[[2012b/Member]] #contents * ¥á¥ó¥Ð¡¼ [#m268be8b] Konbu¡¦¡¦¡¦¡¦Á¡°Ý³ØÉôµ¡³£¥í¥Ü¥Ã¥È³Ø·Ï¡¡¥í¥Üºî¤ê½é¿´¼Ô¡£ ARomeo¡¦¡¦¡¦Íý³ØÉô±þÍÑÀ¸Êª³Ø²Ê¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¼ÒĹ¡£ *²ÝÂê [#iaa20874] ¡¦¿Þ¤Î¤è¤¦¤Ê¥³¡¼¥¹¤ò³Æ¼«¤ÇºîÀ®¤·¤¿¾å¤Ç¡¢¼¡¤Î¤è¤¦¤ÊÆ°ºî¤ò¤¹¤ë¥í¥Ü¥Ã¥È¤òºîÀ®¤»¤è¡£ ¡¦1¿ÍÌÜ i.¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é½Ðȯ¤·¡¢¥¹¥¿¡¼¥ÈÃÏÅÀ³°¤Î¤¹¤°¶á¤¯¤ËÃÖ¤«¤ì¤¿¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à¡£ ii.¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤ó¤À¤é®¤ä¤«¤Ë¥¹¥¿¡¼¥ÈÃÏÅÀ¤Î¶³¦¤Î¹õÀþ¤ËÌá¤ê¡¢¤½¤³¤«¤é¹õÀþ¤Ë±è¤Ã¤ÆÆ°¤¤¤Æ¥´¡¼¥ëÃÏÅÀ¤òÌܻؤ¹¡£¤¿¤À¤·T»úÏ©¤Ç¤Ï¡¢Ä¾¿Ê¡¢±¦ÀÞ¡¢º¸ÀÞ¤òÀµ¤·¤¯È½ÃǤµ¤»¤ë¤³¤È¡£¤Þ¤¿¡¢¶ÊÀþÉôÃæ±û¤Î¾ã³²Êª¤ËÀÜ¿¨¤·¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤³¤È¡£ iii.¥´¡¼¥ëÃÏÅÀ¤ËÅþ㤷¤¿¤é¡¢¥´¡¼¥ë¥¨¥ê¥¢³°¤«¤é¥Ô¥ó¥Ý¥ó¶Ì¤ò¥´¡¼¥ë¤Ë¥·¥å¡¼¥È¤¹¤ë¡£ ¤¿¤À¤·¡¢¤É¤¦¤·¤Æ¤â¥¨¥ê¥¢³°¤«¤é¤Î¥·¥å¡¼¥È¤¬Æñ¤·¤¤¾ì¹ç¤Ï¡¢¥¨¥ê¥¢Æ⤫¤é¥·¥å¡¼¥È¤·¤¿¸å¡¢¥¨¥ê¥¢¤«¤é½Ð¤Æ¤â¤è¤¤¡£ ¡¦2¿ÍÌÜ i.¾å¤ÎÆ°ºî¤Ç¥¹¥¿¡¼¥È¤È¥´¡¼¥ë¤òµÕ¤Ë¤·¤ÆƱÍͤÎÆ°¤¤ò¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤»¤è¡£¥í¥Ü¥Ã¥ÈËÜÂΤ϶¦Ä̤Τâ¤Î¤ò»È¤¦¤È¤¹¤ë¡£¡¡ #ref(2012b-mission1.png) *¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#kd97b0ad] ¡¦ÀâÌÀ ¹â¤µ¤ÈŤµ¤¬ÌÜΩ¤Ä¹½Â¤¤Ç¡¢¥Ø¥é¥¯¥ì¥¹¥ª¥ª¥«¥Ö¥È¤Ë»÷¤¿·Á¤Ë¤Ê¤ê¤Þ¤·¤¿¡£ ¥¢¡¼¥àÉôʬ¤ò¡¢¥Ü¡¼¥ë¤ò¼è¤ëÆ°ºî¤È½³¤ëÆ°ºî¤ò¤Ê¤ë¤Ù¤¯´Êά¤¹¤ë¤¿¤á¤Î¹½Â¤¤È¤·¤Þ¤·¤¿¡£ #ref(201212172028000.jpg) ¡¦¼Ì¿¿¤Î¿¿¤óÃæ¤Î²«¿§¤Î¥¢¡¼¥àÉôʬ¤Ç¥Ü¡¼¥ë¤òª¤¨¡¢º¸¤Î¹õ¤Î¥¢¡¼¥à¤Ç¥Ü¡¼¥ë¤¬²£¤«¤éž¤¬¤ë¤Î¤òÍÞ¤¨¤Æ¤¤¤Þ¤¹¡£ ±¦¤Î¥¢¡¼¥à¤Ï¥¢¡¼¥àÁ´ÂΤò»ý¤Á¾å¤²¤ë¤Î¤ÈƱ»þ¤Ë¥Ü¡¼¥ë¤¬È¯¼Í¤¹¤ë¤¿¤á¤Î¥¢¡¼¥à¡£ #ref(201212171955000.jpg) ¡¦¤³¤Î¤è¤¦¤Ë»°¤Ä¤Î¥¢¡¼¥à¤«¤éÀ®¤êΩ¤Äµ¡¹½¤Ç¤¢¤ê¡¢¥â¡¼¥¿¡¼B¤ò¾å¤²¤ëÆ°ºî¤È²¼¤²¤ëÆ°ºî¤ÎÆó¤Ä¤À¤±¤Ç¥Ü¡¼¥ë¤ÎÊá³Í¤È¥¥Ã¥¯¤¬¤Ç¤¤Þ¤¹¡£ #ref(201212172037000.jpg) *¥×¥í¥°¥é¥à [#c26f0cb0] **Àïά¡¡1 [#t6e8ee4f] ¸òº¹ÅÀ¤ò¶Ê¤¬¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¹õ¤¤Àþ¤òª¤¨¤ë¤Èľ¿Ê¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¤¬¡¢ ¤·¤«¤·¤½¤ì¤Ç¤ÏÆó¸ÄÌܤθòº¹ÅÀ¤ò±Û¤¨¤é¤ì¤Ê¤¤¤Î¤Ç¡¢¥¿¥¤¥Þ¡¼¤Ç»þ´Ö¤ò·×¬¤·¥×¥í¥°¥é¥à ¤òÀÚ¤êÂؤ¨¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£ Â礤¯Ê¬¤±¤Æ»Í¤Ä¤Î¥×¥í¥°¥é¥à¤«¤éÀ®¤êΩ¤Ã¤Æ¤ò¤ê¡¢ ¤Ê¤ë¤Ù¤¯»þ´Ö¤Î¸íº¹¤¬¾¯¤Ê¤¯¤¹¤ë¤¿¤á¤Ë¥×¥í¥°¥é¥à¤ÎÀÚ¤êÂؤ¨¾ì½ê¤òÁý¤ä¤·¤Þ¤·¤¿¡£ #define BLACK 35¡¡//¤·¤¤¤ÃÍ #define u_turn OnRev(OUT_A); OnFwd(OUT_C); ¡¡//¥â¡¼¥¿¡¼A¤ò¸åÂà¡¢C¤òÁ°¿Ê #define go_forward OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡// Á°¿Ê #define turn_left OnRev(OUT_A); OnFwd(OUT_C); ¡¡¡¡// ¥â¡¼¥¿¡¼A¤ò¸åÂà¡¢C¤òÁ°¿Ê #define turn_right OnFwd(OUT_A); OnRev(OUT_C); ¡¡// ¥â¡¼¥¿¡¼A¤òÁ°¿Ê¡¢C¤ò¸åÂà #define n_turn OnFwd(OUT_A); OnRev(OUT_C);¡¡¡¡¡¡// ¥â¡¼¥¿¡¼A¤òÁ°¿Ê¡¢C¤ò¸åÂà #define STEP 1¡¡ task main() { SetSensor(SENSOR_3, SENSOR_LIGHT); ClearTimer(3); OnFwd(OUT_B);¡¡¡¡¡¡//¡¡¡¡¡¡¡½êÄêÃϤ«¤é¥Ü¡¼¥ë¤ò¼è¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡£ Wait(20); OnFwd(OUT_AC); Wait(90); Off(OUT_B); Off(OUT_AC); Wait(70); OnFwd(OUT_AC); Wait(30); ClearTimer(3); while (FastTimer(3) <=100){¡¡¡¡¡¡// ¢¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¸å¡¢¹õ¤¤Àþ¤ËÌá¤ë¤¿¤á¤Î if (SENSOR_3 <= BLACK){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¥×¥í¥°¥é¥à¡£ Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ Wait(50); } else if(SENSOR_3 > BLACK && FastTimer(3) <=40){ OnFwd(OUT_AC); Wait(5); } else if(SENSOR_3 > BLACK && FastTimer(3) >40){ OnRev(OUT_AC); Wait(5); } } ClearTimer(3); while (FastTimer(3) <=650){¡¡¡¡¡¡// £ if (SENSOR_3 <= BLACK){ go_forward; Wait(10); ¡¡ turn_right; Wait(10); ClearTimer(0); }else if(FastTimer(0) >=100){ u_turn; ¡¡ ClearTimer(0); }else if(FastTimer(0) >40){ turn_right; }else if(SENSOR_3 > BLACK){ turn_left; } } Off(OUT_AC); Wait(5); u_turn; Wait(40); ClearTimer(3); while (FastTimer(3) <=100){ if (SENSOR_3 <= BLACK){ Off(OUT_AC); Wait(50); } else if(SENSOR_3 > BLACK){ u_turn; Wait(10); } } Off(OUT_AC); Wait(10); ClearTimer(3); while (FastTimer(3) <=2400){¡¡¡¡¡¡// ¤ if (SENSOR_3 < BLACK ){ go_forward; ClearTimer(1); ClearTimer(0); }else if(SENSOR_3 > BLACK && FastTimer(1) >=60){ n_turn }else if(SENSOR_3 > BLACK && FastTimer(0) >=20){ turn_left; }else if(SENSOR_3 > BLACK ){ turn_right; } } Off(OUT_AC); Wait(5); ClearTimer(3); while (FastTimer(3) <=1000){¡¡¡¡// ¥ if (SENSOR_3 < BLACK ){ go_forward; ClearTimer(1); ClearTimer(0); }else if( FastTimer(1) >=10){ u_turn; }else if( FastTimer(0) >=70){ turn_right; }else if(SENSOR_3 > BLACK ){ turn_left; } } Off(OUT_AC); Wait(5); ClearTimer(3); while (FastTimer(3) <= 800){¡¡¡¡// ¦ if (SENSOR_3 < BLACK){ go_forward; Wait(10); ClearTimer(0); }else if(SENSOR_3 > BLACK && FastTimer(0) >=40){ n_turn; }else if(SENSOR_3 > BLACK && FastTimer(0) >=10){ turn_left; }else if(SENSOR_3 > BLACK){ turn_right; } } Off(OUT_AC);¡¡¡¡// § Wait(100); OnRev(OUT_AC); Wait(60); Off(OUT_AC); turn_left; Wait(40); OnFwd(OUT_B); Wait(20); Off(OUT_B); Off(OUT_AC); } **Àïά¡¡2 [#g89a2a7d] ¤³¤³¤Ç¤Ï¾åµ¤Î¡¤«¤é§¤Î¥×¥í¥°¥é¥à¤ÎÀâÌÀ¤ò¤·¤¿¤¤¤È»×¤¤¤Þ¤¹¡£ #ref(̵Âê.png) ¤Þ¤º¤³¤Î¥×¥í¥°¥é¥à¤Ï¾å¤Î¿Þ¤Ç¤¤¤¦±¦¤«¤é¤Î¥¹¥¿¡¼¥ÈÀìÍÑ¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£ÀÖ¤¤´Ý¤Ï¤½¤ÎÃÏÅÀ¤Î¶á¤¯¤Ç¥×¥í¥°¥é¥à¤¬ÀÚ¤êÂؤï¤ë¤³¤È¤òɽ¤·¤Æ¤¤¤Þ¤¹¡£¤Ç¤Ï¡¤«¤é(o¡¦¡¦o)/ ¡ ¡¡SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡ ¡¡ClearTimer(3);¡¡//¥¿¥¤¥Þ¡¼3¤ò¥¼¥í¤Ë¥ê¥»¥Ã¥È ¡¡OnFwd(OUT_B);¡¡ //¥â¡¼¥¿¡¼B¤òÁ°¿Ê¡Ê¥¢¡¼¥à¾å¾º¡Ë ¡¡Wait(20);¡¡¡¡¡¡ ¡¡OnFwd(OUT_AC);¡¡¡¡//Á°¿Ê ¡¡ Wait(90); ¡¡Off(OUT_B);¡¡¡¡¡¡//¥â¡¼¥¿¡¼B¤ò¸åÂà¡Ê¥¢¡¼¥à²¼¹ß¡Ë ¡¡Off(OUT_AC); ¡¡Wait(70); ¡¡OnFwd(OUT_AC);¡¡//Á°¿Ê ¡¡Wait(30); ¡¡¡¡ClearTimer(3);¡¡ ¤´Í÷¤ÎÄ̤ꥷ¥ó¥×¥ë¤Ê¥×¥í¥°¥é¥à¤Ç¥â¡¼¥¿B¤òOnFwd¤¹¤ë¤³¤È¤Ë¤è¤ê¥¢¡¼¥à¤ò»ý¤Á¾å¤²¡¢ ¿Ê¤ß¡¢Off¤Ë¤¹¤ë¤³¤È¤Ë¤è¤ê¥¢¡¼¥à¤¬¼«Á³¤ÈÍî¤Á¤ë¤Î¤Ç¥Ü¡¼¥ë¤òÄϤá¤ë½ê¤Þ¤Ç¹Ô¤¯¤È¥¢¡¼ ¥à¤¬²¼¤²¤ë¤È¤¤¤¦ºîÀï¤Ç¤¹¡£ ¢¡¡ while (FastTimer(3) <=100){ if (SENSOR_3 <= BLACK){ Off(OUT_AC);¡¡¡¡//¥â¡¼¥¿¡¼AB¤òÄä»ß Wait(50); } else if(SENSOR_3 > BLACK && FastTimer(3) <=40){¡¡//¤·¤¤¤Ãͤè¤ê¹â¤¤¤« OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡0.4É俤俤éÁ°¿Ê Wait(5); } else if(SENSOR_3 > BLACK && FastTimer(3) >40){¡¡//¤·¤¤¤Ãͤè¤ê¹â¤¤¤« OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡0.4Éðʾå¤Ç¸åÂà¡¡ Wait(5);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ } } ¤³¤Î¥×¥í¥°¥é¥à¤Ï¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¤¢¤È¸÷¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ¹¤ë¤ÈÁ°¿Ê¤·¡¢¤½¤ì¤Ç¤â¥ì¥¤ ¥ë¤ò´¶ÃΤǤ¤Ê¤±¤ì¤Ð¥Ð¥Ã¥¯¤¹¤ë¥×¥í¥°¥é¥à¡£¥í¥Ü¤ÎºÇ½é¤Î°ÌÃ֤ϸÇÄꤷ¤Þ¤·¤¿¤¬¡¢¥Ü¡¼ ¥ë¤ò¼è¤Ã¤¿¤¢¤ÈÇò¤ò´¶ÃΤ¹¤ë¤È¡¢¤¦¤Þ¤¯Æ°¤¤¤Æ¤¯¤ì¤Ê¤«¤Ã¤¿¤Î¤Ç¤³¤Î¤è¤¦¤Ë½¤Àµ¤¬¼«Æ°¤Ç ¤Ç¤¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£ £ while (FastTimer(3) <=650){¡¡//6.5ÉôÖ³¤±¤ë if (SENSOR_3 <= BLACK){¡¡//¤·¤¤¤Ãͤè¤ê¾®¤µ¤±¤ì¤Ð0.1ÉÃÁ°¿Ê¤·¤¿¸å go_forward;¡¡¡¡¡¡¡¡¡¡¡¡£°.£±Éñ¦ÀÞ¤¹¤ë¡£ Wait(10);¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡ turn_right; Wait(10); ClearTimer(0); }else if(FastTimer(0) >=100){¡¡¡¡//º¸ÀÞ¤¬£±Éðʾå¤Çuturn u_turn; ¡¡ ClearTimer(0); }else if(FastTimer(0) >40){¡¡¡¡//º¸ÀÞ¤¬0.4Éðʾå¤Ç±¦ÀÞ turn_right; }else if(SENSOR_3 > BLACK){ //¤·¤¤¤Ãͤè¤ê¤âÂ礤±¤ì¤Ðº¸ÀÞ turn_left; 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