CENTER:&size(30){¥»¥ó¥µ¡¼¤ò»ÈÍѤ·¤Æ¥í¥Ü¥Ã¥È¤Ë¤»¤ó¤ò¤Ê¤¾¤é¤»¤ë};

*Ìܼ¡ [#f1518d93]
#contents()

*³µÍ× [#ya7e31ca]

¡¡º£²ó¤Î²ÝÂê¤Ï²¼¿Þ¤Î¤è¤¦¤ÊÉý20mm¤ÎÀþ¤ò½ñ¤­¡¢A¤«¤éS¤ò·è¤á¤é¤ì¤¿½ç½ø¤ÇÄ̤ꡢƻÃæ¤Î·è¤á¤é¤ì¤¿²Õ½ê¤Ç¥³¥Ã¥×¤ò¼è¤êÊ̤βսê¤Ø°ÜÆ°¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤À¡£¶Ø»ß»ö¹à¤È¤·¤Æ­¡[~Éøå¤Ë~¤Î¹ÔÆ°¤ò¤¹¤ë]¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤Ï¤·¤Ê¤¤¤³¤È¡£­¢Àþ¤ÎÂÀ¤µ¤òÊѤ¨¤Ê¤¤¤³¤È¡£
´ø¤·¤Æ¥í¥Ü¥Æ¥¤¥¯¥¹¥¼¥ß¤ò½ªÎ»¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¤¤¤È»×¤¦¡£

#ref(2017b/Member/tatsu/Mission2/2017b-mission2.png,35%,²ÝÂꣲ¤Ë»ÈÍѤ¹¤ë¿Þ)

¡¡»ä¤¬Ä̤俥롼¥È¤Ï

DÃÏÅÀ¤Ø(¥¹¥¿¡¼¥È)¢ªC¤òľ¿Ê¢ªB¤òº¸ÀÞ¢ªP¤òº¸ÀÞ¢ªQ¤òľ¿Ê¢ªR¤òº¸ÀÞ¢ªF¤òº¸ÀÞ¢ªS¤òľ¿Ê¢ªYÃÏÅÀ¤Î»æ¥³¥Ã¥×¤ò¼èÆÀ¤·¤Æ¥³¡¼¥¹¤ËÌá¤ë¢ªS¤òľ¢ªQ¤òº¸ÀÞ¢ªR¤òľ¿Ê¢ªXÃÏÅÀ¤Ë»æ¥³¥Ã¥×¤òÃÖ¤¤¤Æ¥³¡¼¥¹¤ËÌá¤ë¢ªP¤òº¸ÀÞ¢ªB¤òº¸ÀÞ(°ì»þÄä»ß)¢ªAÃÏÅÀ¤Ø(¥´¡¼¥ë)

*À½ºî¤·¤¿¥í¥Ü¥Ã¥È [#pddf4bfc]
#ref(2017b/Member/tatsu/Mission2/20171227_180344 (2).jpg,7%,Á´ÂΤȥ¢¡¼¥à)
#ref(2017b/Member/tatsu/Mission2/20171227_180409 (2).jpg,7%,¥â¡¼¥¿¡¼AC)
¥í¥Ü¥Ã¥È¼«ÂΤÏRis¤Î´ðËÜŪ¤Ê¹½Â¤¤Î¤Þ¤Þ¤È¤·¤¿¡£ÊѲ½¤µ¤»¤è¤¦¤«¤È¤â»×¤Ã¤¿¤¬¡¢¥³¥ó¥Ñ¥¯¥È¤Ç¤¢¤ë¤³¤È¤¬½ÅÍפǤ¢¤Ã¤¿¤Î¤Ç¡¢½é´ü¤Î¹½Â¤¤Ç½½Ê¬¤À¤ÈȽÃǤ·¤¿¡£¥³¥Ã¥×¤ò¤Ä¤«¤à¤¿¤á¤Î¥¢¡¼¥à¤Î·Á¾õ¤Ï¡¢·Ú¤¤ÉôÉʤòÎؾõ¤Ë·Ò¤²¤¿¤À¤±¤Îñ½ã¤Ê¤â¤Î¤Ë¤·¤¿¡£¥¢¡¼¥à¤Ï¥â¡¼¥¿¡¼¤òÆ°¤«¤¹¤³¤È¤Ç¾å²¼¤ËÆ°¤­¡¢¥³¥Ã¥×¤ò¼è¤ëºÝ¤ÏÎؤÎÃæ¤Ë¼ý¤á¤ë¤è¤¦¥×¥í¥°¥é¥ß¥ó¥°¤·¡¢½êÄê°ÌÃ֤ˤʤë¤ÈÎ¥¤¹¤À¤±¤Îñ½ã¤Ê¤â¤Î¤È¤·¤¿¡£
#ref(2017b/Member/tatsu/Mission2/20171227_180424 (2).jpg,7%,¥»¥ó¥µ¡¼)
Àþ¤È¥»¥ó¥µ¡¼¤Îµ÷Î¥¤ò¤Ê¤ë¤Ù¤¯¶á¤Å¤±¤ë¤³¤È¤Ç¡¢Í¾·×¤Ê¾ðÊó¤¬Æþ¤é¤Ê¤¤¤è¤¦¤·¤¿¡£
*»ÈÍѤ·¤¿¥×¥í¥°¥é¥ß¥ó¥° [#ofad1f7d]
 #define THRESHOLD 47//Çò¤ÎºÇ¹â53¡¢¹õºÇÄã38
 #define forward(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC);//ľ¿Ê
 #define leftSENKAI OnFwd(OUT_C);OnRev(OUT_A);//º¸µÞ¥«¡¼¥Ö
 #define left OnFwd(OUT_C);Off(OUT_A);//º¸¥«¡¼¥Ö
 #define rightSENKAI OnFwd(OUT_A);OnRev(OUT_C);//±¦µÞ¥«¡¼¥Ö
 #define LINEsyusei rightSENKAI;Wait(25);forward(30);//¸òº¹ÅÀ¸å¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë
 #define P SetPower(OUT_AC,5);
#br
 sub right_Line()
 {
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while(FastTimer(0)<=26)
    {
        if(SENSOR_2>THRESHOLD+5)   
        {
            leftSENKAI;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD+4)   
        {
            left;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD)  
        {
            P;
            OnFwd(OUT_AC);
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD-4)   
        {
            right;
            ClearTimer(0);
        }
        else   
        {
            rightSENKAI;
        }
    }
   
    Off(OUT_AC);
 }
 sub right_Linehalf()
 {
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while(FastTimer(0)<=18)
    {
        if(SENSOR_2>THRESHOLD+5)   
        {
            leftSENKAI;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD+4)   
        {
            left;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD)  
        {
            P;
            OnFwd(OUT_AC);
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD-4)   
        {
            right;
            ClearTimer(0);
        }
        else
        {
            rightSENKAI;
        }
    }
 }
¾åµ­¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ÎÀâÌÀ

E-F¤òĶ¤¨¤ë¤¿¤á¤Ë¡¢½é´üÃʳ¬¤Ç¤ÏµÞ¥«¡¼¥Ö¤Î¤ß¤À¤È±Û¤¨¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤¿¤á¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¦¤òº¸¤«¤é±¦¤ËÊѤ¨¤ë¤³¤È¤Ë¤è¤Ã¤Æ±Û¤¨¤è¤¦¤È¤·¤Æ¤¤¤¿¡£¤·¤«¤·¡¢È¯É½Ä¾Á°¤Ë¤ÏµÞ¥«¡¼¥Ö¤Î¤ß¤ÇĶ¤¨¤ë¤³¤È¤¬¤Ç¤­¤¿¤¿¤á¾åµ­¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ò»È¤¦¤³¤È¤Ï¤Ê¤«¤Ã¤¿¡£

 sub left_Line()
 {
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while(FastTimer(0)<=26)
    {
        if(SENSOR_2>THRESHOLD+5)   
        {
            rightSENKAI;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD+4)   
        {
            right;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD)  
        {
            P;
            OnFwd(OUT_AC);
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD-4)   
        {
            left;
            ClearTimer(0);
        }
        else   
        {
            leftSENKAI;
        }
    }
    Off(OUT_AC);
 }
 sub left_Linehalf()
 {
    SetSensor(SENSOR_2,SENSOR_LIGHT);
    ClearTimer(0);
    while(FastTimer(0)<=12)
    {
        if(SENSOR_2>THRESHOLD+5)   
        {
            rightSENKAI;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD+4)   
        {
            right;
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD)  
        {
            P;
            OnFwd(OUT_AC);
            ClearTimer(0);
        }
        else if(SENSOR_2>THRESHOLD-4)   
        {
            left;
            ClearTimer(0);
        }
        else   
        {
            leftSENKAI;
        }
    }
 }
¾åµ­¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤ÎÀâÌÀ

sub left_Line()¤ÏÆüì¤Ê¾ì¹ç¤ò½ü¤¤¤Æ¡¢º£²ó¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤¤¤Æ¼ç¤È¤·¤ÆÍѤ¤¤¿¤â¤Î¤À¤Ã¤¿¡£sub left_Linehalf()¤ÏP-Q¤Ê¤É¤Î±ß¤Î²Õ½ê¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë»þ¤Ë¡¢Â¾¤ÈƱ¤¸¤è¤¦¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤À¤±¤Ç¤ÏQ¤ò¸òº¹ÅÀ¤È¤·¤ÆȽÃǤ·¤Æ¤¯¤ì¤Ê¤«¤Ã¤¿¤¿¤á¤Ë¡¢FastTimer¤Î»þ´Ö¤òû¤¯¤¹¤ë¤Ê¤É¤ÎÊѲ½¤ò»ý¤¿¤»¤¿¤â¤Î¤À¡£
 task main()
 {
 left_Line();
 LINEsyusei;//CÄ̲á
 int B;
 for (B=1; B<=4; B++){
    left_Line();
    }
 Wait(100);//BÄ̲á
 left_Linehalf();//P-Q
 forward(30);//QÄ̲á
 right;
 Wait(30);
 ClearTimer(1);
    while(FastTimer(1)<=1300)//R-F
    {
    left_Line();
    }
 int C;
 for (C=1; C<=2; C++){
    left_Line();
    }
 Wait(100);
 forward(40);//Y¤«¤é¥³¥Ã¥×¤ò¼è¤ë¤¿¤á¤Î½àÈ÷
 leftSENKAI;
 Wait(98);
 Off(OUT_AC);
 OnRev(OUT_B);//¥¢¡¼¥à¤òÆ°¤«¤¹
 Wait(70);
 Off(OUT_B);//Y¤«¤é¥³¥Ã¥×¼è¤ë
 rightSENKAI;//ºÆ¤Ó¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤¿¤á¤Î½àÈ÷
 Wait(80);
 left_Line();
 Wait(100);
 LINEsyusei;
 int D;//S-Q
 for (D=1; D<=2; D++){
     left_Line();
     }
 Wait(100);
 left_Linehalf();//Q-R
 forward(30);//¥³¥Ã¥×¤òÃÖ¤¯¤¿¤á¤Î½àÈ÷
 OnFwd(OUT_B);
 Wait(20);
 Off(OUT_B);//¥³¥Ã¥×¤òÃÖ¤¯
 right;
 Wait(40);
 int E;//R-B
 for (E=1; E<=4; E++){
     left_Line();
     }
 LINEsyusei;
 forward(100);//¥´¡¼¥ë
 }


*¶ìÏ«¤·¤¿ÅÀ¤Î³µÍ× [#n870a4d3]
¡¡º£²ó¡¢»ä¤¬ºÇ¤â¶ìÏ«¤·¤¿ÅÀ¤ÏP-S¤Î¥×¥í¥°¥é¥ß¥ó¥°¤À¤Ã¤¿¡£Æäˡ¢P-Q¤Ë¤ª¤¤¤Æ¥»¥ó¥µ¡¼¤¬Q¤Î¸òº¹ÅÀÉôʬ¤ò¸òº¹ÅÀ¤ÈȽÃǤµ¤»¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤³¤È¤À¡£½é¤á¤Ï¡¢¶Ø»ß»ö¹à­¡¤Î[~Éøå¤Ë~¤ò¤¹¤ë]¤È¤¤¤¦¥×¥í¥°¥é¥ß¥ó¥°¤òÁȤó¤Ç¤¤¤¿¤â¤Î¤Î¡¢ÅÓÃæ¤Ç¶Ø»ß¤ÈÄÌ㤬¤¢¤êÃÇÇ°¡£(¤½¤â¤½¤â¤½¤ì¤ÇP-Q¤òÄ̤뤳¤È¤¬½ÐÍ褿¤«¤ÏÉÔÌÀ¤À¤¬¡Ë¥×¥í¥°¥é¥à¤ÎÍ×ÁǤä¥í¥Ü¥Ã¥È¤Î²þÎɤò¹Ô¤¦¤³¤È¤Ç¡¢¤³¤Î²ÝÂê¤ò¥¯¥ê¥¢¤·¤è¤¦¤È¤·¤¿¡£
**¶ñÂÎŪ¤ÊÆâÍÆ[P-Q] [#v6c341b2]
¡¡²þÁ±ÅÀ¤È¤·¤Æµó¤²¤é¤ì¤¿¤Î¤Ï

­¡¡Çsub left_Linehalf() ¤Î¸òº¹ÅÀȽÃǤλþ´Ö¤ò½Ì¤á¤ë¤³¤È¤ÇQ¤ò¸òº¹ÅÀ¤È¤·¤Æǧ¼±¤µ¤»¤ä¤¹¤¯¤¹¤ë

­¢¡Ç¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òÄ㤯¤·¤Æ;·×¤Ê¾ðÊó¤ò¾Ê¤¯

­£¡Ç¥»¥ó¥µ¡¼¤Î°ÌÃÖ¤òµ¡ÂΦ¤Ë¶á¤Å¤±¤ë¤³¤È¤Ç¸òº¹ÅÀȽÃǤλþ´Ö¤ò¿­¤Ð¤¹
#ref(2017b/Member/tatsu/Mission2/20171227_180447 (2).jpg,7%,²þÁ±Á°¤Î¥»¥ó¥µ¡¼)
²þÁ±Á°
#ref(2017b/Member/tatsu/Mission2/20171227_180424 (2).jpg,7%,²þÁ±¸å¤Î¥»¥ó¥µ¡¼)
²þÁ±¸å

­¤¡ÇTHRESHOLD¤Ë²Ã¸º¤¹¤ë¿ôÃͤò½ù¡¹¤ËÂ礭¤¯¤¹¤ë¤³¤È¤ÇQ¤Ë¿âľ¤ËÆþ¤ë¤è¤¦¤Ë¤·¡¢Â¾¤Î¸òº¹ÅÀÉôʬ¤ÈÊѤï¤é¤Ê¤¤¾ò·ï¤Ë¤µ¤»¤ë

¡¡°Ê¾å¤Î²þÁ±¸å¤Î·ë²Ì¤ò°Ê²¼¤Ëµ­¤¹¡£

­¡¡Ç¤Ï¡¢¤É¤ì¤À¤±»þ´Ö¤òû¤¯¤·¤Æ¤âÎɤ¤·ë²Ì¤ÏÆÀ¤é¤ì¤Ê¤«¤Ã¤¿¡£

­¢¡Ç¤Ï¡¢Q¤Ë´Ø¤·¤Æ¤ÎľÀÜŪ¤Ê·ë²Ì¤ÏÆÀ¤é¤ì¤Ê¤«¤Ã¤¿¤¬¡¢Á´ÂÎŪ¤Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¼Á¤¬¸þ¾å¤·¤¿¡£¤³¤ì¤Ï¡¢ÌµÂ̤ʾðÊ󤬾ʤ«¤ì¤¿¤¿¤á¤Ë£±²ó¤´¤È¤Ë·ë²Ì¤¬ÊѤï¤ë¤È¤¤¤¦¤³¤È¤¬¾¯¤Ê¤¯¤Ê¤Ã¤¿¤¿¤á¤È¹Í¤¨¤é¤ì¤ë¡£

­£¡Ç¤Ï¡¢¤¢¤ëÄøÅ٥ץ饹¤Î·ë²Ì¤¬ÆÀ¤é¤ì¤¿¡£

­¤¡Ç¤Ï¡¢²Ã¸º¤¹¤ë¿ôÃͤò¤É¤ì¤À¤±ÊѤ¨¤Æ¤âÎɤ¤·ë²Ì¤ÏÆÀ¤é¤ì¤Ê¤«¤Ã¤¿¤¬¡¢THRESHOLD¤ÎÃÍ»öÂÖ¤òÊѤ¨¤ë¤³¤È¤Ç¤¢¤ëÄøÅ٥ץ饹¤Î·ë²Ì¤¬ÆÀ¤é¤ì¤¿¡£
***ËÜÈ֤ޤǤ˲þÁ±¤Ç¤­¤¿¤«¡© [#oc5d93b3]
·ë²Ì¤È¤·¤Æ¤Ï¡¢¾åµ­¤Î²þÁ±¤ò¤·¤Æ¤âQ¤ò¸òº¹ÅÀ¤È¤·¤ÆȽÃǤµ¤»¤ë¤³¤È¤Ï¤Ç¤­¤Ê¤«¤Ã¤¿¡£¤½¤ì¤¬¥í¥Ü¥Ã¥È¼«ÂΤÎÌäÂê¤Ê¤Î¤«¡¢¥×¥í¥°¥é¥à¤ÎÌäÂê¤Ê¤Î¤«¤Ïʬ¤«¤é¤Ê¤¤¤¬ËÜÈ֤ޤǤ˥¯¥ê¥¢¡¼¤¹¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤Î¤Ï²ù¤ä¤Þ¤ì¤ë¡£
*´¶ÁÛ [#f32aa008]
¡¡º£²ó¤Î²ÝÂê¤Ï¡¢¥í¥Ü¥Ã¥È¤Îµ¡ÂΤè¤ê¤â¥×¥í¥°¥é¥ß¥ó¥°¤Ë´Ø¤·¤Æ¤Î¾ã³²¤¬Â¿¤«¤Ã¤¿¤è¤¦¤Ë´¶¤¸¤é¤ì¤ë¡£¤½¤¦¤Ê¤ë¤È¡¢ÁêÊý¤È¤Û¤È¤ó¤ÉƱ¤¸µ¡ÂΤÇÊѤï¤Ã¤Æ¤¤¤ë¤Î¤Ï¥×¥í¥°¥é¥à¤À¤±¤È¤Ê¤Ã¤Æ¤¯¤ë¤Î¤Ç¡¢ÁêÊý¤¬¤Ç¤­¤Æ¼«Ê¬¤¬½ÐÍè¤Ê¤«¤Ã¤¿»þ¤Ï¤È¤Æ¤â²ù¤·¤«¤Ã¤¿¡£¤·¤«¤·¡¢ÁêÊý¤È¶¨ÎϤ·¡¢Ãηäò½Ð¤·¹ç¤¤¤Ê¤¬¤é¤¹¤ëºî¶È¤Ï¤È¤Æ¤â³Ú¤·¤«¤Ã¤¿¤·¡¢¤ä¤ê¤¬¤¤¤¬¤¢¤Ã¤¿¡£¤¿¤À¡¢Íߤò¸À¤¨¤ÐºÇ¸å¤Þ¤Ç²¿¤ÎÌäÂê¤â¤Ê¤¯¥´¡¼¥ë¤·¤¿¤«¤Ã¤¿¡£

¡¡Â¾¤Î¥°¥ë¡¼¥×¤ò¸«¤Æ¤¤¤ë¤È¡¢¥×¥í¥°¥é¥ß¥ó¥°¤Îµ»½Ñ¤Î¹â¤µ¤À¤±¤Ç¤Ê¤¯¡¢¸«¤¿ÌܤޤǶŤäƤ¤¤ë¥Á¡¼¥à¤¬¤¢¤ê¸«¤Æ¤¤¤Æ¤â³Ú¤·¤à¤³¤È¤¬¤Ç¤­¤¿¡£Äù¤á¤È¤·¤Æ¡¢¤³¤ì¤Þ¤Ç¼õ¤±¤¿»É·ã¡¢²ù¤·¤µ¤òºÇ¸å¤Î²ÝÂê¤Ç¤Ï½½Æóʬ¤Ëȯ´ø¤·¤Æ¥í¥Ü¥Æ¥¤¥¯¥¹¥¼¥ß¤ò½ªÎ»¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¤¤¤È»×¤¦¡£

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