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#contents

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***Æ°ÎÏÉôʬ [#t577ec69]
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&br;&ref(right2.JPG);&ref(left1.JPG);


***¥¢¡¼¥à(Åꤲ¤ëÉôʬ) [#p75722fc]
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&br;&ref(arm1.JPG);

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&br;&ref(armgear.JPG);

***Á´ÂÎÁü [#i2389295]
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&br;&ref(finished.JPG);


***ÌäÂêÅÀ¤È²þÁ± [#i8759327]
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&br;&ref(arm2.JPG);

**¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#jb836020]
­¡Á´Êý¸þ¤«¤é»ß¤Þ¤Ã¤Æ¤¤¤ë²ûÃæÅÅÅô¤ÎÊý¸þ¤òõ¤·¤À¤·¡¢²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ&br;¤ë¥×¥í¥°¥é¥à¡£

­¢²ûÃæÅÅÅô¤ò¤æ¤Ã¤¯¤êÆ°¤«¤·¤¿¤È¤­²ûÃæÅÅÅô¤Ë¸þ¤«¤Ã¤Æ¿Ê¤ß¡¢²ûÃæÅÅÅô¤ÎÆ°¤­¤ò»ß¤á¤ì¤Ð°ìÄê¤Îµ÷Î¥(²ûÃæÅÅÅô¤«¤é30cm°Ê¾åÎ¥¤ì¤¿µ÷Î¥)¤Þ¤Ç¶á¤Å¤¤¤Æ²ûÃæÅÅÅô¤òÁÀ¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¥×¥í¥°¥é¥à¡£

***¥×¥í¥°¥é¥àÁ´ÈÌ [#b73c6603]
¶¦Ä̤ÎÌ¿Îá~
OnFwd(OUT_A);¡¡¡§¡¡µ¡ÂΤò±¦²ó¤ê¤ËÀû²ó~
OnRev(OUT_A);¡¡¡§¡¡µ¡ÂΤòº¸²ó¤ê¤ËÀû²ó

***KEI¤Î¥×¥í¥°¥é¥à(­¡¤Î¥×¥í¥°¥é¥à) [#hf62f11a]
 #define TURN_TIME 300 //°ì¼þ¤¹¤ë»þ´Ö
 
 task main()
 {
      int light_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃÍ
      int t_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤòÍ¿¤¨¤ë»þ¹ï
      SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼
      ClearTimer(0); //¥¿¥¤¥Þ¡¼¥»¥Ã¥È
      OnFwd(OUT_A); //±¦²ó¤ê¤Ë²óž
      while(FastTimer(0)<TURN_TIME){ //µ¡ÂΤ¬°ì¼þ¤¹¤ë¤Þ¤Ç·«¤êÊÖ¤¹
           if (SENSOR_1>light_max){ //¥»¥ó¥µ¡¼¤¬Æɤ߼è¤Ã¤¿ÌÀ¤ë¤µ¤¬º£¤Þ¤Ç¤Î¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤò¾å²ó¤Ã¤Æ¤¤¤¿¾ì¹ç
                light_max=SENSOR_1; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤ˸½ºß¥»¥ó¥µ¡¼¤¬Æɤ߼è¤Ã¤¿ÃͤòÂåÆþ
                t_max=FastTimer(0); //¸½ºß¤Î»þ¹ï¤ò¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤòÍ¿¤¨¤ë»þ¹ï¤ËÂåÆþ
           }
      }
      Off(OUT_A); //°ìöÄä»ß
      Wait(50);
      OnFwd(OUT_A); //±¦²ó¤ê¤Ë²óž
      Wait(t_max);
      Off(OUT_A); //²óžÄä»ß
      OnRev(OUT_C); //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
      Wait(40);
      Off(OUT_C); //Ää»ß
 }

-¤Þ¤º±¦²ó¤ê¤Ë°ì²óž¤·¤Æ°ìÈÖÌÀ¤ë¤¤Êý¸þ¤òõ¤·¡¢Æó²óžÌܤǤ½¤ÎÊý¸þ¤ò¸þ¤­¡¢¥Ö¥í¥Ã¥¯¤òÅꤲ¤Þ¤¹
----
-Ë×¥×¥í¥°¥é¥à
~
#define TURN_TIME 300 //°ì¼þ¤¹¤ë»þ´Ö~
~
task main()~
{~
¡¡      int light_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃÍ~
¡¡      int t_max=0; //¸÷¥»¥ó¥µ¤ÎºÇÂçÃͤòÍ¿¤¨¤ë»þ¹ï~
¡¡      SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼~
¡¡      ClearTimer(0); //¥¿¥¤¥Þ¡¼¥»¥Ã¥È~
¡¡      OnFwd(OUT_A); //±¦²ó¤ê¤Ë²óž~
¡¡      while(FastTimer(0)<TURN_TIME){~
¡¡           if (SENSOR_1>light_max){~
¡¡                light_max=SENSOR_1;~
¡¡                t_max=FastTimer(0);~
¡¡           }~
¡¡      }~
¡¡      Off(OUT_A); //°ìöÄä»ß~
¡¡      Wait(50);~
&color(Red){¡¡      OnRev(OUT_A); //º¸²ó¤ê¤Ë²óž};~
&color(Red){¡¡      Wait(TURN_TIME-t_max);};~
¡¡      Off(OUT_A);~
¡¡      OnRev(OUT_C); //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë~
¡¡      Wait(40);~
¡¡      Off(OUT_C);~
¡¡ }~
~
-Êѹ¹ÅÀ¤Ï¡¢ÀÖ¤¤Ê¸»ú¤ÎÉôʬ¤Ç¤¹
-±¦²óž¤Î¾ì¹ç¤Èº¸²óž¤Ç¤Ï¥®¥¢Èæ¤Î´Ø·¸¤«¤éÀû²ó¤¹¤ë®ÅÙ¤¬°ã¤¦¤Î¤Ç¡¢¤³¤Î¤Þ¤Þ¤Î¥×¥í¥°¥é¥à¤Ç¤Ï¸÷¸»¤Ø¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¤³¤È¤¬¤Ç¤­¤Þ¤»¤ó¤Ç¤·¤¿
-°ì²óÌܤÈÆó²óÌܤÇÀû²ó¤¹¤ë¸þ¤­¤òƱ¤¸¤Ë¤¹¤ë¤³¤È¤Ç¡¢¤³¤ÎÌäÂê¤ò²ò·è¤¤¤¿¤·¤Þ¤·¤¿
----

***²¶¤Î¥×¥í¥°¥é¥à(­¢¤Î¥×¥í¥°¥é¥à) [#c7e52ffe]
 #define THERESHOLD 45 //¸÷¤òÄɤ¦Æ°ºî¤ÇÍѤ¤¤ëÆ®ÃÍ
 #define LIGHTMAX 50 //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ëÆ°ºî¤ÇÍѤ¤¤ëÆ®ÃÍ
 
 task main ()
 {
      SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷³Ø¥»¥ó¥µ¡¼
      SetSensor(SENSOR_3,SENSOR_LIGHT); //¥»¥ó¥µ¡¼3¤Ï¸÷³Ø¥»¥ó¥µ¡¼
 
      while(SENSOR_3<=LIGHTMAX){ //¥í¥Ü¥Ã¥È¤¬¸÷¸»¤Ë¤¢¤ëÄøÅ٤ޤǶá¤Å¤¯¤Þ¤Ç·«¤êÊÖ¤¹
           if (SENSOR_1<THERESHOLD){
                if (SENSOR_3<THERESHOLD){
                     OnRev(OUT_A);
                } else {
                     OnFwd(OUT_A);
                }
           } else {
                if (SENSOR_3<THERESHOLD){
                     OnRev(OUT_A);
                } else {
                     OnRev(OUT_A);
                }
           }
      } //¤³¤³¤Þ¤Çwhile¤Î´Ö
 
      Off(OUT_A); //°ÜÆ°Ää»ß
      OnRev(OUT_C); //¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
      Wait(40);
      Off(OUT_C); //¥¢¡¼¥àÄä»ß
 }

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-¸÷¤ò¸«¤Ä¤±¤ë¤È¡¢¤½¤ì¤òÄɤ¤¤«¤±¤Æ¤¤¤­¤Þ¤¹¡£''±¦Àû²ó¤Èº¸Àû²ó¤ò¸ò¸ß¤Ë¹Ô¤¦¤³¤È¤ÇÁ°¿Ê''¤·¤Þ¤¹¡£
-¤¢¤ëÄøÅ٤ޤǶá¤Å¤¯¤È¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£Ìó30cm¤Îµ÷Î¥¤Þ¤Ç¶á¤Å¤¯¤È¥Ö¥í¥Ã¥¯¤òÅꤲ¤Þ¤¹

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**¥³¥á¥ó¥È¤ò¤É¤¦¤¾ [#rffa2ee6]
- ¥³¥á¥ó¥È¡¢µ¹¤·¤¯¤ª´ê¤¤Ãפ·¤Þ¤¹ -- [[²¶]] &new{2009-07-10 (¶â) 17:32:57};
- ¥í¥Ü¥Ã¥È¤â¥×¥í¥°¥é¥à¤â¡¢ÀâÌÀ¤¬¤ï¤«¤ê¤ä¤¹¤¯¡¢¤Þ¤¿¡¢¹½Â¤¤â¤ï¤«¤ê¤ä¤¹¤¤¤Ç¤¹¡£ -- [[¤³¤µ¤«]] &new{2009-07-17 (¶â) 04:25:38};
- ´Ê·é¤Ç¤ï¤«¤ê¤ä¤¹¤¤¤Ç¤¹¡£¤¿¤À¡¢2¤ÄÌÜ¤Î¥×¥í¥°¥é¥à¤Ë´Ø¤·¤Æ¸À¤¦¤È¡¢²¼¤«¤é11¹ÔÌܤÎelse¤Î°ÕÌ£¤¬¤Ê¤¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£¤Þ¤¿¡¢¤Ç¤­¤ì¤Ð¤â¤Ã¤È²ûÃæÅÅÅô¤¬»ß¤Þ¤Ã¤¿¤È¤¤¤¦¤³¤È¤òǧ¼±¤Ç¤­¤ë¤È¤Ê¤ªÎɤ¤¤È»×¤¤¤Þ¤¹ -- [[FI]] &new{2009-08-05 (¿å) 08:28:08};
- ´Ê·é¤Ç¤ï¤«¤ê¤ä¤¹¤¤¤Ç¤¹¡£¤¿¤À¡¢2¤ÄÌÜ¤Î¥×¥í¥°¥é¥à¤Ë´Ø¤·¤Æ¸À¤¦¤È¡¢²¼¤«¤é11¹ÔÌܤÎelse¤Î°ÕÌ£¤¬¤Ê¤¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£º¸±¦¤Î¥»¥ó¥µ¤¬¸÷¤ò´¶¤¸¤¿»þ¤Ë¤Ï²ûÃæÅÅÅô¤¬¿¿ÀµÌ̤ˤ¢¤ë¤È¹Í¤¨¡¢º¸±¦¤Î²óž¤ò¾®¹ï¤ß¤Ë·«¤êÊÖ¤·¤ÆÁ°¿Ê¤µ¤»¤¿Êý¤¬¤è¤êÀµ³Î¤ËÄÉÀפǤ­¤Þ¤¹¡£¤Þ¤¿¡¢¤Ç¤­¤ì¤Ð¤â¤Ã¤È²ûÃæÅÅÅô¤¬»ß¤Þ¤Ã¤¿¤È¤¤¤¦¤³¤È¤òÌÀ³Î¤Ëǧ¼±¤Ç¤­¤ë¤È¤Ê¤ªÎɤ¤¤È»×¤¤¤Þ¤¹ -- [[FI]] &new{2009-08-05 (¿å) 08:28:08};

#comment

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