[[2009a]]¤ØÌá¤ë *²ÝÂê:²ûÃæÅÅÅô¤Ë¸þ¤«¤Ã¤Æ¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë¥í¥Ü¥Ã¥È [#s763c818] **Ìܼ¡ [#nea6abfb] #contents **¥í¥Ü¥Ã¥È¤Î³µÍ× [#ec033e3d] ***Æ°ÎÏÉôʬ [#t577ec69] ¥¿¥¤¥ä¤Î²óž¤Ë¥Ç¥£¥Õ¥¡¥ì¥ó¥·¥ã¥ë¥®¥¢(Ä̾ΥǥÕ)¤òÍѤ¤¡¢ÆâÎغ¹¤ò½¤Àµ¤·¤¿¡£ &br;&ref(deferential gear.JPG); °ì¤Ä¤Î¥â¡¼¥¿¡¼¤Çº¸±¦¤Î²óž¤ò¤µ¤»¤ë¤Ë¤Ï¡¢º¸±¦¤Î¥®¥¢¤Î¿ô¤ò¶ö¿ô¤È´ñ¿ô¤ÇÊѤ¨¡¢¤µ¤é¤Ë¥¹¥È¥Ã¥Ñ¡¼¤ÇµÕÊý¸þ¤Î²óž¤òÍÞ¤¨¤ëɬÍפ¬¤¢¤Ã¤¿¡£ &br;¥¿¥¤¥ä¤Þ¤Ç¤Î¥®¥¢¤Ï¤½¤ì¤¾¤ì¼¡¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£(±¦¤Î¼Ì¿¿¡§º¸¥¿¥¤¥ä¡¡º¸¤Î¼Ì¿¿¡§±¦¥¿¥¤¥ä) &br;&ref(right2.JPG);&ref(left1.JPG); ***¥¢¡¼¥à(Åꤲ¤ëÉôʬ) [#p75722fc] Åꤲ¤ëÆ°ºî¤ËÂѤ¨¤ë¤¿¤á¶¯ÅٽŻë¤ÇÀ©ºî¤·¤¿¡£ &br;&ref(arm1.JPG); ¥â¡¼¥¿¡¼¤ËÀܳ¤¹¤ë¤È¼¡¤Î¤è¤¦¤Ë¤Ê¤ë¡£ &br;&ref(armgear.JPG); ***Á´ÂÎÁü [#i2389295] ´°À®¤·¤¿¥í¥Ü¥Ã¥È¤Ï¤³¤Î¤è¤¦¤Ê¤â¤Î¡£¾®²ó¤ê¤¬Íø¤¯¤è¤¦¤Ë3ÎؤòºÎÍÑ¡£¤Þ¤¿¸÷¥»¥ó¥µ¤ÏÆó¤ÄÅëºÜ¤·¡¢Á´ÂÎŪ¤Ë¶¯ÅÙ¤ò¾å¤²¤¿¡£ &br;&ref(finished.JPG); ***ÌäÂêÅÀ¤È²þÁ± [#i8759327] ¶¯ÅÙ¤ò½Å»ë¤·¤¿¥¢¡¼¥àÉôʬ¤¬½Å¤¹¤®¤Æ¥Û¥¤¡¼¥ë¤¬¤¦¤Þ¤¯Èô¤Ð¤Ê¤«¤Ã¤¿¤¿¤á¡¢·ÚÎ̲½¤·¤¿¡£ &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 } -¥í¥Ü¥Ã¥È¤Ï´ðËÜŪ¤Ëº¸²ó¤ê¤Ë²óž¤·¤Ê¤¬¤é¸÷¤òõ¤·¤Æ¤¤¤Þ¤¹ -¸÷¤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 **´¶ÁÛ [#qa03f859] ¥Ç¥£¥Õ¥¡¥ì¥ó¥·¥ã¥ë¥®¥¢¤Ë¤Ä¤¤¤ÆÍý²ò¤ò¿¼¤á¤ë¤³¤È¤¬½ÐÍ褿¡£ &br;º¸±¦¤Î¥®¥¢Èæ¤òÊѤ¨¤¿¤³¤È¤Çº¸±¦¤Î²óž¥¹¥Ô¡¼¥É¤¬°Û¤Ê¤Ã¤Æ¤¤¤¿¤ê¡¢Æ±¿´±ß¾õ¤Ç»þ·×&br;²ó¤ê¤ÈÈ¿»þ·×²ó¤ê¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¥×¥í¥°¥é¥à¤Ç½¤Àµ¤·¤Æ¤¤¤¯²áÄø¤¬¶ìÏ«¤·¤¿¡£ **¥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