î¹üÁÈ¤ß [#ea7693eb]
¤³¤Î¥í¥Ü¥Ã¥È¤Ï°ìÂΤǥߥå·¥ç¥ó¤ò¤³¤Ê¤¹¤¿¤á¤Ë¥í¥Ü¥Ã¥È¤ËNXTËÜÂΤòÆóÂæÀѤޤʤ±¤ì¤Ð¤Ê¤é¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¥í¥Ü¥Ã¥ÈËÜÂΤζ¯ÅÙ¤ò¶¯¤¯¤¹¤ëɬÍפ¬¤¢¤Ã¤¿¡£¤½¤³¤Ç¡¢¥í¥Ü¥Ã¥È¤Î¸å¤í¤ÈÁ°¤Î´Ö¤Ë¶Ú¸ò¤¤¤òÀߤ±¤ë¤³¤È¤Ç¡¢¾¯¤·¤À¤±¶¯ÅÙ¤ò¾å¤²¤ë¤³¤È¤¬½Ð¤­¤¿¡£¤µ¤é¤ËľÀþÁö¹Ô¡¢²óž¤¹¤ë¤È¤­¤Ë¥í¥Ü¥Ã¥È¤Î¥â¡¼¥¿¡¼¤¬Á°¸å¤ËÆ°¤¤¤Æ¤·¤Þ¤¦ÌäÂê¤â¤³¤ì¤Ç²ò·è¤¹¤ë¤³¤È¤¬½Ð¤­¤¿

#ref(2017b/Member/cyanomelana/Mission3/roboex3.gif,80%,¥í¥Ü¥Ã¥È¤¬Æ°¤¯¤È¥â¡¼¥¿¡¼¤¬Æ°¤¤¤Æ¤·¤Þ¤¦)
#ref(2017b/Member/cyanomelana/Mission3/kaizen.PNG,80%,²þÁ±)
#ref(2017b/Member/cyanomelana/Mission3/katamukahen.PNG,80%,¥â¡¼¥¿¡¼¤¬·¹¤«¤Ê¤¯¤Ê¤Ã¤¿)

***³Æ¼ï¥»¥ó¥µ¡¼¤Î¼è¤êÉÕ¤±°ÌÃÖ [#md272077]
 ¸÷¥»¥ó¥µ¡¼
²¼¤Î²èÁü¤Î¤è¤¦¤Ë¥í¥Ü¥Ã¥È¤Îº¸±¦Î¾Êý¤Ë¸÷¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¡¢¸÷¥»¥ó¥µ¡¼¤ò»È¤¤Ê¬¤±¤ë¤³¤È¤Ç»æ¤ËÉÁ¤«¤ì¤¿Àþ¤ÎÆɤ߼è¤êÊý¤¬Áý¤¨¤¿¡£¤½¤Î·ë²Ì¡¢Ê£»¨¤ÊÆ°¤­¤ò¤¹¤ë¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¡£

#ref(2017b/Member/cyanomelana/Mission3/hikari.PNG,80%,¸÷¥»¥ó¥µ¡¼¤Î°ÌÃÖ)

 Ķ²»ÇÈ¥»¥ó¥µ¡¼
¥³¥Ã¥×¤ò¸«¤Ä¤±¤ëĶ²»ÇÈ¥»¥ó¥µ¡¼¤Ï¥í¥Ü¥Ã¥ÈÁ°Â¦Ãæ±û¤Ë¼è¤êÉÕ¤±¡¢¤µ¤é¤Ë¥»¥ó¥µ¡¼¤ò½Ä¤Ë¤·¤Æ»È¤¦¤³¤È¤Ç¬Äꤷ¤¿»æ¥³¥Ã¥×¤Þ¤Ç¤Îµ÷Î¥¤ò¤è¤êÀµ³Î¤Ë¬¤ë¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¹©Éפ·¤¿¡£¡Ê²èÁü»²¾È¡Ë~
¤·¤«¤·¡¢¡Ö¼ç¤Ê¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤è¤ëÆ°ºî¤Îή¤ì¡×¤Î¹àÌܤǾܤ·¤¯ÀâÌÀ¤¹¤ë¤¬¡¢¤³¤Î¥í¥Ü¥Ã¥È¤Ï»æ¥³¥Ã¥×¤ò¥í¥Ü¥Ã¥È¤ÎÃæ¤Ë¼è¤ê¹þ¤à¤Î¤Ç¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤Ë¡¢²¼¤ÎÆ°¤¯²èÁü¤Î¤è¤¦¤Ë¥â¡¼¥¿¡¼¤ò¼è¤êÉÕ¤±¤ÆĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬Æ°¤±¤ë¤è¤¦¤Ë¤·¡¢»æ¥³¥Ã¥×¤ò¥í¥Ü¥Ã¥È¤ÎÆâÉô¤Ë¼è¤ê¹þ¤á¤ë¤è¤¦¤Ë¤·¤¿¡£

#ref(2017b/Member/cyanomelana/Mission3/tyouonn.PNG,80%,Ķ²»ÇÈ¥»¥ó¥µ¡¼¤Î°ÌÃÖ)
#ref(2017b/Member/cyanomelana/Mission3/tooreru.gif,80%,»æ¥³¥Ã¥×¤Î¼è¤ê¹þ¤ß)


***»æ¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½ [#hefd249c]
»æ¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½¤ÏÊÒÊý¤ÎÏÓ¤ò¸ÇÄꤷ¡¢¤â¤¦ÊÒÊý¤ÎÏÓ¤ò¥â¡¼¥¿¡¼¤ÇÆ°¤«¤¹¤³¤È¤Ç»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¤è¤¦¤Ë¤·¤¿¡£¤Þ¤¿¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤ß¤ä¤¹¤¤¤è¤¦¥¿¥¤¥ä¤ò¼è¤êÉÕ¤±¤¿¡£¤µ¤é¤Ë¡¢¤Ä¤«¤ó¤À»þ¤Ë»æ¥³¥Ã¥×¤ò¾¯¤·É⤫¤»¤ë¤³¤È¤ÇXÃÏÅÀ¤Î³ä¤ê¤Ð¤·¤òĶ¤¨¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤Ë±¿¤Ù¤ë¤è¤¦¤Ë¹©Éפ·¤¿¡£

 ¾å¤«¤é¸«¤¿¿Þ
#ref(2017b/Member/cyanomelana/Mission3/torutoru.gif,80%,»æ¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½)

 ²£¤«¤é¸«¤¿¿Þ
#ref(2017b/Member/cyanomelana/Mission3/ccc.gif,80%,»æ¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½)

***»æ¥³¥Ã¥×¤ò¾å¤²²¼¤²¤¹¤ëµ¡¹½ [#hcce8a0e]

»æ¥³¥Ã¥×¤ò¾å¤²²¼¤²¤¹¤ë¥â¡¼¥¿¡¼¤Ë»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¥â¡¼¥¿¡¼¤ò¤È¤ê¤Ä¤±¤Æ»æ¥³¥Ã¥×¤ò¤Ä¤«¤ß¡¢¾å¤²²¼¤²¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¡£

#ref(2017b/Member/cyanomelana/Mission3/bbb.gif,80%,»æ¥³¥Ã¥×¤ò¾å¤²²¼¤²¤¹¤ëµ¡¹½)

¡ö¥í¥Ü¥Ã¥È¤Î»æ¥³¥Ã¥×¤ò¼èÆÀ¤¹¤ë¤È¤­¤Î°ìÏ¢¤ÎÆ°¤­¤Ï¡Ö¼ç¤Ê¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤è¤ëÆ°ºî¤Îή¤ì¡×¤Î¹àÌܤÇÀâÌÀ¤¹¤ë¡£

*ºîÀ®¤·¤¿¥×¥í¥°¥é¥ß¥ó¥° [#ye49cd86]

²ÝÂꣳ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Ï£²µ¡¤ÎNXT´Ö¤ÇBluetouth¤ò²ð¤·¤ÆÄÌ¿®¤ò¹Ô¤¦¥×¥í¥°¥é¥à¤ò»ÈÍѤ·¤Æ¤ª¤ê¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤òÍѤ¤¤Æ»æ¥³¥Ã¥×¤òǧ¼±¤·¤¿¸å¡¢¿Æµ¡¤«¤é¤Î¿®¹æ¤ò¼õ¿®¤·»Òµ¡¤Î»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¤¬µ¯Æ°¤¹¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

**´ðËÜŪ¤ÊÆ°ºî¤Î¥×¥í¥°¥é¥ß¥ó¥° [#t1b7bd8d]
²ÝÂꣳ¤ËɬÍפʼç¤Ê¥×¥í¥°¥é¥ß¥ó¥°¤Ï¡Ö»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¥×¥í¥°¥é¥ß¥ó¥°¡×¤È¡Ö¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥ß¥ó¥°¡×¤Ç¤¢¤ë¡£

***»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤Æ¶á¤Å¤¯¥×¥í¥°¥é¥ß¥ó¥° [#s55f5497]

 ¤É¤Î¤è¤¦¤Ë¥í¥Ü¥Ã¥È¤«¤é°ìÈֶᤤ»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¤Î¤«
¥í¥Ü¥Ã¥È¤«¤é°ìÈֶᤤ»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¤¿¤á¤Ë¤Ï¥»¥ó¥µ¡¼¤¬»ØÄꤵ¤ì¤¿Ç¤°Õ¤Î³ÑÅÙ¤ò²ó¤ê¡¢¤½¤Î¸å²ó¤Ã¤Æ¤¤¤ëÅÓÃæ¤Ç°ìÈֻ楳¥Ã¥×¤Ë¶á¤«¤Ã¤¿³ÑÅÙ¤ò¿ï»þµ­²±¡Ê»æ¥³¥Ã¥×¤È¥»¥ó¥µ¡¼¤Îµ÷Î¥¤ÎºÇ¾®Ãͤò¿ï»þÃÖ¤­´¹¤¨¤¹¤ë¡Ë¤·¤Æ¤¤¤¯¡£»ØÄꤵ¤ì¤¿³ÑÅÙ¤ò²ó¤ê½ª¤¨¤ë¤È°ìÈֻ楳¥Ã¥×¤Ë¶á¤¤³ÑÅ٤˸þ¤¯¤¿¤á¤Ëvoid turnAng(long ang¡Ë¤òÍѤ¤¤Æ¥¿¥¤¥ä¤ò²óž¤µ¤»¤ë¡£¡Ê²èÁü»²¾È¡Ë

#ref(2017b/Member/cyanomelana/Mission3/ggg.gif,50%,¥í¥Ü¥Ã¥È¤«¤é°ìÈֶᤤ»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë)

 »æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤Æ¶á¤Å¤¯¥×¥í¥°¥é¥à¤Ï¼¡¤Î1¡Á4¤Î¼ê½ç¤¬¹Ô¤ï¤ì¤Æ¤¤¤ë¡£
 
 ­¡int searchDirection(long ang)¤Ë¤è¤Ã¤Æ¤É¤ì¤¯¤é¤¤¤Î³ÑÅÙ¤ÎÈϰϤòÄ´¤Ù¤ë¤«¤ò»ØÄꤹ¤ë
 ­¢»ØÄꤷ¤¿³ÑÅÙ¤ò²ó¤ë¤¿¤á¤Ë¤Ï¤É¤Î¤¯¤é¤¤¥¿¥¤¥ä¤ò²ó¤»¤Ð¤è¤¤¤« void turnAng(long ang)¤Ç·×»»¤·¤Æ¥¿¥¤¥ä¤ò²ó¤¹
 ­£»æ¥³¥Ã¥×¤Ë°ìÈֶᤤ°ÌÃ֤γÑÅÙ¤òµ­²±¤·¤¿¤é¤½¤Î³ÑÅ٤˥í¥Ü¥Ã¥È¤¬¸þ¤¯
 ­¤int searchDirection(long ang)¤Ë¤è¤Ã¤Æ°ìÈֶᤤ»æ¥³¥Ã¥×¤Þ¤Ç¤Îµ÷Î¥¤ò³Îǧ¤·¤¿¤éǤ°Õ¤Îµ÷Î¥¤Þ¤Ç¶á¤Å¤¯¡£¤³¤ÎºÝ¤Ë¶á¤Å¤¯µ÷Î¥¤Ïvoid fwdDist(float d)¤ò¤Ä¤«¤¤¡¢¤É¤Î¤¯¤é¤¤¥¿¥¤¥ä¤ò²ó¤»¤Ð¤è¤¤¤«¤ò·×»»¤·¤Æ¥¿¥¤¥ä¤ò²ó¤¹¡£


 const float diameter = 5.45;   //¥¿¥¤¥äľ·Â
 const float track = 10.35;    //¥¿¥¤¥ä¥È¥ì¥Ã¥ÉÉý
 const float pi = 3.1415;     //±ß¼þΨ
 
 void fwdDist(float d) //µ÷Î¥¡¡£ä£ã£íÁ°¿Ê¡¡//
 {
 long angle = d/(diameter*pi)*360.0;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
 RotateMotorEx(OUT_AC, SPEED_SLOW, angle, 0, true ,true);
 }
 
 void turnAng(long ang) //³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó
 {
 long angle = track/diameter * ang;
 RotateMotorEx(OUT_AC, SPEED_SLOW, angle, 100, true, true);
 }
 
 int searchDirection(long ang) //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·
                                     //¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
 {
 long tacho_min;  //ºÇ¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ë¥¿¥¤¥ä¤Î²óž¿ô
 int d_min = 300;  //ºÇ¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®Ã͡ʽ½Ê¬Â礭¤¯¤È¤Ã¤Æ¤ª¤¯¡Ë
 
 long angle = (track/diameter)*ang;  //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
 turnAng(ang/2);   //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
 ResetTachoCount(OUT_AC);   //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
 
 OnFwdSync(OUT_AC,SPEED_SLOW,-100);  //Ⱦ»þ·×²ó¤ê¤ËÀû²ó
 while(MotorTachoCount(OUT_A)<=angle)
 {
 if (SensorUS(S1)<d_min)
  { //¸½ºß¤Îµ÷Î¥¤¬¼Ú¤ê¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¾ì¹ç
 d_min = SensorUS(S1); //²¾¤ÎºÇ¾®Ãͤò¹¹¿·
 tacho_min = MotorTachoCount(OUT_A); //¤³¤Î»þ¤Î¥¿¥¤¥ä¤Î²óž¿ô¤òµ­Ï¿
  }
  }
 OnFwdSyncEx(OUT_AC,SPEED_SLOW,100,RESET_NONE);
 until(MotorTachoCount(OUT_A)<=tacho_min || SensorUS(S1)<=d_min);
  
 Wait(14); //ÈùÄ´À°
 Off(OUT_AC);Wait(500);
 return d_min;
 }


***¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¥×¥í¥°¥é¥à [#i76f8301]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Î¾ÜºÙ¤Ï²ÝÂê2¤Î¥ì¥Ý¡¼¥È¤Ç¾Ü¤·¤¯ÀâÌÀ¤·¤Æ¤¤¤ë¤Î¤Ç¤½¤Á¤é¤ò»²¹Í¤Ë¤·¤Æ²¼¤µ¤¤¡£
http://yakushi.shinshu-u.ac.jp/robotics/#g9f1eef7

**¼ç¤Ê¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤è¤ëÆ°ºî¤Îή¤ì [#se4a2410]

¥í¥Ü¥Ã¥È¤Î´ðËÜŪ¤ÊÆ°ºî¤Îή¤ì¤Ï¤Ä¤®¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£

 ­¡»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë
 ­¢¥»¥ó¥µ¡¼¤ò¾å¤²¤ë
 ­£»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
 ­¤XÃÏÅÀ¤Ë¸þ¤«¤¦
 ­¥»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë
 ­¦¥»¥ó¥µ¡¼¤ò²¼¤²¤ë
 ­§»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë

***­¡¸«¤Ä¤±¤ë [#kbfb3162]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»È¤¤¡¢»æ¥³¥Ã¥×¤Î¶á¤¯¤ËÅþÃ夷¤¹¤ë¤È¡¢¥»¥ó¥µ¡¼¤òµ¯Æ°¤·¤Æ¡Ö»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¥×¥í¥°¥é¥ß¥ó¥°¡×¤ò»ÈÍѤ·¤Æ¡¢°ìÈֶᤤ»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¡£
#ref(2017b/Member/cyanomelana/Mission3/sensorvartical2.jpg,30%,¥í¥Ü¥Ã¥È¤ÎÆ°¤­)

***­¢¥»¥ó¥µ¡¼¤ò¾å¤²¤ë [#if283a49]
°ìÈֶᤤ»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¼¡Â褽¤Î»æ¥³¥Ã¥×¤ÎÊý¸þ¤Ë¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÊѤ¨¤Æ¥»¥ó¥µ¡¼¤ò¾å¤²¤ë¡£
#ref(2017b/Member/cyanomelana/Mission3/age.gif,70%,¥í¥Ü¥Ã¥È¤ÎÆ°¤­)

***­£»æ¥³¥Ã¥×¤ò¤Ä¤«¤à [#j837269e]
¥»¥ó¥µ¡¼¤ò¾å¤²¤¿¸å¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤á¤ë°ÌÃ֤ޤǻ楳¥Ã¥×¤Ë¸þ¤«¤Ã¤Æľ¿Ê¤·¡¢¤Ä¤«¤à¡£
#ref(2017b/Member/cyanomelana/Mission3/firstcatch.jpg,30%,¥í¥Ü¥Ã¥È¤ÎÆ°¤­)

***­¤XÃÏÅÀ¤Ë¸þ¤«¤¦ [#n6742972]
»æ¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À¸å¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¡¢XÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò±¿¤Ö¡£

***­¥»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ë [#w2231491]
XÃÏÅÀ¤ÎÃæ¤Ë»æ¥³¥Ã¥×¤¬Æþ¤ë¤È¡¢»æ¥³¥Ã¥×¤ò¾å¤²¤Æ»æ¥³¥Ã¥×¤ÎÃæ¤Î¥Ô¥ó¥Ý¥ó¶Ì¤ò³«Êü¤¹¤ë¡£
#ref(2017b/Member/cyanomelana/Mission3/fff.gif,80%,¥í¥Ü¥Ã¥È¤ÎÆ°¤­)

***­¦¥»¥ó¥µ¡¼¤ò²¼¤²¤ë [#r88dd3f2]
¥Ô¥ó¥Ý¥ó¶Ì¤ò³«Êü¤·¤¿¤é¡¢¸å¤í¤Ë¿Ê¤ß¤Ê¤¬¤éXÃÏÅÀ¤ÎÏȤò½Ð¤Æ¡¢¥Ô¥ó¥Ý¥ó¶Ì¤Ë¿¨¤ì¤Ê¤¤°ÌÃ֤ޤǥí¥Ü¥Ã¥È¤¬½Ð¤ë¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤ò²¼¤í¤·¤ÆÆó¤ÄÌܤλ楳¥Ã¥×¤òõ¤·¤Ë¹Ô¤¯¡£
#ref(2017b/Member/cyanomelana/Mission3/eee.gif,80%,¥í¥Ü¥Ã¥È¤ÎÆ°¤­)

***­§¸«¤Ä¤±¤ë [#t73e2e58]
»æ¥³¥Ã¥×¤ò°ì¸Ä¼èÆÀ¤·¤¿¼¡¤ÎÆ°ºî¤È¤·¤Æ¡¢¥»¥ó¥µ¡¼¤Ç2¤ÄÌܤλ楳¥Ã¥×¤ò¸«¤Ä¤±¤Æ¤«¤é»æ¥³¥Ã¥×¤ò½Å¤Í¤ëÆ°ºî¤¬¤¢¤ë¡£¤½¤·¤ÆºÇ¸å¤Ë½Å¤Í¤¿»æ¥³¥Ã¥×¤òYÃÏÅÀ¤ËÃÖ¤¯¡£

**¥×¥í¥°¥é¥ß¥ó¥°¤ÎÁ´ÂÎ [#k9f91207]

¤Þ¤º¿Æµ¡¡¢»Òµ¡¤Îdefine¤ò¼¡¤Î¤è¤¦¤ËÄêµÁ¤·¤¿¡£
 ¿Æµ¡
 #define SPEED 100
 #define SPEED_SLOW 60
 #define turn_left1 OnFwd(OUT_A,80 * x); OnRev(OUT_C,35 * x);//kituku
 #define turn_left2 OnFwd(OUT_A,100 * x); OnFwd(OUT_C,40 * x);//yuruku
 #define turn_left3 OnFwd(OUT_A,80 * x); OnRev(OUT_C,90 * x);//sonoba
 #define turn_left5 OnFwd(OUT_A,80 * x); OnRev(OUT_C,1 * x);//±¦¤Î¼ÖÎؤÀ¤±¤òÁ°¤Ë²ó¤·¤Æº¸¤Ë²ó¤ë
 #define go_forward OnFwd(OUT_A,80 * x); OnFwd(OUT_C,87 * x);//Á°¤Ë¿Ê¤à
 #define go_back OnRev(OUT_A,100 * x); OnRev(OUT_C,85 * x);//¸å¤í¤Ë¿Ê¤à
 #define turn_right1 OnRev(OUT_A,35 * x); OnFwd(OUT_C,80 * x);//¤­¤Ä¤¯±¦¤Ë²ó¤ë
 #define turn_right2 OnFwd(OUT_A,30 * x); OnFwd(OUT_C,100 * x);//¤æ¤ë¤¯±¦¤Ë²ó¤ë
 #define turn_right3 OnRev(OUT_A,80 * x); OnFwd(OUT_C,80 * x);//¤½¤Î¾ì¤Ç±¦¤Ë²ó¤ë
 #define AD SendRemoteNumber(1,MAILBOX1,01);//¥¢¡¼¥à¤òÊĤ¸¤ÆÄù¤á¤ë
 #define AU SendRemoteNumber(1,MAILBOX1,02);//¥¢¡¼¥à¤ò¾å¤²¤ë
 #define TD OnRev(OUT_B,45 * x); Wait(1000);//Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò²¼¤²¤ë
 #define TU OnFwd(OUT_B,45 * x); Wait(1000);//Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¾å¤²¤ë
 #define CupOff SendRemoteNumber(1,MAILBOX1,03);   //¥³¥Ã¥×¤òÎ¥¤¹
 #define turn_right4 OnRev(OUT_A,80 * x); OnFwd(OUT_C,60 * x);//¤½¤Î¾ì¤Ç±¦¤Ë²ó¤ë
 #define turn_right5 OnRev(OUT_A,80 * x); OnFwd(OUT_C,1 * x);//±¦¤Î¼ÖÎؤÀ¤±¤ò¸å¤í¤Ë²ó¤·¤Æ±¦¤Ë²ó¤ë
 #define turn_right6 OnRev(OUT_A,1 * x); OnFwd(OUT_C,80 * x);//º¸¤Î¼ÖÎؤÀ¤±¤ò²ó¤·¤Æ±¦¤Ë²ó¤ë
 #define DO  523//²»¤Î¹â¤µ
 #define x 0.65//¤«¤±¿ô
 »Òµ¡
 #define ArmDown OnRev(OUT_A,50); Wait(500);//»æ¥³¥Ã¥×¤ò²¼¤²¤ë
 #define ArmUp   OnFwd(OUT_A,70); Wait(300);//»æ¥³¥Ã¥×¤ò¾å¤²¤ë
 #define ArmClose OnRev(OUT_C,70); Wait(1000);//»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
 #define ArmOpen OnFwd(OUT_C,30); Wait(500);//»æ¥³¥Ã¥×¤òÎ¥¤¹
 #define ArmStay OnRev(OUT_AC,1);//»æ¥³¥Ã¥×¤ò¶¯¤¯¤Ä¤«¤ß³¤±¤ë

¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ïsub¥ë¡¼¥Á¥ó¤Ë¤·¤¿¡£

 sub IKK() //¥í¥Ü¥Ã¥È¤Îº¸¤Î¸÷¥»¥ó¥µ¡¼¤¬Àþ¤Î±¦Â¦¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹
 {
 int BP = 0;
 while (BP < 125)
  {
 if (SENSOR_2 < 45)
   {
 turn_right1;
 BP++;
   }
 else
   {
 if (SENSOR_2 < 49 )
    {
 turn_right2;
    }
 else if (SENSOR_2 < 56 )
    {
 go_forward;
    }
 else if (SENSOR_2 < 58)
    {
 turn_left2;
    }
 else
    {
 turn_left1;
    }
 BP = 0;
   }
 Wait(1);
  }
 Off(OUT_AC);
 PlayTone(DO,100); Wait(100);
 Wait(10);
 BP = 0;
 }

 sub DKK()//¥í¥Ü¥Ã¥È¤Îº¸Â¦¤Î¸÷¥»¥ó¥µ¡¼¤¬Àþ¤Îº¸Â¦¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
 {
 int BP = 0;
 while (BP < 170)
  {
 if (SENSOR_2 < 45)
   {
 turn_left1;
 BP++;
   }
 else
   {
 if (SENSOR_2 < 49 )
    {
 turn_left2;
    }
 else if (SENSOR_2 < 54 )
    {
 go_forward;
    }
 else if (SENSOR_2 < 55)
    {
 turn_right3;
    } 
 else
    {
 turn_right4;
    }
 BP = 0;
   }
 Wait(1);
  }
 Off(OUT_AC);
 PlayTone(DO,100); Wait(100);
 BP = 0;
 }

 sub DKK2()//¥í¥Ü¥Ã¥È¤Î±¦Â¦¤Î¸÷¥»¥ó¥µ¡¼¤¬Àþ¤Îº¸Â¦¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
 {
 int BP = 0;
 while (BP < 170)
  {
 if (SENSOR_3 < 45)
   {
 turn_left1;
 BP++;
   }
 else
   {
 if (SENSOR_3 < 49 )
    {
 turn_left2;
    }
 else if (SENSOR_3 < 54 )
    {
 go_forward;
    }
 else if (SENSOR_3 < 55)
    {
 turn_right3;
    }
 else
    {
 turn_right4;
    }
 BP = 0;
   }
 Wait(1);
  }
 Off(OUT_AC);
 PlayTone(DO,100); Wait(100);
 BP = 0;
 }

»Òµ¡¤Î¥×¥í¥°¥é¥ß¥ó¥°

  task main ()
 {
 int msg;
 while(true)
  {
 ReceiveRemoteNumber(MAILBOX1,true,msg);
 
 if (msg == 01)
    {
 Off(OUT_AC);
 ArmDown;//»æ¥³¥Ã¥×¤ò²¼¤²¤ë
 ArmClose;//»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
 msg = 04;
    }
 
 if (msg == 02)
    {
 ArmStay;//»æ¥³¥Ã¥×¤ò¤Ä¤«¤ß³¤±¤ë
 ArmUp;//»æ¥³¥Ã¥×¤ò¾å¤²¤ë
 msg = 04;
    }
 
 if (msg == 03)
    {
 Off(OUT_AC);
 ArmUp;//»æ¥³¥Ã¥×¤ò¾å¤²¤ë
 ArmOpen;//»æ¥³¥Ã¥×¤òÎ¥¤¹
    }
 if (msg == 04)
    {
 ArmStay;//»æ¥³¥Ã¥×¤ò¶¯¤¯¤Ä¤«¤ß³¤±¤ë
 Off(OUT_A);
    }
   }
 }




²ÝÂꣳ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Ï¤Ç¤­¤ë¤À¤±³ÍÆÀ¥¹¥³¥¢¤òÆÀ¤ë¤¿¤á¤ËDÃÏÅÀ¤Ë¶á¤¤¡Ê¦Á¤È¦Â¡ËÆó¤Ä¤Î»æ¥³¥Ã¥×¤È¥Ô¥ó¥Ý¥ó¶Ì¡Ê¿Þ»²¾È¡Ë¤Î²ó¼ý¤òÍ¥À褷¡¢»Ä¤ê°ì¤Ä¤Î»æ¥³¥Ã¥×¤Î²ó¼ý¤ÏÃÇÇ°¤·¤¿¡£~
¦Á¡¢¦Â¤Î»æ¥³¥Ã¥×¤Î²ó¼ý¤Î¥×¥í¥°¥é¥à¤ò¤½¤ì¤¾¤ì¼¡¤Î¤è¤¦¤Ëʬ¤±¤ë¡£
#ref(2017b/Member/cyanomelana/Mission3/giveup.PNG,80%,²ó¼ý¤¹¤ë»æ¥³¥Ã¥×)

***»æ¥³¥Ã¥×¤Î²ó¼ý¤Îή¤ì [#d465f118]

 1¡¡£ÃÃÏÅÀ¤Þ¤Çľ¿Ê¤·¤¿¸åº¸ÀÞ¤·¤Æ¡¢¤½¤³¤«¤é£ÆÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
 2¡¡£ÆÃÏÅÀ¤Ç¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Á¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¡£
 3¡¡¦Á¤Î»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
 4¡¡£Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂà¡£
 5¡¡£ØÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò±¿¤Ö
 6¡¡¦Á¤Î»æ¥³¥Ã¥×¤ò¾å¤²¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤Ë¼ý¤á¤ë
 7¡¡¥í¥Ü¥Ã¥È¤ò¦Â¤Î»æ¥³¥Ã¥×¤ÎÊý¸þ¤Ë¸þ¤±¤ë
 8¡¡¥»¥ó¥µ¡¼¤ò²¼¤í¤·¤¿¤¢¤È¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Â¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë
 9¡¡¦Â¤Î»æ¥³¥Ã¥×¤ò¼è¤ë
 10¡¡£Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂष¡¢XÃÏÅÀ¤Þ¤Ç±¿¤Ö¡£
 11¡¡£ÙÃÏÅÀ¤Ë»æ¥³¥Ã¥×¤òÃÖ¤¯¡¡

***1£ÃÃÏÅÀ¤Þ¤Çľ¿Ê¤·¤¿¸åº¸ÀÞ¤·¤Æ¡¢¤½¤³¤«¤é£ÆÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ [#rd3b5909]
 SetSensorLowspeed(S1);
 SetSensorLight(S2);
 SetSensorLight(S3);
 go_forward;
 Wait(500);  //¾¯¤·Á°¿Ê
 turn_left3;
 Wait(200);
 while (SENSOR_2 > 45)
 {
 turn_left3;
 }
 turn_right1;
 Wait(100);
 IKK(); //º¸¤Î¥»¥ó¥µ¡¼¤ò»È¤Ã¤ÆFÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
 turn_left3;¤½¤Î¾ì¤Çº¸¤Ë²ó¤ë
 > Wait(1000); //º¸¸þ¤¯

***2 £ÆÃÏÅÀ¤Ç¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Á¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë[#t9bc943e]

 int d = searchDirection(70);//¥³¥Ã¥×õ¤¹
 if (d > 10)
 {
 fwdDist(d-10.0);//¥³¥Ã¥×¤Ë¶á¤Å¤¯
 }
 TU; //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¤¢¤²¤ë
 go_forward;
 Wait(2900);

***3 ¦Á¤Î»æ¥³¥Ã¥×¤ò¤Ä¤«¤à[#d998d7dc]

 AD; //¥³¥Ã¥×¤ò¼è¤ë
 Off(OUT_AC);
 Wait(3000);

***4 £Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂà¡£[#i3dc1092]

 go_back;
 Wait(500);
 
 turn_left3;
 Wait(700);
 
 while (SENSOR_2 > 45)
 {
 go_back;
 }
 go_back;
 Wait(250);
 Off(OUT_AC);
 Wait(200);
 
 while (SENSOR_2 > 45)
 {
 go_back;
 }
 
 go_back;
 Wait(450);
 
 Off(OUT_AC);
 Wait(450);
 
 while (SENSOR_2 > 45)
 {
 go_back;
 }
 
 go_back;
 Wait(250);
 
 Off(OUT_AC);
 Wait(200);
 
 turn_right5;
 Wait(700);
 
 while (SENSOR_3 > 45)
 {
 turn_right5;
 }

***5 £ØÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò±¿¤Ö[#m92b020b]

 DKK2(); //S¤òº¸ÀÞ
 //Q¤ËÅþÃå
 turn_right6;
 Wait(1100);
 while (SENSOR_2 > 45)
 {
 turn_right6;
 }
 
 turn_right6;
 Wait(300);
 Off(OUT_AC);
 Wait(1000);

***6 ¦Á¤Î»æ¥³¥Ã¥×¤ò¾å¤²¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤Ë¼ý¤á¤ë[#p031a658]

 go_forward;  //X¤ËÆþ¤ë
 Wait(2500);
 AU; //X¤Ç¥³¥Ã¥×¤ò¾å¤²¤ë
 Off(OUT_AC);
 Wait(3000);

***7 ¥í¥Ü¥Ã¥È¤ò¦Â¤Î»æ¥³¥Ã¥×¤ÎÊý¸þ¤Ë¸þ¤±¤ë[#q56fdff8]

 go_back;
 Wait(1200);
 Off(OUT_AC);
 Wait(2000);
 while (SENSOR_2 > 45)
 {
 go_back;
 }
 go_back;
 Wait(500);
 
 while (SENSOR_2 > 45)
 {
 go_back;
 }
 
 Off(OUT_AC);
 Wait(1000);
 turn_right5;
 Wait(500);
 
 while (SENSOR_3 > 45)
 {
 turn_right5;
 }
 turn_right5;
 Wait(600);
 
 while (SENSOR_3 > 45)
 {
 turn_right5;
 }
 
 Off(OUT_AC);
 Wait(1000);
 
 go_forward;
 Wait(1000);
 
 while (SENSOR_2 > 45)
 {
 go_forward;
 }
 Off(OUT_AC);
 Wait(1000);
 
 while (SENSOR_3 > 45)
 {
 turn_left5;
 }
 turn_left5;
 Wait(300);
 
 go_forward;
 Wait(500);
 
***8 ¥»¥ó¥µ¡¼¤ò²¼¤í¤·¤¿¤¢¤È¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Â¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë[#i8f9defb]

 TD; //Ķ²»ÇȲ¼¤²¤ë
 
 Off(OUT_AC);
 Wait(2000);
 d = searchDirection(120);//¥³¥Ã¥×õ¤¹

***9 ¦Â¤Î»æ¥³¥Ã¥×¤ò¼è¤ë[#i6e93fd1]

 if (d > 10)
 {
 fwdDist(d-10.0);//¥³¥Ã¥×¤Ë¶á¤Å¤¯
 }
 TU; //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¤¢¤²¤ë
 Off(OUT_AC);
 Wait(1000);
 go_forward;
 Wait(1300);
 
 Off(OUT_AC);
 Wait(1000);
 
 turn_left3;
 Wait(1400);
 
 Off(OUT_AC);
 Wait(2000);
 go_forward;
 Wait(2300);
 go_back;
 Wait(100);
 Off(OUT_AC);
 Wait(500);
 AD; //¥³¥Ã¥×¤ò¼è¤ë¡Ê½Å¤Í¤ë¡Ë
 Off(OUT_AC);
 Wait(3000);

***10 £Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂषXÃÏÅÀ¤Þ¤Ç±¿¤Ö[#n1af9102]

 go_back;     
 Wait(1900);
 turn_right3;
 Wait(1400);
 go_back;
 Wait(1300);
 
 while (SENSOR_2 > 45)
 {
 go_back;
 }
 
 turn_left5;
 Wait(1200);
 while (SENSOR_3 > 45)
 {
 turn_left5;
 }
 
 turn_right5;
 Wait(300);
 go_forward;
 Wait(1000);
 while (SENSOR_2 > 45)
 {
 go_forward;  //X¤Þ¤Çľ¿Ê
 }
 

***11 £ÙÃÏÅÀ¤Ë»æ¥³¥Ã¥×¤òÃÖ¤¯[#ycea5f4d]

 AU; //X¤Ç¥³¥Ã¥×¤ò¾å¤²¤ë
 
 turn_left3;//¾¯¤·Êý¸þ¤òÄ´À°¤¹¤ë
 Wait(200);
 go_back;
 Wait(300);
 
 CupOff;//»æ¥³¥Ã¥×¤òYÃÏÅÀ¤ËÃÖ¤¯


*·ë²Ì¡¦´¶ÁÛ¡¦È¿¾ÊÅÀ [#vc8eefe7]

**·ë²Ì [#d82c4f75]
·ë²Ì¤Ï£°ÅÀ¡£Æ°¤¤¤Æ¤Û¤·¤¤Êý¸þ¤Ë¥í¥Ü¥Ã¥È¤ÏÆ°¤«¤Ê¤«¤Ã¤¿¡£Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬Æ°¤«¤·¤Æ¤Ï¤¤¤±¤Ê¤¤»æ¥³¥Ã¥×¤ò´¶ÃΤ·¤ÆÆ°¤«¤·¤Æ¤·¤Þ¤Ã¤¿¡£¼ÂºÝ¤Ï¡¼£²ÅÀ¤Ç¤¢¤ë¡£

**È¿¾ÊÅÀ [#m7a72ca1]
***¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#x1cc9378]
¡¦NXTËÜÂΤμè¤êÉÕ¤±°ÌÃÖ¤òÃÏÌ̤«¤é¹â¤¤°ÌÃ֤ˤ·¤Æ¤·¤Þ¤Ã¤¿¤Î¤ÇÁö¹Ô¤¬ÉÔ°ÂÄê¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£~
¡¦¥í¥Ü¥Ã¥È¤Î¸åÎؤòÆó¤Ä¼è¤êÉÕ¤±¤ë¤³¤È¤Ç¥¹¥à¡¼¥º¤ËÆ°¤±¤ë¤è¤¦¹©Éפ·¤¿¤¬¡¢¼ÖÂΤ¬½Å¤¹¤®¤Æ¥í¥Ü¥Ã¥È¤ÎÁö¹Ô¤Ë»Ù¾ã¤¬½Ð¤Æ¤·¤Þ¤Ã¤¿¡£~
¡¦¥í¥Ü¥Ã¥È¤Î½ÄÊý¸þ¤Ë¶Ú¸ò¤¤¤ò¼è¤êÉÕ¤±¤¿¤³¤È¤Ç¾¯¤·¶¯ÅÙ¤ò¤Ä¤±¤ë¤³¤È¤¬¤Ç¤­¤¿¤¬¡¢»æ¥³¥Ã¥×¤ò¾å¤²²¼¤²¤¹¤ëµ¡¹½¤È¤ÎÀÜ¿¨¤òÈò¤±¤ë¤¿¤á¤Ë¥í¥Ü¥Ã¥È¤Î²£Êý¸þ¤ÎÊ䶯¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¡£¤½¤Î¤¿¤á¥í¥Ü¥Ã¥È¤¬²óž¤·¤¿¤È¤­¤ËÂ礭¤¯¤æ¤¬¤ó¤Ç¤·¤Þ¤¤¡¢¤½¤Î·ë²Ì¡¢Á°Îؤμּ´¤ËÂ礭¤ÊÉéô¤¬¤«¤«¤Ã¤Æ¤·¤Þ¤¤²óž¤¬¥¹¥à¡¼¥º¤Ë¤Ç¤­¤Ê¤«¤Ã¤¿¡£¤ä¤Ï¤ê¶¯ÅÙ¤ò»ý¤¿¤»¤ë¤¿¤á¤Ë²£Êý¸þ¤ÎÊ䶯¤âɬÍפǤ¢¤Ã¤¿¤È¹Í¤¨¤ë¡£



***¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#t7817fca]
¡¦¥í¥Ü¥Ã¥È¤ÎºîÀ®¤Ë¿¤¯¤Î»þ´Ö¤ò³ä¤¤¤Æ¤·¤Þ¤Ã¤¿¤¿¤á¤·¤Ã¤«¤ê¤È¤·¤¿¥×¥í¥°¥é¥ß¥ó¥°¤òºî¤ì¤Ê¤«¤Ã¤¿¡£

**´¶ÁÛ [#j5b18dd1]
¡¦¤É¤Î¤è¤¦¤Ê¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ì¤Ð¸úΨ¤è¤¯»æ¥³¥Ã¥×¤ò²ó¼ý¤Ç¤­¤ë¤«¤ò¹Í¤¨¤ë¤Î¤¬Æñ¤·¤«¤Ã¤¿¡£¼ÂºÝ¡¢´°À®¤·¤¿¥í¥Ü¥Ã¥È¤Ï¸úΨ¤è¤¯Æ°¤¤¤¿¤È¤Ï¸À¤¨¤Ê¤«¤Ã¤¿¡£~
¡¦²ÝÂ꣱¡Á£³¤Î¥í¥Ü¥Ã¥È¤È¥×¥í¥°¥é¥ß¥ó¥°¤òºîÀ®¤·¤Æ¡¢¥×¥í¥°¥é¥ß¥ó¥°¤ò¤Ç¤­¤ë¤À¤±Ã»¤¯¡¢½ñ¤¤¤¿¤È¤ª¤ê¤ËÆ°¤«¤¹¤Ë¤Ï¥í¥Ü¥Ã¥È¤Ë¹©Éפ¬É¬Íפǡ¢¤Þ¤¿¥×¥í¥°¥é¥ß¥ó¥°¤ò½ñ¤¤¤¿¤È¤·¤Æ¤â¡¢½ñ¤¤¤¿¤È¤ª¤ê¤Ë¤Ï¤Û¤È¤ó¤ÉÆ°¤«¤º¡¢Ä´À°¤¬É¬Í×ÉԲķç¤È¤¤¤¦¤³¤È¤¬Ê¬¤«¤Ã¤¿


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