[[2008b/A2/²ÝÂ꣱/¥á¥ó¥Ð¡¼¥Ú¡¼¥¸¤Ø:http://yakushi.shinshu-u.ac.jp/robotics/?2008b%2FA2]] *Ìܼ¡ [#q7c2244f] #contents *²ÝÂ꣱/»÷´é³¨¤òºîÀ®¤¹¤ë [#c3d27323] **1²ÝÂê¤Î³µÍ× [#aaf96f25] A3¤ÎÍÑ»æ¤ËÁêËÀ¤Î»÷´é³¨¤òºîÀ®¤¹¤ë¥í¥Ü¥Ã¥È¤ÎºîÀ®¡£ **2¥í¥Ü¥Ã¥ÈËÜÂΤÎÀ©ºî²áÄø [#cfc33310] ***ÅÚÂæ¹½À®¤Ë¤Ä¤¤¤Æ [#n884bd06] ~ÅÚÂæ¤È¤Ê¤ëÉôʬ¤ÏºîÀ®ÍѤÎËܤ˽ñ¤¤¤Æ¤¢¤Ã¤¿»ÍÎؤΥ¿¥¤¥×¤ò»ÈÍѤ·¤Þ¤·¤¿¡£ ~ÅÚÂæ¤ÎÉôʬ¤Ë¤ÏÆä˼ê¤ò²Ã¤¨¤º¡¢¤½¤Î¤Þ¤Þ¤Î·Á¤ÇÀ½ºî¡£ ***¥Ú¥ó¤ò»ý¤¿¤»¤ëÉôʬ¤Ë¤Ä¤¤¤Æ [#l7012eb2] ~¤³¤³¤ÎÉôʬ¤Ë¤Ï²áµî¤ÎºîÉʤΥ¢¥¤¥Ç¥£¥¢¤ò°ìÉô»ÈÍѤ·¤Ê¤¬¤é¹©Éפ·¡¢´°À®¡£Í½Äê¤è¤ê¤â¤«¤Ê¤ê¾¯¤Ê¤¤ÉôÉʤǤĤ¯¤ë¤³¤È¤ÎÀ®¸ù¤·¤Þ¤·¤¿¡£&br;¼ç¤Ê¹©É×ÅÀ¤Ë¤Ä¤¤¤Æ¤Ï¸å¤ËµºÜ¤·¤Þ¤¹¡£ **3¥í¥Ü¥Ã¥ÈËÜÂΤδ°À® [#hb2eb680] ´°À®¤·¤¿¥í¥Ü¥Ã¥È¤¬¤³¤Á¤é ~ÀµÌÌ~ #ref(mae.jpg) ~¿¿¾å¤«¤é~ #ref(ue.jpg) ~º¸±¦¤«¤é~ #ref(yoko1.jpg) #ref(yoko2.jpg) ***¼ç¤Ê¹©É×ÅÀ [#x742bc48] ~¥Ú¥ó¤òÆ°¤«¤¹¤Ë¤Ï¥¿¥¤¥ä¤ò»È¤Ã¤Æ¾å²¼¤Ë°ÜÆ°¤¹¤ëÊýË¡¤òºÎÍÑ¡£&br; »°¤Ä¥¿¥¤¥ä¤ò»È¤¦¤³¤È¤Ë¤è¤ê¥Ú¥ó¤Î¾å²¼¤ò°ÂÄꤵ¤»¤ë¤³¤È¤¬½ÐÍ褿¤È»×¤¤¤Þ¤¹¡£&br; ¤Þ¤¿¡¢¤Ê¤ë¤Ù¤¯¾¯¤Ê¤¤ÉôÉʤÇÁȤßΩ¤Æ¤ë¤³¤È¤Ç¡¢¾®·¿²½¡¢·ÚÎ̲½¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤·¤¿¡£ ***¥í¥Ü¥Ã¥È¤Î·çÅÀ¤È²þÁ±¤Ë¸þ¤±¤Æ [#c8c5aa72] ~¤³¤Î¥í¥Ü¥Ã¥È¤Î¼åÅÀ¡¢¤Ä¤Þ¤ê²þÎÉÅÀ¤Ï¡¢Èó¾ï¤Ë¾×·â¤Ë¼å¤¤¤³¤È¤Ç¤¹¡£&br;¥Ö¥í¥Ã¥¯¤Ð¤«¤ê¤Ç¤Î¹½À®¤Ê¤Î¤Ç¡¢³°¤ì¤ä¤¹¤¯¡¢ÁȤ߹þ¤ß¤¬Ê£»¨¤Ê¤Î¤Ç¼è¤ê³°¤·¤â´Êñ¤Ë½ÐÍè¤Þ¤»¤ó¡£ &br;Á°¤Î¤Û¤¦¤Ë¥Ñ¡¼¥Ä¤¬Â¿¤¤½ê°Ù¤«Á°¤Ë½Å¿´¤¬¤«¤«¤Ã¤Æ¤¤¤ë¤é¤·¤¯¡¢¥¢¡¼¥à¤ÎÉôʬ¤À¤±¤¬³°¤ì¤ë¤³¤È¤â¤è¤¯¤¢¤ê¤Þ¤¹¡£ &br;¤Ê¤Î¤Ç²þÎɤ¹¤Ù¤ÅÀ¤Ï¥Ñ¡¼¥Ä¤¬³°¤ì¤Ê¤¤¤è¤¦Ê䶯¤¹¤ë¤³¤È¡¢¥Ö¥í¥Ã¥¯°Ê³°¤ÎÉôÉʤγèÍѤǤ¹¡£ &br;¤À¤«¤é¤È¤¤¤Ã¤Æ¥Ñ¡¼¥Ä¤ò¿¤¯»È¤¤¤¹¤®¤ì¤Ð¾®·¿¡¢·ÚÎ̤ΰÕÌ£¤¬¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¦¤Î¤ÇÆñ¤·¤¤¤È¤³¤í¤Ç¤¹¡£ **4¥í¥Ü¥Ã¥È¤Î¥×¥í¥°¥é¥à [#g0004a6b] ***¤½¤Î£± [#n119425f] int turn_time; #define FF OUT_A+OUT_C #define FL OUT_A #define FR OUT_C #define FA OUT_B void up() //¥Ú¥ó¤ò¾å¤²¤Þ¤¹ { SetPower(FA,5); OnRev(FA); Wait(10); Off(FA); } void down() //¥Ú¥ó¤ò²¼¤²¤Þ¤¹ { SetPower(FA,5); OnFwd(FA); Wait(30); Off(FA);} sub go() // Á°¿Ê¤·¤Þ¤¹ { SetPower(FF,5); OnRev(FF); } sub go_back() //¸å¿Ê¤·¤Þ¤¹ { SetPower(FF,5); OnFwd(FF); } sub right() //±¦¤ËÀû²ó¤·¤Þ¤¹ {SetPower(FR,5); OnRev(FR);} sub left() //º¸¤ËÀû²ó¤·¤Þ¤¹ {SetPower(FL,5); OnRev(FL);} sub turn_left_025() // º¸¤Ë¶å½½Åٶʤ¬¤ê¤Þ¤¹ { turn_time /= 4 ; OnFwd(FL); Rev(FF); Wait(turn_time); Off(FF); } sub turn_left_0125() // º¸¤Ë»Í½½¸ÞÅٶʤ¬¤ê¤Þ¤¹ { turn_time /= 8 ; OnFwd(FL); Rev(FF); Wait(turn_time); Off(FF); } sub turn_right_025() // ±¦¤Ë¶å½½Åٶʤ¬¤ê¤Þ¤¹ { turn_time /= 4 ; OnFwd(FR); Rev(FF); Wait(turn_time); Off(FF); } sub turn_right_0125() // ±¦¤Ë»Í½½¸ÞÅٶʤ¬¤ê¤Þ¤¹ { turn_time /= 8 ; OnFwd(FR); Rev(FF); Wait(turn_time); Off(FF); } task main() { down(); //¤Þ¤º¤Ï¥Ú¥ó¤ò²¼¤í¤·¤Þ¤¹ repeat(2){ go(); Wait(100); Off(FF); //ÉÁ¤»Ï¤á left(); Wait(300); Off(FF);} //ÎسԤ¬ÉÁ¤±¤Þ¤·¤¿ up(); turn_left_025(); repeat(2){ go(); Wait(30); Off(FF); down(); go(); Wait(20); Off(FF); up();} //ξÌܤòÉÁ¤¤Þ¤·¤¿ go_back(); Wait(20); Off(FF); turn_right_025(); go(); Wait(20); Off(FF); down(); go(); Wait(100); Off(FF); up(); //É¡¤òÉÁ¤¤Þ¤·¤¿ turn_left_025(); go(); Wait(100); Off(FF); turn_right_025(); turn_right_025(); down(); go(); Wait(50); Off(FF); up(); go(); Wait(50); Off(FF); //¸ý¤òÉÁ¤¤Þ¤·¤¿ turn_right_025(); go(); Wait(50); Off(FF); repeat(3){ turn_right_0125(); go(); Wait(30); Off(FF); turn_left_0125(); go(); Wait(30); Off(FF);} //ȱ¤òÉÁ¤¤Þ¤·¤¿ } //¤ª»ÅÉñ¤¤¤Ç¤¹ //°ì±þ¥×¥í¥°¥é¥à¤Ï¤³¤ì¤Ç´°Î»¤Ç¤¹ //¤³¤ì¤«¤é»î¹Ôºø¸í¤·¤Þ¤¹ ***¤½¤Î£²¡¡¥µ¥Ö¥ë¡¼¥Á¥ó¤Ê¤É¤Ï¡¢¤½¤Î£±¤È¤Û¤È¤ó¤ÉƱ¤¸¤Ç¤¹¡£ [#sbdf315f] ***¤½¤Î£²¡ÊÀ©ºî¼Ô¡¡¥¥è¡Ë¥µ¥Ö¥ë¡¼¥Á¥ó¤Ê¤É¤Ï¡¢¤½¤Î£±¤È¤Û¤È¤ó¤ÉƱ¤¸¤Ç¤¹¡£ [#pa60dc18] int turn_time; #define FF OUT_A+OUT_C #define FL OUT_A #define FR OUT_C #define FA OUT_B sub up() ¡¡¥Ú¥ó¤ò¾å¤²¤ë {SetPower(FA,5); OnFwd(FA); Wait(5); Off(FA);} sub down() ¥Ú¥ó¤ò²¼¤²¤ë {SetPower(FA,5); OnRev(FA);} sub fore() ľ¿Ê {SetPower(FF,5); Off(FA); OnRev(FF);} sub back() ¸åÂà {SetPower(FF,5); OnFwd(FF);} Wait(t); Off(FA);} sub right() ±¦¤Ë¶Ê¤¬¤ë {SetPower(FR,5); OnRev(FF);} sub left() º¸¤Ë¶Ê¤¬¤ë {SetPower(FL,5); OnRev(FF);} task main() #ref(ÎسÔ.jpg) { down();¡¡¡¡¡¡¡¡¡¡//Îسԡʺ¸Ëˤ«¤é¥¹¥¿¡¼¥È¡Ë¡Ä¡ fore(); Wait(200); up(); repeat(2){¡¡¡¡¡¡ //¥¢¥´¤ÎÊդꡡ¡Ä¢ left(); Wait(70); down(); fore(); Wait(60); up(); left(); Wait(50); down(); fore(); Wait(50); up(); left(); Wait(30); down(); fore(); Wait(80); up(); } down();¡¡¡¡¡¡¡¡¡¡¡¡//±¦ËˤÎÊդꡡ¡Ä£ fore(); Wait(120); up(); back(); //¡¡¡Ä¤ Wait(50); left(); Wait(120); #ref(¥á¥¬¥Í.jpg) repeat(2);{ //¥á¥¬¥Í¡¡¡Ä¡ down(); fore(); Wait(20); up(); right(); Wait(120); down(); fore(); Wait(15); up(); left(); Wait(120); down(); fore(); Wait(60); up(); left(); // ¡Ä¢ Wait(120); down(); fore(); Wait(30); up(); left(); //¡¡¡Ä£ Wait(120); down(); fore(); Wait(60); up(); left(); //¡¡¡Ä¤ Wait(120); down(); fore(); Wait(15); up(); left(); Wait(); fore(); //¡¡¡Ä¥ Wait(); } down();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡¡Ä¦ fore(); Wait(20); #ref(É¡.jpg) up(); //É¡¤Þ¤Ç¤Î°ÜÆ°¡¡¡Ä¡ back(); Wait(90); left(); Wait(120); fore(); Wait(25);¡¡¡¡¡¡// ¡Ä¢ down();¡¡¡¡¡¡ //É¡ fore(); Wait(40); up(); #ref(¸ý.jpg) up();¡¡¡¡¡¡¡¡¡¡//É¡¤«¤é¸ý¡¡¡¡¡¡ right(); //¡¡¡Ä¡ Wait(120); fore(); Wait(60); left(); Wait(120); fore(); Wait(20); down();¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ºÇ¸å¤Ë¸ý¤ò½ñ¤¤Þ¤¹ ¡Ä¢ repeat(2){ left(); Wait(70); down(); fore(); Wait(50); up(); left(); Wait(50); down(); fore(); Wait(40); up(); left(); Wait(30); down(); fore(); Wait(20); up(); } } ¡¡¡¡ //¸ý¤ò½ñ¤½ª¤ï¤Ã¤Æ½ªÎ»¤Ç¤¹¡£ *¥³¥á¥ó¥È [#zc823165] ¥³¥á¥ó¥È¤¬¤¢¤ì¤Ð¤É¤¦¤¾ - ÁêÊý¤Ø¤ÎÏ¢Íí¤Ç¤¹¡£¥í¥Ü¥Ã¥È¤ÎÆ°¤¤òÃΤꤿ¤¤¤Î¤Ç¡¢CD´Þ¤á¤¿°ì¼°¤ò£µ¥³¥ÞÌܤθå¥Ñ¥½¥³¥ó¼¼(½½ÈÖ¶µ¼¼)¤Ë»ý¤Ã¤Æ¤¤Æ²¼¤µ¤¤¡£Ï»»þ¤«¤é¼·»þ¤Þ¤Ç¡¢°ì»þ´Ö¤Û¤ÉÂÔµ¡¤·¤Æ¤¤¤Þ¤¹¡£ -- [[¥Ï¥Þ¥À]] &new{2008-11-10 (·î) 09:06:55}; - ¥í¥Ü¥Ã¥È¤òÆ°¤«¤µ¤Ê¤¤¤³¤È¤Ë¤Ï¥×¥í¥°¥é¥à¤Î²þÎɤΤ·¤è¤¦¤¬¤¢¤ê¤Þ¤»¤ó¡£ÌÀÆü¤Î¤ªÃë¤Ë¥Ñ¥½¥³¥ó¼¼¤Ë»ý¤Ã¤Æ¤¤Æ¤¯¤À¤µ¤ë¤«¡¢¤½¤Á¤é¤Ç¥í¥Ü¥Ã¥È¤Î²þÎɵڤÓÆ°¤¤Î»þ´Ö¤Î·×¬¤ò¤ª´ê¤¤¤·¤Þ¤¹¡£ -- [[¥Ï¥Þ¥À]] &new{2008-11-10 (·î) 18:23:22}; - ¥³¥á¥ó¥È¤Ëµ¤ÉÕ¤¤Þ¤»¤ó¤Ç¤·¤¿¡£ËÜÅö¤Ë¤¹¤¤¤Þ¤»¤ó¡£ÌÀÆü£´¥³¥ÞÌܽª¤ï¤Ã¤Æ¤«¤é£±£°ÈÖ¶µ¼¼¤Ë¤¤¤Þ¤¹¡£Íè¤ì¤ë»þ´ÖÂÓ¶µ¤¨¤Æ¤â¤é¤¨¤ë¤È½õ¤«¤ê¤Þ¤¹¡£ -- [[¤·¤ß¤º]] &new{2008-11-11 (²Ð) 13:37:49}; - ʬ¤«¤ê¤Þ¤·¤¿¡¢¤³¤Á¤é¤â£±£°ÈÖ¶µ¼¼¤ÇÂԤäƤ¤¤Þ¤¹¡£ -- [[¥Ï¥Þ¥À]] &new{2008-11-12 (¿å) 14:55:50}; - ¥½¡¼¥¹¤¬¤¤ì¤¤¤ËŽ¤ì¤Æ¤Ê¤¤¤Î¤Ç¤½¤³¤é¤Ø¤óľ¤·¤Æ¤¯¤À¤µ¤¤ -- [[¤Ê¤«¤à¤é]] &new{2008-11-12 (¿å) 17:02:06}; - ¥×¥í¥°¥é¥à¤ÎÊý¤ÎÀâÌÀ¤ÏÎɤ¯½ñ¤±¤Æ¤¤¤Þ¤¹¡£¥í¥Ü¥Ã¥È¤ÎÊý¤ÎÀâÌÀ¤â¾Ü¤·¤¯¤·¤Æ¤ß¤Æ¤¯¤À¤µ¤¤¡£ -- [[FI]] &new{2008-12-03 (¿å) 10:35:33}; #comment