[[2018b/Member]] Ìܼ¡ #contents *²ÝÂꣳ ¥Ü¡¼¥ë±¿ÈÂ¥í¥Ü¥Ã¥È [#r2136047] ÀĤÈÀ֤Υܡ¼¥ë¤ò±¿È¤·¤Æ¡¢¤½¤ì¤¾¤ì½êÄê¤Î350ml´Ì¤Î¾å¤Ë¾è¤»¤ë¡£ ¤½¤Î¾¤Î¥ë¡¼¥ë¡¢ºÎÅÀÊýË¡¤Ê¤É¤Ï²ÝÂê3¤Ë¤Ä¤¤¤Æ¤Î¥Ú¡¼¥¸¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£ #ref(2018b-mission3.png) *¥í¥Ü¥Ã¥ÈËÜÂΤι©É× [#j1881746] #ref(zentaizu.JPG) **¼ÖÂΡ¢³Æ¥»¥ó¥µ¡¼(¥Þ¥¹¥¿¡¼Ã´Åö) [#hf0b6f0c] ¥¿¥¤¥ä¤òÆ°¤«¤¹¤¿¤á¤Î¥â¡¼¥¿¡¼Æó¤Ä¤Ç¥¢¡¼¥àÍѤΥ⡼¥¿¡¼¤ò¶´¤ó¤Ç¸ÇÄꤷ¤¿¡£ ¤Þ¤¿¡¢Á°Êý¤Ë¸÷¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¤¿¤¬¡¢ÀâÌÀ½ñ¤è¤ê¤â¥¿¥¤¥ä´Ö¤ÎÉý¤¬¹¤«¤Ã¤¿¤¿¤á¸÷¥»¥ó¥µ¡¼¤òÆó¸ÄÉÕ¤±¤¿¡£Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤Ï¥¢¡¼¥à¦¤ò¸ÇÄꤹ¤ë¥Ñ¡¼¥Ä¤«¤é¥¢¡¼¥à¤ò¼ÙË⤷¤Ê¤¤¥®¥ê¥®¥ê¤Î¤È¤³¤í¤Þ¤Ç¿¤Ð¤·¤¿¡£NXTËÜÂΤϼÙËâ¤Ë¤Ê¤é¤Ê¤¤ÄøÅ٤˼è¤êÉÕ¤±¤¿¡£¹©ÉפȤ·¤Æ;¤Ã¤¿¥Ñ¡¼¥Ä¤Ç¥³¡¼¥É¤ò«¤Í¤é¤ì¤ë¤è¤¦¤Ë¤·¤¿¡£ #ref(code.JPG) **¥¢¡¼¥à(¥¹¥ì¡¼¥ÖôÅö¡Ë [#e65c1e1f] #ref(armonly.JPG) ¥Ü¡¼¥ë¤ò¤Ä¤«¤à¥¢¡¼¥à(¼ê)¤È¼ê¤ò»ý¤Á¾å¤²¤ë¥¢¡¼¥à(ÏÓ)¤Ç¹½À®¤·¤¿¡£ËÜÅö¤Ï¥¢¡¼¥à¤òÁ°Êý¤Ë¼è¤êÉÕ¤±¤¿¤«¤Ã¤¿¤¬¡¢¤½¤Î¾ì¹çNXT¤¬¸åÊý¤ËÀßÃÖ¤µ¤ì½Å¿´¤¬¸å¤í¸þ¤¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¥¢¡¼¥à¤ò¾å¤²¤¿¥¿¥¤¥ß¥ó¥°¤Ç¤Ò¤Ã¤¯¤êÊ֤äƤ·¤Þ¤¦²ÄǽÀ¤¬¤¢¤Ã¤¿¤Î¤Ç»ÅÊý¤Ê¤¯¸å¤í¸þ¤¤ËÀßÃÖ¤·£±£¸£°¡ë²óž¤¹¤ë¼ê´Ö¤òÁý¤ä¤·¤Æ¤·¤Þ¤Ã¤¿¡£¥Ü¡¼¥ë¤ò¤Ä¤«¤à»ÅÁȤߤϺ٤¤ËÀ¾õ¤Î¥Ñ¡¼¥Ä¤ÈÏѶʤ·¤¿¥Ñ¡¼¥Ä¤Ç¥Ü¡¼¥ë¤ò¤¹¤¯¤¤¾å¤²¤ë¤³¤È¤ò¥¤¥á¡¼¥¸¤·¤¿¡£ **Á´ÂÎŪ¤Ê¥Ð¥é¥ó¥¹ [#f6cd0236] Á°Êý¤Ë¸÷¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¡¢¸åÊý¤Ë¥¢¡¼¥à¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤ò¡¼¼è¤êÉÕ¤±´Ì¤Ø¥Ü¡¼¥ë¤ò¾è¤»¤ëºî¶È¤ò¡¢¤È¤¤¤¦¤è¤¦¤ËÁ°¸å¤Ç»Å»ö¤òʬ¶È¤·¤Æ¤¤¤ë¡£Á°Êý¤Ë¤ÏNXTËÜÂΡ¢¸åÊý¤Ë¥¢¡¼¥à¤¬¤¢¤ë¤Î¤Ç½Å¿´¤¬¤É¤Á¤é¤«¤ËÊФ俤ꡢ¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ÇžÅݤ¹¤ë¤³¤È¤Ï¤Ê¤¤¤¬¤É¤Á¤é¤â½Å¤¤¤Î¤Ç¾®¤µ¤¤ÎϤǤϥ¿¥¤¥ä¤òÆ°¤«¤»¤º¡¢NXT¤¬Èù̯¤Ë¼ÖÂκ¸Â¦¤Ë´ó¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤¤¤ë¤¿¤ážÅݤϤ»¤º¤È¤âOnFwdSync¤Ê¤É¤ò»È¤Ã¤Æ¤â¿¿¤Ãľ¤°Áö¤ì¤ºÀä̯¤Ê¥Ñ¥ï¡¼Ä´Àá¤ò;µ·¤Ê¤¯¤µ¤ì¤¿¡£¤Þ¤¿¡¢¤³¤ì¤Ë¤è¤Ã¤ÆºÇ¾®Ãͤòµá¤á¤Æ¤â¤½¤Î¾ì¤ËÌá¤ì¤Ê¤¤¡¢²óž¤·¤è¤¦¤È¤·¤Æ¤âº¸¼ÖÎؤ¬Æ°¤«¤Ê¤¤¤Ê¤É¤ÎÌäÂ꤬¤¿¤Ó¤¿¤Óµ¯¤³¤Ã¤¿¡£ *¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#ze9a629c] **¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à [#e8b186b0] #define CONN 1 #define SIGNALA 11 #define SIGNALB 12 #define SIGNALC 13 #define SIGNALD 14 #define SIGNALE 15 #define SIGNALF 16 #define SIGNALG 17 //¥á¥Ã¥»¡¼¥¸¤Ë¤Ä¤¤¤Æ¤ÏÁ´ÂΤÎή¤ì¤ÇÀâÌÀ¤·¤Þ¤¹ #define THRESHOLD 57 #define SPEED 50 #define speed 40 #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); #define leftleft OnRL(speed,0);¡¡¡¡¡¡¡¡//¤¤Ä¤¤¥«¡¼¥Ö¤ÎÉôʬ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¤ò¤¹¤ë¤¿¤áÀû²ó¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿ #define left OnRL(speed,0); #define straight OnRL(SPEED,SPEED); #define right OnRL(0,speed+5); #define rightright OnRL(-speed,speed+5); #define MOVE_TIME_1 3000 #define MOVE_TIME_2 22500 #define MOVE_TIME_3 2000 #define zenshin OnFwd(OUT_B,speed);OnFwd(OUT_C,speed+6); #define koutai OnRev(OUT_B,speed-10);OnRev(OUT_C,speed-4);¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤Î±Æ¶Á¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤Î¶¯¤µ¤òÊѤ¨¤Æ¤¢¤ë #define teishi Off(OUT_BC); #define kaiten_R1 OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED); #define kaiten_R2 OnFwd(OUT_B,speed);OnRev(OUT_C,speed); #define kaiten_L1 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED); #define kaiten_L2 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED); #define kaiten_time_R1 2500¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Ë¤Ïû¤¹¤®¤¿ºÇ¾®Ãͤò¸«¤Ä¤±¤ë¤¿¤á¤Ë²óž¤¹¤ë»þ´Ö #define kaiten_time_L1 1500 #define KAITEN RotateMotorEx(OUT_BC,50,400,100,true,false);¡¡¡¡¡¡//180¡ë²óž #define go_forward OnRL(SPEED,SPEED); #define STEP 1 #define yasumi Off(OUT_BC);Wait(500); sub serch_R1()¡¡¡¡¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹ { SetSensorLowspeed(S4); long t10,t11; int L=1000; t10=CurrentTick(); while(CurrentTick()-t10<=kaiten_time_R1){ kaiten_R1; if(SensorUS(S4)<L) { L=SensorUS(S4); t11=CurrentTick()-t10; } } kaiten_L1; Wait(kaiten_time_R1-t11+100);¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+100 Off(OUT_BC); Wait(500); } inline sub serch_R2(int l)¡¡¡¡¡¡£ì£ã£í°Ê²¼¤Îµ÷Î¥¤Î¤â¤Î¤ò¸«¤Ä¤±¤¿¤é»ß¤Þ¤ë { SetSensorLowspeed(S4); kaiten_R1 until(SensorUS(S4)<=l); Off(OUT_BC); } sub serch_L()¡¡¡¡¡¡¡¡»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹ { SetSensorLowspeed(S4); long t12,t13; int L=1000; t12=CurrentTick(); while(CurrentTick()-t12<=kaiten_time_L1){ kaiten_L1; if(SensorUS(S4)<L) { L=SensorUS(S4); t13=CurrentTick()-t12; } } kaiten_R1; Wait(kaiten_time_L1-t13+80);¡¡¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+80 Off(OUT_BC); Wait(500); } inline void sekkin(int d)¡¡¡¡¡¡ÌÜɸ¤ËÀ᤹ܶ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à { SetSensorLowspeed(S4); while(SensorUS(S4)>=d){ koutai; } teishi; } sub LT_R()¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹ { SetSensorLight(S3); long t0=CurrentTick(); while(CurrentTick()-t0<=MOVE_TIME_2){ if(SENSOR_3<THRESHOLD-10){ rightright; }else if(SENSOR_3<THRESHOLD-7){ right; }else if(SENSOR_3<THRESHOLD+2){ straight; }else if(SENSOR_3<THRESHOLD+3){ left; }else{ leftleft; } Wait(STEP); } } task main() { SetSensorLight(S2); SetSensorLight(S3); SetSensorLowspeed(S4); OnRev(OUT_BC,30); Wait(500); teishi; //½é´ü°ÌÃÖ¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤¹¤ë¾ì½ê¤Þ¤Ç¤ÎÈùÄ´À° int msg; SendRemoteNumber(CONN,MAILBOX1,SIGNALA);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç¤â¤é¤¦ while(true){ ReceiveRemoteNumber(MAILBOX1,true,msg); if(msg==SIGNALE){ koutai; Wait(MOVE_TIME_1);¡¡¡¡ KAITEN;¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂष¤Æ180¡ë²óž¤¹¤ë¡£¸òº¹ÅÀ¤ò±Û¤¨¤¿¤¢¤¿¤ê¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë teishi; yasumi; LT_R();¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï teishi;¡¡¡¡¡¡¡¡//ÁÛÄê¤Ç¤ÏÂçÂÎÃÏÅÀE¤ËÅþÃ夷¤¿¤¢¤¿¤ê¤ÇÄä»ß serch_R1();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á teishi; sekkin(15);¡¡¡¡¡¡//15Ѥε÷Î¥¤Þ¤ÇÀܶá koutai; Wait(1000);¡¡¡¡¡¡//ÈùÄ´À°¡¡¡¡¡¡ teishi; SendRemoteNumber(CONN,MAILBOX1,SIGNALB);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦ } if(msg==SIGNALF){ zenshin;¡¡¡¡¡¡¡¡¡¡¡¡ Wait(MOVE_TIME_3);¡¡¡¡¡¡¡¡¡¡//ÂçÂÎÃÏÅÀE¤ËÌá¤ë(¿¾¯¤º¤ì¤Æ¤¤¤Æ¤âÌäÂê¤Ê¤·) kaiten_R1; Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò»¡ÃΤ¹¤ëÁ°¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤¿´Ì¤ò¸«¤Ä¤±¤Ê¤¤¤è¤¦¤Ë¾¯¤·²óž yasumi; serch_R2(25);¡¡¡¡¡¡¡¡//25Ñ°ÊÆâ¤Ë²¿¤«¤ò¸«¤Ä¤±¤¿¤éÄä»ß yasumi; zenshin; Wait(500);¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬¶á¤¹¤®¤¿¤È¤¤Î¤¿¤á¤Ë¾¯¤·Î¥¤ì¤ë sekkin(10); ¡¡koutai; Wait(200); //ÀĤ¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤Ç¤¤ë°ÌÃ֤ޤdzÎǧ¡¡¡¡¡¡¡¡ yasumi; SendRemoteNumber(CONN,MAILBOX1,SIGNALC);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤·¤Æ¤â¤é¤¦ } if(msg==SIGNALG){ koutai; Wait(2000);¡¡¡¡//ÌÜɸ¤Ë¾¯¤·¶á¤Å¤¯¡¡¡¡¡¡ kaiten_R1;¡¡ Wait(500);¡¡¡¡//²¾¤ËÀĦ¤Î´Ì¤¬¢¤À¤Ã¤¿¾ì¹ç¥µ¡¼¥ÁÈϰϤˤʤ¤¾ì¹ç¤¬¤¢¤ë¤Î¤Ç¾¯¤·²óž serch_L();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á teishi; sekkin(15);¡¡¡¡¡¡//15Ѥε÷Î¥¤Þ¤ÇÀܶá teishi; koutai;¡¡¡¡ Wait(1000);¡¡¡¡¡¡¡¡//ÈùÄ´À° SendRemoteNumber(CONN,MAILBOX1,SIGNALD);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦ teishi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß } } } **¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à [#ycdd4674] #define POWER 50 #define Power 25 #define power 15 #define time 300 #define Time 600 #define TIME 1000 #define hand_catch OnRev(OUT_B,POWER);Wait(Time);Off(OUT_B);¡¡¡¡//¥Ü¡¼¥ë¤ò¤Ä¤«¤à #define arm_Up OnFwd(OUT_C,POWER);Wait(TIME);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾å¤²¤ë #define hand_release OnFwd(OUT_B,power);Wait(TIME);Off(OUT_B);¡¡¡¡¡¡//¼ê¤òÎ¥¤¹ #define arm_Down OnRev(OUT_C,POWER);Wait(Time+200);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò²¼¤²¤ë #define arm_up OnFwd(OUT_C,POWER);Wait(Time);Off(OUT_C);¡¡¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±¾å¤²¤ë #define arm_down OnRev(OUT_C,Power);Wait(Time);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±²¼¤²¤ë #define yasumi Off(OUT_BC);Wait(500); #define SIGNALA 11 #define SIGNALB 12 #define SIGNALC 13 #define SIGNALD 14 #define SIGNALE 15 #define SIGNALF 16 #define SIGNALG 17 sub ball_catch()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë { Wait(Time); arm_Down; hand_catch; arm_Up; Off(OUT_BC); } sub ball_release()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯ { Wait(Time); arm_down; yasumi; hand_release; arm_up; Off(OUT_BC); } task main() { int msg; while(true){ ReceiveRemoteNumber(MAILBOX1,true,msg); if(msg==SIGNALA){ ball_catch(); Off(OUT_BC); SendResponseNumber(MAILBOX1,SIGNALE);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë } if(msg==SIGNALB){ yasumi; ball_release(); yasumi; SendResponseNumber(MAILBOX1,SIGNALF);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤¿¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë } if(msg==SIGNALC){ ball_catch(); Off(OUT_BC); SendResponseNumber(MAILBOX1,SIGNALG);¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë } if(msg==SIGNALD){ yasumi; ball_release(); yasumi;¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ÆÄä»ß } } } **Á´ÂΤÎή¤ì [#w87a75f4] #ref(2018b-mission3 (1).png) ¡¥Þ¥¹¥¿¡¼Â¦¡§ÀÖ¤¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤Ç¤¤ë°ÌÃ֤˰ÜÆ°¤·SIGNALA¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿® ¢¥¹¥ì¡¼¥Ö¦¡§SIGNALA¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤·SIGNALE¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿® £¥Þ¥¹¥¿¡¼Â¦¡§SIGNALE¤ò¼õ¿®¤·¤¿¤é¸åÂà¡¢²óž¤·¤ÆÃÏÅÀG¤ò²á¤®¤¿¤¢¤¿¤ê¤ÇÄä»ß ¤¥Þ¥¹¥¿¡¼Â¦¡§¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¡£ºÇ½é¤ÎµÞ¥«¡¼¥Ö¤Ç¤¢¤¨¤ÆÂ礤¯²ó¤ë¤³¤È¤ÇÃÏÅÀF¤Þ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¡£ÃÏÅÀE¤ÇÄä»ß ¥¥Þ¥¹¥¿¡¼Â¦¡§´Ì¤ò¥µ¡¼¥Á¤¹¤ë¡£¤³¤Î»þÀĤ¤¥Ü¡¼¥ë¤Þ¤Ç¥µ¡¼¥Á¤·¤Ê¤¤¤è¤¦¤ËÃí°Õ¤¹¤ë¡£ ¦¥Þ¥¹¥¿¡¼Â¦¡§´Ì¤ËÀܶᤷŬÅö¤Ê°ÌÃÖ¤ËÅþÃ夷¤¿¤éSIGNALB¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿® §¥¹¥ì¡¼¥Ö¦¡§SIGNALB¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤Ë¾è¤»¡¢¥¢¡¼¥à¤ò¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤¤è¤¦¤Ë¾å¤²¤Æ¤«¤éSIGNALF¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿® ¨¥Þ¥¹¥¿¡¼Â¦¡§ÃÏÅÀEÉÕ¶á¤Þ¤ÇÌá¤êÀĤ¤¥Ü¡¼¥ë¤ò¥µ¡¼¥Á¡£¸«¤Ä¤±¤¿¤é¥¥ã¥Ã¥Á¤Ç¤¤ë°ÌÃÖ¤Þ¤ÇÀܶᤷSIGNALC¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿® ©¥¹¥ì¡¼¥Ö¦¡§SIGNALC¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤·SIGNALG¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿® ª¥Þ¥¹¥¿¡¼Â¦¡§ÀĤ¤¥Ü¡¼¥ë¤ò¾è¤»¤ë´Ì¤òõ¤¹¤Î¤ËÍÍø¤Ê°ÌÃÖ(ÃÏÅÀKÉÕ¶á)¤Þ¤Ç°ÜÆ°¤·´Ì¤ò¥µ¡¼¥Á¡£È¯¸«¤·Àܶᤷ¤¿¤éSIGNALD¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿® «¥¹¥ì¡¼¥Ö¦¡§SIGNALD¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤Ë¾è¤»¤ÆÄä»ß *ËÜÂΡ¢¥×¥í¥°¥é¥à¤Î²þÁ±ÅÀ [#wf6af1b1] ËÜÂΤˤĤ¤¤Æ¤Ï¤ä¤Ï¤ê½Å¤µ¤Ë¤è¤Ã¤Æ²ÝÂê¤ò¤³¤Ê¤¹¤Î¤ËÂ礤ʻپã¤ò¤¤¿¤·¤¿¤È´¶¤¸¤Æ¤¤¤ë¡£¤½¤Î²þÁ±ÅÀ¤È¤·¤ÆN1N2¥°¥ë¡¼¥×¤ÎÍѤ¤¤Æ¤¤¤¿¥â¡¼¥¿¡¼¤ËľÀÜ¥¿¥¤¥ä¤ò¼è¤êÉÕ¤±¤º»õ¼Ö¤ò²ð¤·¤Æ¥¿¥¤¥ä¤ò²óž¤µ¤»¤ë¤È¤¤¤¦¼êË¡¤Ï¤È¤Æ¤âÁϺîŪ¤Ç¤è¤¤¤È»×¤Ã¤¿¡£¤Þ¤¿¼«Ê¬¤Ç»×¤¤¤Ä¤¤¤¿ÊýË¡¤È¤·¤Æ¤ÏNXT¤ÎÇÛÃ֤ˤĤ¤¤Æ¤â¤¦¾¯¤·¸å¤í´ó¤ê¤ËÀßÃÖ¤¹¤ë¡¢²Äǽ¤Ç¤¢¤Ã¤¿¤Ê¤é¤ÐNXT¤È¥¢¡¼¥à¤Î°ÌÃÖ¤òÆþ¤ìÂؤ¨¤ë¤Ê¤É¤Î¹©Éפ¬¤Ç¤¤ì¤Ð½Å¤µ¤ÏÊѤï¤é¤º¤È¤â¥¿¥¤¥ä¤Ë¤«¤«¤ëÉéô¤¬·Ú¸º¤·¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«¡£ ¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥¹¥à¡¼¥º¤µ¤Ë¤è¤Ã¤Æ´Ì¤òõ¤¹Æ°ºî¤Î»ÏÅÀ¤¬ÊѤï¤Ã¤Æ´Ì¤ò¸«¤Ä¤±¤é¤ì¤ë¤È¤³¤í¤Þ¤Ç²óž¤·¤Ê¤¤¡¢µÕ¤Ë²óž¤·¤¹¤®¤ÆÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤È´Ö°ã¤¨¤ë¤Ê¤É¤Î¥ß¥¹¤¬Â¿¤«¤Ã¤¿¡£²þÁ±°Æ¤È¤·¤Æ¤ÏÀè¤Ë°ìÅ٥ܡ¼¥ë¤ò¸«¤Ä¤±¤ë¤³¤È¤Ç²óž¤Î»ÏÅÀ¤òÅý°ì¤¹¤ë¤Ê¤É¤Î¹©Éפ¬¤¢¤Ã¤¿¤È¹Í¤¨¤¿¡£¤Þ¤¿¼¡¤Ë¥ß¥¹¤Î¿¤«¤Ã¤¿´Ì¤ò¸«¤Ä¤±¤Æ¤â¤¦¤Þ¤¯¶á¤Å¤±¤Ê¤¤¤È¤¤¤¦¥ß¥¹¤Ë¤Ä¤¤¤Æ¤Ï¼«Ê¬¤Ï¥í¥Ü¥Ã¥È¤Îº¸±¦¥Ð¥é¥ó¥¹¤Ë¤è¤ë¤â¤Î¤Ç¤¢¤ë¤È¹Í¤¨¤Æ¤¤¤ë¤¿¤á¥í¥Ü¥Ã¥È¤Î²þÁ±¤Ë¤è¤êÀ®¸ùΨ¤Ï¾å¤¬¤ë¤â¤Î¤È¹Í¤¨¤Æ¤¤¤ë¡£ *²ÝÂꣳ¤Î´¶ÁÛ¡¢È¿¾Ê [#y1e223df] ¡¡