[[2014a/Member]]

*º£²ó¤Î²ÝÂê [#s226aa99]
¿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¡£ ¥³¡¼¥¹¤Î¾ÜºÙ¤Ë¤Ä¤¤¤Æ¤Ï¼ø¶ÈÃæÀâÌÀ¤¹¤ë¡Ê²¼¤Î¿Þ¤Ë¤ª¤¤¤Æ¡¢¹õ¤¤Àþ¤ÎÂÀ¤µ¤Ï20mm¤Ç¡¢Àþ¤ÎÃæ±û¤Þ¤Ç¤Îµ÷Î¥¤¬cmɽ¼¨¤µ¤ì¤Æ¤¤¤ë¡Ë¡£

¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é½Ðȯ¤·¡¢¹õ¤¤Àþ¤Ë¤½¤Ã¤ÆÆ°¤¯¡£
°ì¤ÄÌܤν½»ú¤Î¸òº¹ÅÀ¤ÈÆó¤Ä¤á¤Î½½»ú¤Î¸òº¹ÅÀ¤Î´Ö¤ËÃÖ¤«¤ì¤¿¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à¡£
¤µ¤é¤Ë¹õÀþ¤Ë±è¤Ã¤ÆÆ°¤¤¤Æ¥´¡¼¥ëÃÏÅÀ¤òÌܻؤ¹¡£
¥´¡¼¥ë¤Ë¸þ¤±¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È¤¹¤ë¡£
¤¿¤À¤·T»úÏ©¤Ç¤Ï¡¢Ä¾¿Ê¡¢±¦ÀÞ¡¢º¸ÀÞ¤òÀµ¤·¤¯È½ÃǤµ¤»¤ë¤³¤È¡£¤Þ¤¿Æó¿Í°ìÁȤÇƱ¤¸¥í¥Ü¥Ã¥È¤ò»ÈÍѤ·¡¢¸ß¤¤¤Ë¥¹¥¿¡¼¥ÈÃÏÅÀ¤È¥´¡¼¥ëÃÏÅÀ¤òÆþ¤ìÂؤ¨¤ë¤³¤È¡£¥í¥Ü¥Ã¥ÈËÜÂΤ϶¦Ä̤Τâ¤Î¤ò»È¤¦¤È¤¹¤ë¡£

¤µ¤é¤Ë°Ê²¼¤Î¤è¤¦¤ÊÆ°ºî¤ËÄ©À魯¤ë¤³¤È¤¬Ë¾¤Þ¤·¤¤¡£

¥´¡¼¥ë¥¨¥ê¥¢³°¤«¤é¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È¤¹¤ë¡£
¶ÊÀþÉôÃæ±û¤Î¾ã³²Êª¤ËÀÜ¿¨¤·¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤³¤È¡£
²ÝÂê1¤Î¥³¡¼¥¹
&ref(http://yakushi.shinshu-u.ac.jp/robotics/?plugin=attach&refer=2014a%2FMission1&openfile=2014a-mission1.png);

*¥í¥Ü¥Ã¥È²òÀâ [#gdd343b7]
&ref(IMG_0141.JPG);²ÝÂꥳ¡¼¥¹¤Î¥«¡¼¥Ö¤ÎȾ·Â¤¬¾®¤µ¤¤¤Î¤Ç½ÐÍè¤ë¤À¤±¼ÖÂΤò¾®¤µ¤¯¤·¤Þ¤·¤¿¡£¼ÖÉý¤¬¾®¤µ¤¯¤Ê¤Ã¤Æµ¡Æ°À­¤¬¾å¤¬¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£

&ref(IMG_0142.JPG);¸÷¥»¥ó¥µ¤òÃÏÌ̤ËÂФ·¤Æ¿âľ¤Ë¥¿¥¤¥ä¤Î¶á¤¯¤ËÀßÃÖ¤·¤Þ¤·¤¿¡£¤³¤ì¤Ë¤è¤ê¹õÀþ¤Îǧ¼±¤¬¤è¤êÀµ³Î¤Ë¤Ê¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£

&ref(IMG_0143.JPG);¤³¤ì¤Ï¥¢¡¼¥à¤ò¾å¤²¤¿¾õÂ֤Ǥ¹¡£¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤òÀѤ߾夲¤ë¤³¤È¤Ç¼ÖÂΤò¥³¥ó¥Ñ¥¯¥È¤Ë¼ý¤á¡¢¥¢¡¼¥à¤¬µå¤ËÀÜ¿¨¤·¤Æ¤·¤Þ¤¦¤Î¤òËɤ°¤è¤¦¤Ë¤·¤Æ¤¤¤Þ¤¹¡£

&ref(IMG_0144.JPG);¤³¤ì¤Ï¥¢¡¼¥à¤ò²¼¤·¤¿¾õÂ֤Ǥ¹¡£¥¢¡¼¥à¤Ïµå¤ò¤Ä¤«¤à¤Î¤Ç¤Ï¤Ê¤¯¡¢¥³¤Î»ú¤È¼ÖÂΤǵå¤ò°Ï¤à¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£¤³¤Î¥¢¡¼¥à¤Ç¿¾¯¤Îµå¤È¤Î°ÌÃ֤Υº¥ì¤âµöÍƤµ¤ì¤Þ¤¹¡£

*¥×¥í¥°¥é¥à²òÀâ [#x0709217]

 #define Line 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤ÈÇò¤Î¶­³¦ÃÍ
 #define Max 10¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//¹õ¤Îǧ¼±¡Êº¸Àû²ó¡Ë¤òϢ³¤Ç¹Ô¤¨¤ëºÇÂçÃÍ
 #define speed 30¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡//°ÜÆ°¤ËÍѤ¤¤ë¥â¡¼¥¿¡¼¤Î¥¹¥Ô¡¼¥É
 #define step 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë´Ö³Ö»þ´Ö¡Ê0.001ÉáË
 #define time 190¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤ò²£ÃǤ¹¤ë»þ´Ö

 sub go_fwd()
 { OnFwd(OUT_AC,speed); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê

 sub turn_left()
 { OnFwd(OUT_A,speed);OnRev(OUT_C,speed); }¡¡//º¸Àû²ó

 sub turn_right()
 { OnRev(OUT_A,speed);OnFwd(OUT_C,speed); }¡¡//±¦Àû²ó

 sub short_break()
 { Off(OUT_AC);Wait(700); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì»þÄä»ß

 sub cross()
 { OnFwd(OUT_AC,speed);Wait(time); }¡¡¡¡¡¡¡¡ //¹õÀþ¤ò²£ÃÇ

 task main()
 {
 SetSensorLight(S1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥»¥ó¥µ£±¤Ë¸÷¥»¥ó¥µ¤òÀßÃÖ
 int nOnline=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¤¬¹õÀþ¤ËÈ¿±þ¤·¤¿²ó¿ô¤ò£°¤ËÄêµÁ
 int nCrossline=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤Ë²£ÃǤ·¤¿²ó¿ô¤ò£°¤ËÄêµÁ

 go_fwd();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤Ë¤Ê¤ë¤Þ¤ÇÁ°¿Ê
 until(SENSOR_1 <= Line);

 short_break();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì»þÄä»ß¤·¤Æ¤«¤é¹õÀþ¤ò²£ÃǤ·¤Æ°ì»þÄä»ß

 cross();

 short_break();

 while(nCrossline < 4){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//£³²ó¹õÀþ¤ò²£ÃǤ¹¤ë´Ö¤Ï²¼µ­¤ò·«¤êÊÖ¤¹
 while(nOnline < Max){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //­¡¹õ¤Îǧ¼±¤¬ºÇÂçÃͤè¤ê¾®¤µ¤¤´Ö¤Ï²¼µ­¤ò·«¤êÊÖ¤¹
 if(SENSOR_1 < Line-15){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥»¥ó¥µ¡ã¶­³¦ÃÍ-15¤Çº¸Àû²ó¡¦¹õ¤Îǧ¼±¤¬£±²óÁý¤¨¤ë
 turn_left();nOnline++;
 }else{
 if(SENSOR_1 < Line-7){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¶­³¦ÃÍ-15<¥»¥ó¥µ<¶­³¦ÃÍ-7¤Çº¸Àû²ó
 turn_left();
 }else if(SENSOR_1 < Line+7){¡¡¡¡¡¡¡¡¡¡¡¡//¶­³¦ÃÍ-7<¥»¥ó¥µ<¶­³¦ÃÍ+7¤ÇÁ°¿Ê
 go_fwd();
 }else{
 turn_right();}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤½¤ì°Ê³°¡Ê¶­³¦ÃÍ+7<¥»¥ó¥µ¡Ë¤Ç±¦Àû²ó
 nOnline=0; }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤Îǧ¼±¤ò¥ê¥»¥Ã¥È
 Wait(step); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //­¡¤ò0.001Éäδֳ֤ǹԤ¦
 cross();¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤Îǧ¼±¤¬ºÇÂçÃͰʾå¤Ë¤Ê¤Ã¤¿¤é¹õÀþ¤ò²£ÃÇ
 short_break();
 nOnline=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õ¤Îǧ¼±¤ò¥ê¥»¥Ã¥È
 nCrossline++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¹õÀþ¤ò²£ÃǤ·¤¿²ó¿ô¤ò£±²óÁý¤ä¤¹
 if(nCrossline < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²£ÃDzó¿ô¤¬£²²ó¤è¤ê¾®¤µ¤¤¡Ê£±²ó¡Ë»þ¢­
 OnFwd(OUT_AC,speed);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾¯¤·Á°¿Ê¤·±¦Àû²ó¤·¤Æ¤«¤é°ì»þÄä»ß
 Wait(200);
 turn_right();
 Wait(180);
 short_break();
 OnFwd(OUT_B,28);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ð¡¼¤ò²¼¤í¤¹
 Wait(680);
 Off(OUT_B); }
 }
 OnRev(OUT_B,28);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²£ÃÇ£´²óÌܤˤʤë»þ¥Ð¡¼¤ò¾å¤²¤ÆÁ´Ää»ß
 Wait(680);
 Off(OUT_ABC);
 }

*´¶ÁÛ [#eb84fb1a]
º£²ó¤Î²ÝÂê¤Ç¤Ï¼ÖÂΤòºî¤ë¤³¤È¤è¤ê¤â¥×¥í¥°¥é¥à¤ò¥¼¥í¤«¤éºî¤ë¤Û¤¦¤¬ÂçÊѤǤ·¤¿¡£º£¤Þ¤Ç½¬¤Ã¤¿¥×¥í¥°¥é¥à¤Ç¡¢Ç¡²¿¤Ë¤·¤Æ¼«Ê¬¤ÎÁÛÁü¤·¤¿Æ°ºî¤òɽ¤¹¤«¤¬Æñ¤·¤«¤Ã¤¿¤Ç¤¹¡£Æä˥С¼¤Î¾å¤²²¼¤²¤Î¥¿¥¤¥ß¥ó¥°¤Ë¿¤¯»þ´Ö¤òÈñ¤ä¤·¤Þ¤·¤¿¡£¤É¤³¤Ëµå¤¬¤¢¤Ã¤Æ¤É¤³¤Ç½ª¤ï¤ê¤Ê¤Î¤«¡¢¤Îɽ¸½¤ò»Ï¤á¤Ï»þ´Ö¤òÍѤ¤¤Æ¤ä¤í¤¦¤È¤·¤Þ¤·¤¿¡£¤·¤«¤·¤³¤ÎÊýË¡¤Ç¤Ï¥Ð¥Ã¥Æ¥ê¡¼¤ä¾²¤Î´Ä¶­¼¡Âè¤ÇÀßÄꤷľ¤µ¤Ê¤±¤ì¤Ð¤Ê¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£¤½¤Î¤¿¤á²£ÃDzó¿ô¤Î¥«¥¦¥ó¥È¤Èif¤òÍѤ¤¤Æ¥¿¥¤¥ß¥ó¥°¤ò·è¤á¤Þ¤·¤¿¡£½ÐÍ褿¤éĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤Ã¤¿¥×¥í¥°¥é¥ß¥ó¥°¤ËÄ©À路¤¿¤¤¤È»×¤¤¤Þ¤¹¡£

¥È¥Ã¥×   ÊÔ½¸ º¹Ê¬ ÍúÎò źÉÕ Ê£À½ ̾Á°Êѹ¹ ¥ê¥í¡¼¥É   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS