- Äɲ䵤줿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
- ºï½ü¤µ¤ì¤¿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
[[2018b/Member]]
Ìܼ¡
#contents
*²ÝÂê£ [#i2a04507]
²ÝÂꣲ¤Ç¤â»ÈÍѤ·¤¿²¼¿Þ¤Î¤è¤¦¤Ê¥³¡¼¥¹¤òÁö¹Ô¤·¡¢½êÄê¤Î°ÌÃÖ¤ËÀßÃÖ¤·¤Æ¤¢¤ë¥Ü¡¼¥ë¤ò±¿È¤·350ml¤Î´Ì¤Î¾å¤Ë¾è¤»¤ë¤È¤¤¤¦¤Î¤¬º£²ó¤Î²ÝÂê¤Ç¤¢¤ë¡£´Ì¤Î°ÌÃ֤ˤĤ¤¤Æ¤Ï¥¹¥¿¡¼¥ÈľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤ê¡¢½Ð¤¿Ìܤȥê¥ó¥¯¤¹¤ë°ÌÃÖ¤ËÀßÃÖ¡£Àĥܡ¼¥ë¤Ï²¼¿Þ¤ÎÀÄ´Ý1¡Á6¤Î¤¤¤º¤ì¤«¤ËÀßÃÖ¤·¤¿´Ì¤Ë¾è¤»¡¢À֥ܡ¼¥ë¤ÏÀÖ´Ý1¡Á6¤Î¤¤¤º¤ì¤«¤ËÀßÃÖ¤·¤¿´Ì¤Ë¾è¤»¤ë¡£
#ref(./2018b-mission3.png,10)
**¥ë¡¼¥ë [#y7690416]
´ðËÜÅÀ¤Èµ»½ÑÅÀ¤ò¤Ä¤±¤Æ³Æ¥Á¡¼¥à¤Ç¶¥¤¤¹ç¤¦¡£
´ðËÜÆÀÅÀ¤Î·×»»ÊýË¡
¥Ü¡¼¥ë¤ò°ì¤Ä¾è¤»¤ì¤Ð¤½¤ì¤¾¤ì10ÅÀ¡¢Æó¤Ä¤È¤â¾è¤»¤ì¤Ð¥Ü¡¼¥Ê¥¹ÅÀ¤È¤·¤Æ¤µ¤é¤Ë10ÅÀ¡£
¥À¥ß¡¼¤Î´Ì¤òÀßÃÖ¤·¤¿¾å¤Ç¡¢Àµ¤·¤¤´Ì¤Ë¾è¤»¤ì¤Ð¡¢¤½¤ì¤¾¤ì¤µ¤é¤Ë6ÅÀ²ÃÅÀ¤¹¤ë¡£
¥Ü¡¼¥ë¤òÌÜŪ¤Î´Ì¤ËÅö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ì¤Ð¡¢¤½¤ì¤¾¤ì4ÅÀ¡£
¥Ü¡¼¥ë¤òƱ¤¸ÎΰèÆâ¤Î´Ö°ã¤Ã¤¿´Ì¤Ë¾è¤»¤¿¾ì¹ç¤Ï¡¢¤½¤ì¤¾¤ì6ÅÀ¡£
¥Ü¡¼¥ë¤òƱ¤¸ÎΰèÆâ¤Î´Ö°ã¤Ã¤¿´Ì¤ËÅö¤Æ¤¿¾ì¹ç¤Ï¡¢¤½¤ì¤¾¤ì2ÅÀ¡£
¥Ü¡¼¥ë¤ò°ã¤¦ÎΰèÆâ¤Î´Ì¤Ë¾è¤»¤¿¾ì¹ç¤Ï¡¢¤½¤ì¤¾¤ì2ÅÀ¡£
¥Ü¡¼¥ë¤ò°ã¤¦ÎΰèÆâ¤Î´Ì¤ËÅö¤Æ¤¿¾ì¹ç¤Ï¡¢0ÅÀ¡£
ÌÜŪ¤Î´Ì¤ò¤â¤È¤Î°ÌÃÖ¡Êľ·Â7cm¤Î±ß¡Ë¤«¤é¾¯¤·½Ð¤·¤Æ¤·¤Þ¤Ã¤¿¾ì¹ç¤Ï1ÅÀ¸ºÅÀ¡¢È¾Ê¬°Ê¾å½Ð¤·¤Æ¤·¤Þ¤Ã¤¿¾ì¹ç¤Ï2ÅÀ¤Þ¤¿¤Ï¼èÆÀ¤·¤¿ÆÀÅÀ¤ÎȾʬ¤Î¤¤¤º¤ì¤«¾¯¤Ê¤¤¤Û¤¦¤ò¸ºÅÀ¡¢¤½¤Î´Ì¤ò´°Á´¤Ë¤À¤·¤Æ¤·¤Þ¤Ã¤¿¤È¤¤ÏÅÀ¿ô¤òȾʬ¤Ë¤¹¤ë¡£
¥À¥ß¡¼¤Î´Ì¤¬¤â¤È¤Î°ÌÃÖ¤«¤é°ÜÆ°¤·¤Æ¤â¸ºÅÀ¤Ï¤·¤Ê¤¤¡£
µ»½ÑÅÀ¤Î·×»»Ë¡¤Ï°Ê²¼²èÁü¤ò»²¾È¢
#ref(./21228.jpg)
¤½¤Î¾¾Ü¤·¤¤¥ë¡¼¥ë¤Ï¤³¤Á¤é¢ªhttp://yakushi.shinshu-u.ac.jp/robotics/?2018b%2FMission3
*¥í¥Ü¥Ã¥È¤Î³µÍ× [#wb3b59a9]
**¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎÁü [#c881d168]
NXTËÜÂΤòÆó¤Ä»ÈÍѤ·¤Æ¤¤¤ë¡£¤³¤ÎÆó¤Ä¤ÏBluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ë¡£
#ref(./21232.jpg)
¤³¤Î¥í¥Ü¥Ã¥È¤ÏÁö¹Ôµ¡¹½¤È¥¢¡¼¥àµ¡¹½¤ÎÆó¤Ä¤Ëʬ¤±¤é¤ì¡¢¤³¤ÎÆó¤Ä¤Îµ¡¹½¤½¤ì¤¾¤ì¤òNXTËÜÂΤÇÁàºî¤·¤Æ¤¤¤ë¡£
#ref(./21243_LI.jpg)
°Ê²¼¤Ç¤½¤ì¤¾¤ì¤Îµ¡¹½¤Ë¤Ä¤¤¤ÆÀâÌÀ¤·¤Æ¤¤¤¯¡£
**Áö¹Ôµ¡¹½ [#yb6cca0c]
***ÅÚÂæ¤È¥¿¥¤¥ä¤È»õ¼Ö¤È [#yf2756ce]
¤Þ¤º¡¢Ä¹Êý·Á¤ÎÅÚÂæ¤È¤Ê¤ë¤â¤Î¤òºî¤ê¡¢¤½¤Î¾å¤Ë¥¿¥¤¥ä¤òÆ°¤«¤¹¥â¡¼¥¿¡¼¤òÃÖ¤¯¤È¤¤¤¦µ¡¹½¤Ë¤·¤¿¡£¤³¤ÎÅÚÂ椬¤Ê¤¤¤È¡¢¸å¤ËÀâÌÀ¤¹¤ë¥¢¡¼¥àµ¡¹½¤Î½Å¤µ¤ËÂѤ¨¤¤ì¤º²õ¤ì¤Æ¤·¤Þ¤¦²ÄǽÀ¤¬¤¢¤Ã¤¿°ÙÅÚÂæ¤òºî¤Ã¤¿¡£
¤Þ¤º¡¢Á°ÎؤˤĤ¤¤ÆÀâÌÀ¤¹¤ë¡£
¥¢¡¼¥àµ¡¹½¤¬ÁÛÁü°Ê¾å¤Ë½Å¤¤°Ù¡¢¥â¡¼¥¿¡¼¤Ë¥¿¥¤¥ä¤òľÀܤĤ±¤ë¤È¾ï¤Ë¥Õ¥ë¥Ñ¥ï¡¼¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤¹É¬Íפ¬¤¢¤Ã¤¿¡£½¾¤Ã¤Æ¡¢¥¿¥¤¥ä¤È¥â¡¼¥¿¡¼¤Î´Ö¤Ë»õ¼Ö¤ò³ú¤Þ¤»¤ë¤³¤È¤Ë¤è¤ê¡¢¾®¤µ¤ÊÎϤÇÆ°¤«¤»¤ë¤è¤¦¤Ë¤·¤¿¡£
ÅÚÂæ¤Ë¥¿¥¤¥ä¤È¥â¡¼¥¿¡¼¤òÉÕ¤±¤¿¤â¤Î¤¬²¼¤Î²èÁü¡£¢¢
#ref(./S__21610507.jpg)
¤Á¤Ê¤ß¤Ë¡¢»õ¼Ö¤ò³ú¤Þ¤»¤ë¤Èξ¥¿¥¤¥ä¤Î´Ö¤¬¶õ¤¤¤Æ¤·¤Þ¤¤¡¢¥í¥Ü¥Ã¥È¤¬ÉÔ°ÂÄê¤Ë¤Ê¤ë¡£¤³¤ì¤òËɤ°¤¿¤á¤Ë¡¢´Ö¤ËÂ礤á¤Î¥¿¥¤¥ä¤òÉÕ¤±¤¿¡£¢²èÁü¡Ê²èÁü¤À¤È¸«¤¨¤Å¤é¤¤¤Ç¤¹¤Í¡£¤¹¤ß¤Þ¤»¤ó¡£¡Ë
#ref(./21239_LI.jpg)
¤³¤ì¤Þ¤ÇÁ°ÎؤˤĤ¤¤ÆÀâÌÀ¤·¤Æ¤¤¿¤¬¡¢¸åÎؤϼ«Í³¤Ë²ó¤ë¾®¤µ¤á¤Î¥¿¥¤¥ä¤ò¼è¤êÉÕ¤±¤¿¡£°ì¤Ä¤À¤±¤À¤ÈÉ԰¤À¤Ã¤¿¤Î¤ÇÆó¤Ä¼è¤êÉÕ¤±¤¿¡£¢²èÁü
#ref(./21234.jpg)
***¥»¥ó¥µ¡¼ [#jc0d8f87]
¾åµ¤ÇÀâÌÀ¤·¤¿ÅÚÂæ¤Î¿Ê¹ÔÊý¸þ¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼¤È¥«¥é¡¼¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¤¿¡£¢²èÁü
#ref(./21241 (2).jpg)
Ķ²»ÇÈ¥»¥ó¥µ¡¼¤Ç¥³¡¼¥¹¾å¤Ë¤¢¤ë¥Ü¡¼¥ë¤òõÃΤ·¡¢¥«¥é¡¼¥»¥ó¥µ¡¼¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£
**¥¢¡¼¥àµ¡¹½ [#l620a4ec]
¥¢¡¼¥àµ¡¹½¤ÏÆó¤Ä¤Ëʬ¤±¤é¤ì¡¢¥Ü¡¼¥ë¤ò¤Ä¤«¤àµ¡¹½¤È»ý¤Á¾å¤²¤ëµ¡¹½¤ÎÆó¤Ä¤Ëʬ¤±¤é¤ì¤ë¡£
***¥Ü¡¼¥ë¤ò¤Ä¤«¤àµ¡¹½ [#d3fde447]
¥¢¡¼¥à¤ÎÉôʬ¤Ï¢²èÁü¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£
#ref(./image1(3).jpeg)
»õ¼Ö¤ò²ó¤·¤Æ¥¢¡¼¥àÉôʬ¤ò³«ÊĤ·¤Æ¥Ü¡¼¥ë¤ò¤Ä¤«¤à¡£
#ref(./image1(3)_LI.jpg)
***»ý¤Á¾å¤²¤ëµ¡¹½ [#ea30ba06]
»ý¤Á¾å¤²¤ëµ¡¹½¤Ï¡¢¥Þ¥¸¥Ã¥¯¥Ï¥ó¥É¤Î¤è¤¦¤Êµ¡¹½¤Ë¤·¤¿¡£ÅÅÃӤξÃÈñÅù¤ò¹Í¤¨¤Æ¤·¤Þ¤¤¡¢»ý¤Á¾å¤²¤ëµ¡¹½¤¬¤Ê¤«¤Ê¤«½ÐÍ褺¡¢»ä¤¬¥Þ¥¸¥Ã¥¯¥Ï¥ó¥É¤Î°Æ¤òÄó°Æ¤·¤¿¤È¤³¤í¡¢¤½¤Î¤Þ¤ÞºÎÍѤµ¤ì¤¿¡£
#ref(./image2(2).jpeg)
²èÁü¤Î²¼Æó¤Ä¤Î¥â¡¼¥¿¡¼¤òƱ´ü¤µ¤»¤Æ¥Þ¥¸¥Ã¥¯¥Ï¥ó¥É¤Î¶Ê¤²¿¤Ð¤·¤ò¹Ô¤¤¡¢¾å¤Ë¤¢¤ë¥â¡¼¥¿¡¼¤Ç¾åµ¤Î¥¢¡¼¥à¤òÆ°¤«¤¹¤¿¤á¤Î»õ¼Ö¤ò²ó¤¹¤è¤¦¤Ë¤·¤¿¡£
***¥¢¡¼¥àµ¡¹½Á´ÂÎ¿Þ [#n2606bad]
¥Þ¥¸¥Ã¥¯¥Ï¥ó¥ÉÉôʬ¤Î¾åÉô¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼¤ò¤Ä¤±¤Æ¡¢´Ì¤òõÃΤ¹¤ë¡£
¸å¤í¤«¤é¢
#ref(./21238 1(2).jpg)
Á°¤«¤é¢
#ref(./S__21610506.jpg)
*¥×¥í¥°¥é¥à¤Î³µÍ× [#c9858ccb]
¥¢¡¼¥à¤ò¾å¤²¤ë
task main(){
RotateMotor(OUT_BC,-40,90);
}
**¥¢¡¼¥à¤ò¾å¤²¤ë [#v6163d6f]
task main(){
RotateMotor(OUT_BC,-40,90);
}
**¥¢¡¼¥à¤ò²¼¤²¤ë [#xf34094a]
task main(){
RotateMotor(OUT_BC,10,90);//BC¤ò£±£°¤Î¥Ñ¥ï¡¼¤Ç£¹£°ÅÙ²óž
Wait(300);
Off(OUT_BC);
ResetTachoCount(OUT_BC);//³ÑÅ٥ꥻ¥Ã¥È
}
**¥Ü¡¼¥ëÄϤà [#h8846e3c]
task main(){
RotateMotor(OUT_A,-30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥
Wait(300);
RotateMotor(OUT_BC,-40,15);//BC¤ò£´£°¤Î¥Ñ¥ï¡¼¤Ç£±£µÅÙ²óž¡¥¥Ï¥ó¥ÉÉôʬ¤¬ÃÏÌ̤Ȼ¤¤ì¤Ê¤¤¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡¥
Off(OUT_ABC);
}
**¥Ü¡¼¥ë¤òÎ¥¤¹ [#t965da7b]
task main(){
RotateMotor(OUT_A,30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥
}
**¥Þ¥¯¥í [#s1af7c6b]
#define conn 1 //Bluetooth¤Î¥¹¥ì¡¼¥ÖÈÖ¹æ
#define fw Off(OUT_BC);OnFwd(OUT_BC,30); // ľ¿Ê
#define lt Off(OUT_BC);OnFwd(OUT_B,35); // º¸²ó
#define rt Off(OUT_BC);OnFwd(OUT_C,35); // ±¦²ó
#define rrt Off(OUT_BC);OnFwd(OUT_C,20);OnFwd(OUT_B,-60); // ±¦Àû²ó
#define llt Off(OUT_BC);OnFwd(OUT_B,20);OnFwd(OUT_C,-60); // º¸Àû²ó
#define wait_sec Off(OUT_BC);Wait(1000); //°ì»þÄä»ß
#define mini_go Off(OUT_BC);OnFwd(OUT_BC,30);Wait(1500);Off(OUT_BC); //¾¯¤·Ä¾¿Ê
#define def_arm_up until(BluetoothStatus(conn)==NO_ERR);\ //¥¢¡¼¥à¤ò¾å¤²¤ë
RemoteStartProgram(conn,"arm_up.rxe");\
Wait(4000);
#define def_arm_down until(BluetoothStatus(conn)==NO_ERR);\ //¥¢¡¼¥à¤ò²¼¤²¤ë
RemoteStartProgram(conn,"arm_down.rxe");\
Wait(4000);
#define def_hand_open until(BluetoothStatus(conn)==NO_ERR);\ //Êü¤¹
RemoteStartProgram(conn,"hand_open.rxe");\
Wait(4000);
#define def_hand_close until(BluetoothStatus(conn)==NO_ERR);\ //ÄϤà
RemoteStartProgram(conn,"hand_close.rxe");\
Wait(4000);
const float tire_diameter = 5.75; //¥¿¥¤¥ä¤Îľ·Â
const float tire_axis = 17.7; //¥¿¥¤¥ä´Ö¤Îµ÷Î¥
const int gear_ratio = 6; //¥®¥¢Èæ
const float pi=3.14159; //±ß¼þΨ
const int en=360; //±ß 360ÅÙ
*¤Þ¤È¤á [#ufcc61b5]
**·ë²Ì [#pffa9e05]
³Æ¥°¥ë¡¼¥×¤Î·ë²Ì¤Ï°Ê²¼¤Î²èÁü¤Î¤è¤¦¤Ë¤Ê¤Ã¤¿¡£
#ref(./S__21643268.jpg)
E3E4¤Î¥°¥ë¡¼¥×¤¬¥Ù¥ë¥È¥³¥ó¥Ù¥¢¼°¤ÎÁõÃÖ¤ò¶î»È¤·¤Ö¤Ã¤Á¤®¤ê¤Î1°Ì¤Ëµ±¤¤¤¿¡£
²æ¤¬¥°¥ë¡¼¥×¤Ï3°Ì¤Ë¤Ê¤Ã¤¿¡£
**¹Í»¡ [#zf9ea866]
**´¶ÁÛ [#k91415ff]