#contents

*²ÝÂêÆâÍÆ [#hfc72d64]
¡¡»æ¥³¥Ã¥×¤ËÆþ¤Ã¤Æ¤¤¤ëÀ֥ܡ¼¥ë2¸Ä¤ÈÀĥܡ¼¥ë2¸Ä¤òÆþ¤ìÂؤ¨¤ë
#ref(robotics-2014b-3.png)
**¹¶Î¬¤Ë¤¢¤¿¤Ã¤Æ [#s8c3b294]
#ref(¼ê½ç.png)
¡¡»ä¤¿¤Á¤Î¥°¥ë¡¼¥×¤Ç¤Ï¶õ¤­¥³¥Ã¥×¤Ï»ÈÍѤ»¤º¡¢°ìÅÙÁ´¤Æ¤Î¥Ü¡¼¥ë¤òËÜÂΤËÊÝ»ý¤·¤Æ¤«¤é¤½¤Î¤Þ¤Þ¥Ü¡¼¥ë¤òÆþ¤ìÂؤ¨¤ë¤È¤¤¤¦ºîÀï¤òΩ¤Æ¤¿¡£¤½¤Î¥ë¡¼¥È¤Ï¾å¤ÎÄ̤ê¤Ç¤¢¤ë¡£~
¡¡­¡¤Þ¤ºÀµÌ̤Υ³¥Ã¥×¤Þ¤Çľ¿Ê¤¹¤ë¡£~
¡¡­¢À֥ܡ¼¥ë¤òÊÝ»ý¤·¡¢¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÊѤ¨ÂгѤΥ³¥Ã¥×¤Þ¤Ç¿Ê¤à¡£~
¡¡­£Àĥܡ¼¥ë¤òÊÝ»ý¤·¡¢¥í¥Ü¥Ã¥È¤òȿž¤µ¤»¤ë¡£~
¡¡­¤À֥ܡ¼¥ë¤ò¶õ¤¤¤¿¥³¥Ã¥×¤ËÆþ¤ì¡¢ÂгѤΥ³¥Ã¥×¤ËÌá¤ë¡£~
¡¡­¥¶õ¤¤¤¿¥³¥Ã¥×¤ËÀĥܡ¼¥ë¤òÆþ¤ì¤ë¡¢½ªÎ»¡£~
¡¡¤Ê¤ª¡¢¥í¥Ü¥Ã¥È¤Î¸þ¤­¤òÊѤ¨¤ë¤Î¤Ï¥í¥Ü¥Ã¥ÈÁ°Ì̤¬¥³¥Ã¥×¤òÄϤàÆ°ºî¡¢ÇØÌ̤¬¥Ü¡¼¥ë¤ò¥³¥Ã¥×¤ËÆþ¤ì¤ëÆ°ºî¤òô¤Ã¤Æ¤¤¤ë¤¿¤á¤Ç¤¢¤ë¡£
*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#mfba6bf3]
#ref(¥í¥Ü¥Ã¥È1.jpg)
#ref(¥í¥Ü¥Ã¥È2.jpg)
#ref(¥í¥Ü¥Ã¥È3.jpg)
#ref(¥í¥Ü¥Ã¥È4.jpg)
#ref(¥í¥Ü¥Ã¥È5.jpg)
¡¡ËÜÂÎÁ°Ì̤˥³¥Ã¥×¤òÄϤߤ½¤Î¤Þ¤Þ»ý¤Á¾å¤²¤ë¤¿¤á¤Î¥¢¡¼¥à¤¬¡¢¾åÉô¤«¤éÇØÌ̤ˤ«¤±¤Æ¥Ü¡¼¥ë¤ò³ÊǼ¤¹¤ë¥³¥ó¥Æ¥Ê·ó¥Ü¡¼¥ë¤òή¤¹¥ì¡¼¥ë¤¬ÅëºÜ¤µ¤ì¤Æ¤¤¤ë¤Î¤¬ÆÃħ¤Ç¤¢¤ë¡£~
¡¡ËÜÂÎÁ°Ì̤˥³¥Ã¥×¤òÄϤߤ½¤Î¤Þ¤Þ»ý¤Á¾å¤²¤ë¤¿¤á¤Î¥¢¡¼¥à¤¬¡¢¾åÉô¤«¤éÇØÌ̤ˤ«¤±¤Æ¥Ü¡¼¥ë¤ò³ÊǼ¤¹¤ë¥³¥ó¥Æ¥Ê·ó¥Ü¡¼¥ë¤òή¤¹¥ì¡¼¥ë¤¬ÅëºÜ¤µ¤ì¤Æ¤¤¤ë¤Î¤¬ÆÃħ¤Ç¤¢¤ë¡£¥³¥Ã¥×¤ò¹â¤¤°ÌÃ֤ޤǾ夲¤ëɬÍפ¬¤¢¤ë¤¿¤á¡¢¥¢¡¼¥à¤ÏŤá¤ËÀ߷פ·¤¿¡£~
¡¡°Ê²¼¤Ë¼«Ê¬¤¬ºîÀ®¤·¤¿Éô°Ì¤òÃæ¿´¤ËºÙ¤«¤¯²òÀ⤹¤ë¡£
**ÅÚÂæÉôʬ [#ma0d487b]
¡¡NXT¤Î´ðËÜ·Á¤ò¤â¤È¤Ë¤·¤Æ¤¤¤ë¡£¥³¥ó¥Ô¥å¡¼¥¿Éô¤òÆó¤ÄÊÂÎó¤Ëʤ١¢¥¢¡¼¥à¤ä¥ì¡¼¥ëÉô¡¢³Æ¼ï¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¤ë¤¿¤á¤Î²þÎɤò»Ü¤·¤¿¡£
**¥³¥ó¥Æ¥Ê·ó¥ì¡¼¥ëÉô [#g1a1ac22]
¡¡¥ì¡¼¥ë¤ÎŤµ¤Ï¥Ü¡¼¥ë¤¬¤Á¤ç¤¦¤É4¤Ä¼ý¤Þ¤ëŤµ¤Ë¤·¤Æ¤¤¤ë¡£¥ì¡¼¥ë¤ÎÀèü¤Ë¤Ï¥¹¥È¥Ã¥Ñ¡¼¡Ê°Ê²¼¥¹¥È¥Ã¥Ñ¡¼1¤È¤¹¤ë¡Ë¤¬¤¢¤ê¡¢¤³¤Î³«ÊĤˤè¤Ã¤Æ¥Ü¡¼¥ë¤òÆþ¤ì¤ëÆ°ºî¤ò¼Â¸½¤·¤Æ¤¤¤ë¡£¤·¤«¤·¤³¤ì¤À¤±¤Ç¤Ï°ìÅÙ¤Ë4¤ÄÁ´¤Æ¤Î¥Ü¡¼¥ë¤¬Íî¤Á¤Æ¤·¤Þ¤¦¤¿¤á¡¢2¤Ä¤º¤Ä¤Ëʬ¤±¤ë¤¿¤á¤ÎÃæ´Ö¤Î¥¹¥È¥Ã¥Ñ¡¼¡Ê°Ê²¼¥¹¥È¥Ã¥Ñ¡¼2¡Ë¤òÀߤ±¤¿¡£
#ref(¥¹¥È¥Ã¥Ñ¡¼.jpg)
#ref(¥¹¥È¥Ã¥Ñ¡¼.gif)
#ref(¥Ü¡¼¥ëÅê²¼.gif)
¡¡Ê£¿ô¤Î¥®¥¢¤òÁȤ߹ç¤ï¤»¤ë¤³¤È¤Ç¡¢°ì¤Ä¤Î¥â¡¼¥¿¡¼¤ÇÆó¤Ä¤ÎÆ°¤­¤òƱ»þ¤ËϢư¤µ¤»¤Æ¤¤¤ë¡£~
¡¡¤³¤ì¤Ë¤è¤Ã¤Æ¥â¡¼¥¿¡¼Åù¤Î¥Ñ¡¼¥Ä¤Îºï¸º¤ä½ÅÎÌÉé²Ù¤ÎÄ㸺¤À¤±¤Ç¤Ê¤¯¡¢Ê£¿ô¤ÎÆ°ºî¤ò¸íº¹¤Ê¤¯Ï¢Æ°¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¤È¤¤¤Ã¤¿¥á¥ê¥Ã¥È¤¬ÆÀ¤é¤ì¤ë¡£~
~
¡¡¤Þ¤¿¡¢Â礭¤¯Ä¥¤ê½Ð¤·¤Æ¤¤¤ëÉôʬ¤¬¤¢¤ë¤¬¡¢¤³¤ì¤Ï¥Ü¡¼¥ë¤¬Á°Êý¤ËÈô¤Ó½Ð¤µ¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ç¤¢¤ë¡£
**¥³¥Ã¥×¤òͶƳ¤¹¤ë¥¬¥¤¥É¥Ñ¡¼¥Ä [#u1ee9eb6]
#ref(¥¬¥¤¥É¥Ñ¡¼¥Ä.png)
¡¡¥×¥í¥°¥é¥à¤Ë¤è¤ëÄ´À°¤À¤±¤Ç¥³¥Ã¥×¤òºÇŬ¤Ê°ÌÃ֤˹ç¤ï¤»¤ë¤Î¤ÏÆñ¤·¤¤¡£¤½¤ÎÌäÂê¤ò¾å¤Î¤è¤¦¤ÊÀ𷿤˹­¤¬¤Ã¤¿¥¬¥¤¥É¥Ñ¡¼¥Ä¤òÀߤ±¤ë¤³¤È¤Ç²ò·è¤·¤¿¡£¤³¤Î¥Ñ¡¼¥Ä¤Ë¤è¤Ã¤Æº¸±¦¤Î¥º¥ì¤òÊäÀµ¤·¡¢¤¢¤È¤ÏËÜÍè¤è¤ê¤âŤá¤ËÁ°¿Ê¤¹¤ë¤À¤±¤Ç¤Ç¥³¥Ã¥×¤òºÇŬ¤Ê°ÌÃ֤˹ç¤ï¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¡£
*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#hf73a76c]
¡¡º£²ó¤Î²ÝÂê¤Ç¤ÏNXT¤òÆó¤ÄÏ¢·È¤µ¤»¤ëɬÍפ¬¤¢¤ê¡¢¤½¤ì¤¾¤ì¤ËÌò³ä¤¬Ê¬Ã´¤µ¤ì¤Æ¤¤¤ë¡£Áê¸ß¤ÎÌ¿Îá¤Î¤ä¤ê¤È¤ê¤ÏMAILBOX¤Ë¤è¤Ã¤Æ¹Ô¤ï¤ì¤Æ¤¤¤ë¡£~
¡¡¥Þ¥¹¥¿¡¼Â¦¤Ç°ÜÆ°ÍѤÎÆó¤Ä¤Î¥â¡¼¥¿¡¼¤È¥¹¥È¥Ã¥Ñ¡¼¤Î³«ÊÄ¡¢¤½¤·¤Æ¥¹¥ì¡¼¥Ö¦¤Ç¥¢¡¼¥à¤Î£²´ØÀáʬ¤òÀ©¸æ¤·¤¿¡£~
~
¡¡¤Ê¤ª¡¢¼«Ê¬¤Ï¥×¥í¥°¥é¥à¤Ë¤Ï¤¢¤Þ¤ê´Ø¤ï¤é¤Ê¤«¤Ã¤¿¤Î¤Ç¾Ü¤·¤¯¤Ï¾¤Î¥á¥ó¥Ð¡¼¤Î¥Ú¡¼¥¸¤ò»²¹Í¤Ë¤·¤Æ¤Û¤·¤¤¡£
**¥¹¥ì¡¼¥Ö¦ [#jef2e8b0]
 #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);
  }
 }
 }
¡¡Æó¤Ä¤Î¥â¡¼¥¿¡¼¤Ë¤è¤Ã¤Æ¤½¤ì¤¾¤ì¥³¥Ã¥×¤òÄϤàÆ°ºî¤È¥¢¡¼¥à¼«ÂΤò»ý¤Á¾å¤²¤ëÆ°ºî¤òÀ©¸æ¤·¤Æ¤¤¤ë¡£
**¥Þ¥¹¥¿¡¼Â¦ [#m2be86f1]
 #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);
 }
¡¡ËÜÍè¤ÏĶ²»ÇÈ¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æ¼«Æ°Åª¤Ë¥³¥Ã¥×¤Î°ÌÃÖ¤òÊä­¤¹¤ëͽÄê¤À¤Ã¤¿¤¬¡¢Ä¾Á°¤Ë¥»¥ó¥µ¡¼¤¬¤¦¤Þ¤¯È¿±þ¤·¤Ê¤¤¤³¤È¤Ëµ¤¤Å¤­¡¢µÞî±Êѹ¹¤È¤Ê¤Ã¤¿¡£~
¡¡Êѹ¹¸å¤Î¥×¥í¥°¥é¥à¤Ï»öÁ°¤Ë¥í¥Ü¥Ã¥È¤Î¿Ê¤àµ÷Î¥¤ÈÀû²ó¤¹¤ë³ÑÅÙ¤ò»ØÄꤷ¤Æ¤ª¤­¡¢²ÝÂê¤ò¼Â¹Ô¤¹¤ë¤È¤­¤Ë¥³¥Ã¥×¤ÈºÇ½é¤Î¥í¥Ü¥Ã¥È¤Î°ÌÃÖ¤òÄ´À°¤¹¤ë¤È¤¤¤¦¤â¤Î¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£~
¡¡¤Ê¤ª¡¢OPEN¤ÈCLOSE¤¬¥¹¥È¥Ã¥Ñ¡¼¤Î³«ÊĤòÀ©¸æ¤¹¤ëÌ¿Îá¤Ç¤¢¤ë¡£
*´¶ÁÛ¡¦È¿¾Ê [#t47fea05]
¡¡º£²ó¤Î²ÝÂê¤Ç¤Ï¼«Ê¬¤Ï¼ç¤Ë¥í¥Ü¥Ã¥ÈËÜÂΤÎÀ߷פòôÅö¤·¤¿¡£¤½¤ÎÃæ¤Ç¤â¥¹¥È¥Ã¥Ñ¡¼¤ò´Þ¤à¥ì¡¼¥ëÉô¤Ï¼«Ê¬¤Ç¤âËþ­¤Î¤¤¤¯»Å¾å¤¬¤ê¤Ë¤Ê¤Ã¤¿¤È»×¤¦¡£ËÜÈ֤Ǥϴ°Á´¤Ë¤Ç¤Ï¤Ê¤«¤Ã¤¿¤¬¼«Ê¬¤¬¤Ä¤¯¤Ã¤¿µ¡¹½¤ò³§¤ÎÁ°¤Ç¸«¤»¤ë¤³¤È¤¬¤Ç¤­¤¿¤Î¤Ï¤è¤«¤Ã¤¿¡£¤·¤«¤·È¿¾ÊÅÀ¤È¤·¤Æ¥»¥ó¥µ¡¼¤¬¼è¤êÉÕ¤±Êý¤¬Îɤ¯¤Ê¤«¤Ã¤¿¤Î¤«¡¢¤¦¤Þ¤¯È¿±þ¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤¬¿´»Ä¤ê¤Ç¤¢¤ë¡£¤³¤³¤µ¤¨²þÁ±¤Ç¤­¤Æ¤¤¤¿¤é²ÝÂê¤ò´°àú¤Ë¤³¤Ê¤»¤Æ¤¤¤¿¤«¤â¤·¤ì¤Ê¤¤¡£¤³¤ì¤Ë´Ø¤·¤Æ¤Ï¥á¥ó¥Ð¡¼Æ±»Î¤Ç½¸¤Þ¤ë»þ´Ö¤ò¤â¤Ã¤È¿¤¯¤È¤ì¤Ð¤è¤«¤Ã¤¿¡£~
¡¡¤Þ¤¿¡¢º£²ó¤Ïº£¤Þ¤Ç¤È°ã¤Ã¤Æ¥á¥ó¥Ð¡¼¤È¶¨ÎϤ¹¤ë³èÆ°¤¬Áý¤¨¤¿¡£Ê£¿ô¿Í¤Çºî¶È¤ò¹Ô¤¦¤³¤È¤Ç¤ª¸ß¤¤¤Ë°ã¤Ã¤¿È¯ÁÛ¤ò¸ò¤ï¤¹¤³¤È¤¬¤Ç¤­¤¿¤·¡¢³Ú¤·¤¯ºî¶È¤ò¿Ê¤á¤ë¤³¤È¤¬¤Ç¤­¤¿¡£

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