[[2014b/Member]]
#contents
*²ÝÂêÆâÍÆ [#p4a4f87f]
¡¡º£²ó¤Ï»æ¥³¥Ã¥×¤ËÆþ¤Ã¤Æ¤¤¤ë2¤Ä¤Î¥Ü¡¼¥ë¤òÆþ¤ì´¹¤¨¤ë¥í¥Ü¥Ã¥È¤ÎÀ½ºî¤ò¤·¤¿¡£ºÙ¤«¤¤¥ë¡¼¥ë¤Ê¤É¤Ï²¼¤ÎURL¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£
http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMission3
*¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#z6c3cbb2]
¥í¥Ü¥Ã¥È¤Ï¼¡¤ÎÉôÉʤÇÀ®¤êΩ¤Ã¤Æ¤¤¤ë¡£
-´ðÁÃŪ¤ÊÁö¹ÔÉôʬ
-»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¥¯¥ï¥¬¥¿¤Î¤è¤¦¤Ê·Á¤Î¥¢¡¼¥àÉôʬ
-¤Ä¤«¤ó¤À»æ¥³¥Ã¥×¤ò»ý¤Á¾å¤²¤ëÏÓ¤ÎÉôʬ
-¥Ü¡¼¥ë¤òÊÝ»ý¤¹¤ë¥ì¡¼¥ë¤ÎÉôʬ
¡¡¤½¤Î¾¤Ë¤Ï¸÷¥»¥ó¥µ¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤¬¤Ä¤¤¤Æ¤¤¤ë¡£¤·¤«¤·¥×¥í¥°¥é¥à¤È»þ´Ö¤Î·ó¤Í¹ç¤¤¤¬¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¤Î¤ÇξÊý¤È¤â̤»ÈÍѤǤ¢¤ë¡£
¡¡¤³¤Î¥í¥Ü¥Ã¥È¤Ï¥Ü¡¼¥ë¤ÎÆþ¤Ã¤¿»æ¥³¥Ã¥×¤ò¤Ä¤«¤ß¡¢¾å¤Î¥ì¡¼¥ë¤ËÃù¢¤¹¤ë¡£¤½¤·¤Æ¥¢¡¼¥à¤ÈµÕ¦¤«¤é¥Ü¡¼¥ë¤òÍî¤È¤·Â¾¤Î»æ¥³¥Ã¥×¤Ë°ÜÆ°¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤À¡£¥ì¡¼¥ë¤Ë¤Ï·¹¼Ð¤ò¤Ä¤±¥Ü¡¼¥ë¤¬ºÇ¸å¤Þ¤Çž¤¬¤ë¤è¤¦¤Ë¤·¤¿¡£¤³¤Î·¹¼Ð¤â³ÑÅÙ¤ò¤Ä¤±¤¹¤®¤ë¤È¥¢¡¼¥à¤¬¥ì¡¼¥ë¤Þ¤ÇÆϤ«¤º¡¢³ÑÅÙ¤¬´Ë¤ä¤«¤À¤È¥Ü¡¼¥ë¤¬Å¾¤¬¤é¤Ê¤¤¤Î¤ÇÄ´À°¤Ë¶ìÏ«¤·¤¿¡£¤Þ¤¿¡¢¥Ü¡¼¥ë¤Ï¿¿¾å¤«¤éÍî¤È¤µ¤Ê¤¤¤È»æ¥³¥Ã¥×¤¬Åݤì¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¿¿¾å¤«¤éÍî¤È¤»¤ë¤è¤¦¤Ë¥ì¡¼¥ë¤Î¸å¤í¤Ë¤ÏÊɤò¤Ä¤±¥Ü¡¼¥ë¤Îž¤¬¤ëÀª¤¤¤ò¤Ê¤¯¤·¤¿¡£
&ref(./image4.JPG,50%);&ref(./image1.JPG,50%);
¡¡ËÜÍè¥Ü¡¼¥ë¤Ï²¼¤Îº¸¤Î¼Ì¿¿¤Î¤è¤¦¤Ë¥ì¡¼¥ë¤Ë4¸ÄÃù¢¤·2¸Ä¤Å¤Ä»æ¥³¥Ã¥×¤ËÍî¤È¤·¤¿¤¤¤Î¤À¤¬¡¢¥Ü¡¼¥ë¤òÍî¤È¤¹ºÝ4¸ÄÁ´ÉôÍî¤Á¤Æ¤·¤Þ¤¦¤È¤¤¤¦ÌäÂ꤬ȯÀ¸¤·¤¿¡£¤½¤³¤Ç¥ì¡¼¥ë¤Î´Ö¤Ë¥Ü¡¼¥ë¤¬Á´¤ÆÍî¤Á¤ë¤Î¤òËɤ°¥¹¥È¥Ã¥Ñ¡¼¤òÆþ¤ì¤¿¤È¤³¤íÌäÂê¤Ï²ò·è¤Ç¤¤¿¡Ê²¼¤Î±¦¤Î¼Ì¿¿¡Ë¡£¤³¤Î¥¹¥È¥Ã¥Ñ¡¼¤Ï¥®¥¢¤ÈÏ¢·ë¤·¤Æ¤¢¤ê¾å²¼±¿Æ°¤ò¤¹¤ë¡£¥Ü¡¼¥ë¤òÍî¤È¤¹Éôʬ¤È¤³¤Î¥¹¥È¥Ã¥Ñ¡¼¤ÏµÕ¤ËÆ°¤¯¤Î¤Ç¡¢¥Ü¡¼¥ë¤òÍî¤È¤¹Éôʬ¤¬³«¤¯¤È¤¤Ë¥¹¥È¥Ã¥Ñ¡¼¤Ï¾å¤¬¤ê¡¢µÕ¤Ë¥Ü¡¼¥ë¤òÍî¤È¤¹Éôʬ¤¬ÊĤޤë»þ¤Ï¥¹¥È¥Ã¥Ñ¡¼¤Ï²¼¤¬¤ë¤Î¤Ç¤¢¤ë¡£
&ref(./image2.JPG,50%);&ref(./image3.JPG,50%);
*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#l6aeae28]
¡¡ËÜÍè¤ÎºîÀï¤Ï
+±¦Â¦¤«¤é¥¹¥¿¡¼¥È
+¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¸òº¹ÅÀ¤ò¼±ÊÌ
+¤½¤³¤«¤éÀû²ó¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤ÇÀĤ¤¥Ü¡¼¥ë¤¬Æþ¤Ã¤¿»æ¥³¥Ã¥×¤ò³Îǧ
+ÀĤ¤¥Ü¡¼¥ë¤ò²ó¼ý
+ÀÖ¤¤¥Ü¡¼¥ë¤ò¼è¤ê¤Ë¹Ô¤¯
¤Ç¤¢¤Ã¤¿¤¬¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤òÄ㤤°ÌÃ֤ˤĤ±¤Æ¤·¤Þ¤Ã¤¿¤¿¤áÀµ¾ï¤ËÆ°ºî¤»¤º¡¢¥í¥Ü¥Ã¥È¤òºî¤êľ¤¹»þ´ÖŪ;͵¤¬¤Ê¤«¤Ã¤¿¤¿¤áºîÀï¤òÊѹ¹¤·¤¿¡£
¡¡¿·¤·¤¤ºîÀï¤Ï¥í¥Ü¥Ã¥È¤Ï²¼¤Î¿Þ¤Î¤è¤¦¤Ê·ÐÏ©¤ÇÆ°¤¯¤è¤¦¤Ë¤·¤¿¡£Ä¶²»ÇÈ¥»¥ó¥µ¡¢¸÷¥»¥ó¥µ¤ò»È¤ï¤º¤Ëľ¿Ê¡¢¥µ¡¼¥Ü¥â¡¼¥¿¤Îµ¡Ç½¤òÍѤ¤¤Æ¤¢¤ë³ÑÅÙ¤À¤±Àû²ó¤Ê¤É¤Î¥×¥í¥°¥é¥à¤òÍѤ¤¤¿¤¿¤á¡¢¿Í´Ö¤Î¼ê¤Ë¤è¤ë°ÌÃÖÄ´À°¤¬É¬ÍפˤʤäƤ·¤Þ¤Ã¤¿¡£¤½¤ì¤òƧ¤Þ¤¨¤¿¿·¤·¤¤ºîÀï¤Ï°Ê²¼¤ÎÄ̤ê¤À¡£
+ľ¿Ê¤·ÀÖ¤¤¥Ü¡¼¥ë¤ò²ó¼ý¡Ê¡¤Î·ÐÏ©¡Ë
+¤¢¤ë³ÑÅÙ¤À¤±Àû²ó¤·ÀĤ¤¥Ü¡¼¥ë¤ò²ó¼ý¡Ê¢¤Î·ÐÏ©¡Ë
+²ó¼ý¤·¤Æ¶õ¤Ë¤Ê¤Ã¤¿»æ¥³¥Ã¥×¤ËÀÖ¤¤¥Ü¡¼¥ë¤òÆþ¤ì¤ë
+¤Þ¤¿¤¢¤ë³ÑÅÙ¤À¤±Àû²ó¤·ÀÖ¤¤¥Ü¡¼¥ë¤¬Æþ¤Ã¤Æ¤¤¤¿»æ¥³¥Ã¥×¤Î¤â¤È¤Ø¸þ¤«¤¦¡Ê£¤Î·ÐÏ©¡Ë
+»æ¥³¥Ã¥×¤ËÀĤ¤¥Ü¡¼¥ë¤òÆþ¤ì¤ë
+½ªÎ»
¡¡
#ref(./miti.png,50%)
¡¡¥Þ¥¹¥¿¡¼¤È¥¹¥ì¡¼¥Ö¤Ë¤è¤ëÄÌ¿®µ¡Ç½¤òÍѤ¤¤¿¡£¤½¤ì¤¾¤ì¤Î»Å»ö¤Ï°Ê²¼¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£
-¥Þ¥¹¥¿¡¼Â¦
--´ðËÜÁö¹Ô
--¥ì¡¼¥ë¤«¤é¥Ü¡¼¥ë¤òÍî¤È¤¹
-¥¹¥ì¡¼¥Ö¦
--»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¥¢¡¼¥à¤Î³«ÊÄ
--¤Ä¤«¤ó¤À¤â¤Î¤ò¥ì¡¼¥ë¤Þ¤ÇÆϤ±¤ëÏӤξ岼±¿Æ°
¡¡°Ê²¼¤Ï¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
#define CONN 1
#define SIGNALON 1
#define OPEN_SPEED 15
#define OPEN OnFwd(OUT_A,OPEN_SPEED);Wait(800);Off(OUT_A);
#define CLOSE OnRev(OUT_A,OPEN_SPEED);Wait(1300);Off(OUT_A);
#define SPEED_H 70
#define SPEED_L 50
const float diameter = 5.6; //¥¿¥¤¥ä¤Îľ·Â¡ÊÑ¡Ë
const float track = 10.5; //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý¡ÊÑ¡Ë
const float pi = 3.1415; //±ß¼þΨ
float GetAngle_turn(float a) //µá¤á¤ëËÜÂΤβóž³Ñ¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô
{
float ang = (a*track)/diameter;
return ang;
}
float GetAngle_go(float a) //µá¤á¤ë°ÜÆ°µ÷Î¥¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô
{
float ang = a/(diameter*pi)*360.0;
return ang;
}
sub angle_turn_L(float t) //º¸¤ËtÅÙ²óž
{
int angle_turn_L = GetAngle_turn(t);
RotateMotorEx(OUT_BC,SPEED_H,angle_turn_L,-100,true,true);//P37
Off(OUT_BC);
}
sub angle_turn_R(float t) //±¦¤ËtÅÙ²óž
{
int angle_turn_R = GetAngle_turn(t);
RotateMotorEx(OUT_BC,SPEED_H,angle_turn_R,100,true,true);//P37
Off(OUT_BC);
}
sub dist_go_F(float t) //Á°¤Ët¥»¥ó¥Á¿Ê¤à
{
int angle_go_F = GetAngle_go(t);
RotateMotorEx(OUT_BC,SPEED_H,angle_go_F,0,true,true);
Off(OUT_BC);
}
sub dist_go_R(float t) //¸å¤í¤Ët¥»¥ó¥Á¿Ê¤à
{
int angle_go_R = GetAngle_go(t);
RotateMotorEx(OUT_BC,-SPEED_H,angle_go_R,0,true,true);
Off(OUT_BC);
}
task main()
{
dist_go_F(57.0);
//¥³¥Ã¥×¤ò¼è¤ë¥Ü¡¼¥ëÅëºÜ¤Î¿®¹æ¤òÁ÷¤ë
SendRemoteNumber(CONN, MAILBOX1, SIGNALON);
Wait(9000);
angle_turn_R(150.0);
dist_go_F(40.0);
//¥³¥Ã¥×¤ò¼è¤ë¥Ü¡¼¥ëÅëºÜ¤Î¿®¹æ¤òÁ÷¤ë
SendRemoteNumber(CONN, MAILBOX1, SIGNALON);
Wait(9000);
//ȿž¤·¤Æ
dist_go_R(5.0);
angle_turn_R(190.0);
dist_go_R(20.0);
//¥Ü¡¼¥ë¤òÃÖ¤¯
OPEN;
Wait(1000);
CLOSE;
dist_go_F(50.0);
//ȿž¤·¤Æ
dist_go_R(20.0);
angle_turn_R(220.0);
//¥³¥Ã¥×¤Þ¤Ç¶á¤Å¤¯
dist_go_R(33.0);
//¥Ü¡¼¥ë¤òÃÖ¤¯¿®¹æ¤òÁ÷¤ë
OPEN;
Wait(1000);
CLOSE;
//Î¥¤ì¤ë
dist_go_F(20.0);
}
°Ê²¼¤Ï¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£
#define SIGNALON 1
#define ARM_TIME1 1000¡¡ //¥¢¡¼¥à¤Î³«ÊÄ»þ´Ö£±
#define ARM_TIME2 2000 //¥¢¡¼¥à¤Î³«ÊÄ»þ´Ö£²
#define ARM_SPEED1 10 //¥¢¡¼¥à¤Î³«ÊÄ¥¹¥Ô¡¼¥É£±
#define ARM_SPEED2 50 //¥¢¡¼¥à¤Î³«ÊÄ¥¹¥Ô¡¼¥É£²
#define UP_TIME 2000 //¥¢¡¼¥à¤ò¾å¤²¤ë»þ´Ö
#define UP_SPEED 50 //¥¢¡¼¥à¤ò¾å¤²¤ë¥¹¥Ô¡¼¥É
#define DOWN_TIME 1800 //¥¢¡¼¥à¤ò²¼¤²¤ë»þ´Ö
#define DOWN_SPEED 20 //¥¢¡¼¥à¤ò²¼¤²¤ë¥¹¥Ô¡¼¥É
task main()
{
int msg; //¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô
while(true){
ReceiveRemoteNumber(MAILBOX1, true, msg); //MAILBOX1¤ÎÃͤò¼õ¤±¼è¤êmsg¤Ë³ÊǼ
if(msg==SIGNALON){
OnFwd(OUT_C,DOWN_SPEED);Wait(DOWN_TIME);Off(OUT_C); //¥¢¡¼¥à¤ò²¼¤²¤ë
OnRev(OUT_B,ARM_SPEED2);Wait(ARM_TIME2);Off(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë
OnRev(OUT_C,UP_SPEED);OnRev(OUT_B,ARM_SPEED2);Wait(UP_TIME);Off(OUT_C);Off(OUT_B); //¥¢¡¼¥à¤ò¾å¤²¤ë
OnFwd(OUT_C,DOWN_SPEED);Wait(DOWN_TIME);Off(OUT_C); //¥¢¡¼¥à¤ò²¼¤²¤ë
OnFwd(OUT_B,ARM_SPEED1);Wait(ARM_TIME1);Off(OUT_B); //¥¢¡¼¥à¤ò³«¤¯
ARM_UP2 OnRev(OUT_C,UP_SPEED);Wait(450);Off(OUT_C); //¥¢¡¼¥à¤òÄê°ÌÃÖ¤ËÌ᤹
}else{
Off(OUT_BC);
}
}
}
*È¿¾Ê¤È¹Í»¡ [#lada5737]
-»þ´Ö¤®¤ê¤®¤ê¤Ë¤Ê¤Ã¤Æ¥×¥í¥°¥é¥à¤¬´°À®¤·¤¿¤¿¤á¼ÂºÝ¤ËÁö¤Ã¤¿»þ¤ÎĶ²»ÇÈ¥»¥ó¥µ¤¬»È¤¨¤Ê¤¤¤È¤¤¤¦ÉÔ¶ñ¹ç¤Ëµ¤¤Å¤¯¤Î¤¬ÃÙ¤¯¤Ê¤Ã¤¿¡£¤½¤Î·ë²Ì¥í¥Ü¥Ã¥È¤Ï¤¤¤¸¤ì¤Ê¤¤¤Î¤Ç½Â¡¹ºîÀï¤òÊѹ¹¤¹¤ë¤³¤È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤·¤Æ¿Í´Ö¤Î¼ê¤Ç°ÌÃÖÄ´À°¤ò¤¹¤ë¤È¤¤¤¦ÀºÅ٤त¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£
-¿·¤·¤¤ºîÀï¤Ç¤Ï»ÈÍѤ·¤Ê¤¤¥»¥ó¥µ¤òÅëºÜ¤·¤Æ¤¤¤¿¤Î¤Ç¡¢¤³¤ÎÅÀ¤Ç¤Ï̵Â̤¬¤¢¤Ã¤¿¤È»×¤¦¡£¤Þ¤¿¡¢¤³¤Î¥í¥Ü¤ÏÅö½é¤ÎºîÀï¤Ç¤Ï¥¢¡¼¥à¤Ï¾å¤¬¤Ã¤Æ¤ª¤ê¡¢µ÷Î¥¤ò¬¤Ã¤Æ¥¢¡¼¥à¤ò²¼¤¹¤È¤¤¤¦¤â¤Î¤Ç¤¢¤Ã¤¿¡£¤·¤«¤·¡¢ºîÀï¤òÊѤ¨¤¿¤È¤¤Ï¥¢¡¼¥à¤ò²¼¤·¤Æ¤¤¤¿¤Û¤¦¤¬³Î¼Â¤Ë»æ¥³¥Ã¥×¤ò¤Ä¤«¤ß¤Ë¹Ô¤¯¤³¤È¤¬¤Ç¤¤¿¤Ï¤º¤À¡£¾Ç¤Ã¤Æ¤¤¤Æ»ëÌ¶¹¤¯¤Ê¤Ã¤Æ¤¤¤¿¤«¤â¤·¤ì¤Ê¤¤¤¬À®¸ùΨ¤ò¤¢¤²¤ë¤¿¤áÁ᤯µ¤¤Å¤½¤Àµ¤·¤¿¤«¤Ã¤¿¡£
-¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤Ï¥µ¡¼¥Ü¥â¡¼¥¿¤Îµ¡Ç½¤ò»ÈÍѤ·¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¤³¤ì¤â¿Í´Ö¤Î¼ê¤Ë¤è¤ëÈùÄ´À°¤¬É¬ÍפˤʤäƤ·¤Þ¤Ã¤¿¡£¤Þ¤¿¡¢¤½¤Î¤¿¤áÅÅÃӤθº¾¯¤Ë±Æ¶Á¤ò¼õ¤±¤Æ¤·¤Þ¤Ã¤¿¡£»þ´Ö¤Ë;͵¤ò¤â¤Ã¤ÆŬÀÚ¤Ê¥×¥í¥°¥é¥à¤òÁȤߤ¿¤«¤Ã¤¿¡£
-¥í¥Ü¥Ã¥È¤Ï¤½¤ì¤¾¤ì¤ÎÉôʬ¤¬¼è¤ê³°¤·²Äǽ¤Ç¼ýǼ¤Ë¤Ïº¤¤é¤Ê¤¤¤è¤¦¤Ë¤Ç¤¤¿¡£¤Þ¤¿¡¢¤½¤ì¤¾¤ì¤Îµ¡¹½¤â¹©Éפ·¤Æ¤¤¤¤¤â¤Î¤¬¤Ç¤¤¿¤È»×¤¦¡£¤·¤«¤·»æ¥³¥Ã¥×¤ò¥ì¡¼¥ë¤Þ¤Ç±¿¤ÖºÝ¤ÎÏӤʤɤϼ´¤¬1¤Ä¤À¤±¤Ç»Ù¤¨¤é¤ì¤Æ¤¤¤ë¾õÂÖ¤À¤Ã¤¿¡£¤½¤Î·ë²Ì¥¬¥¿¤Ä¤¯¤³¤È¤Ë¤Ê¤Ã¤Æ¤¤¤¿¤Î¤Ç¥¬¥Ã¥Ä¥ê¸ÇÄê¤Ç¤¤ë¤è¤¦¤Ë¤·¤¿¤«¤Ã¤¿¡£