[[2016a/Member]] #contents *¤Ï¤¸¤á¤Ë [#w8c85221] ²ÝÂê¤Ï»÷´é³¨¤òÉÁ¤¯¥í¥Ü¥Ã¥È¤Ç¤¢¤ë¡£ Ãí°ÕÅÀ¤Ï ¡¦¥Þ¥¯¥í¤ä´Ø¿ô¡¢¥µ¥Ö¥ë¡¼¥Á¥ó¤Ê¤É¤ò»È¤¤¡¢main´Ø¿ô¤¬¤Ê¤ë¤Ù¤¯Ã±½ã¤Ë¤Ê¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤òºî¤ë¡£ ¡¦Äê¿ô̾¤ä¥Þ¥¯¥í¤Ê¤É¤Ïʬ¤«¤ê¤ä¤¹¤¤Ì¾Á°¤òÍѤ¤¤ë¡£ ¡¦Í¾Íµ¤ò¤â¤Ã¤ÆA4¤Î»æ¤ÎÃæ¤Ë¼ý¤Þ¤ëÂ礤µ¤Ë¤¹¤ë¡£¤¤¤¯¤é¾®¤µ¤¯¤Æ¤â¤è¤¤¡£ ¡¦¥Ú¥ó°Ê³°¤Ï¥¥Ã¥È¤ÎÉôÉʤò»È¤¦¡£ ¡¦ÎØ¥´¥à¤ÏÀÚ¤ì¤ä¤¹¤¯¹â²Á¤Ê¤Î¤Ç¿µ½Å¤Ë°·¤¤¡¢Ä¥ÎϤ¬¤«¤«¤ê¤¹¤®¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¡£ ¤³¤ì¤é¤ËÃí°Õ¤ò¤·¡¢º£²ó¤Ï¼«Ê¬¤Î»÷´é³¨¤òÉÁ¤¤¤¿¡£([[2016ǯÅÙÁ°´ü ²ÝÂê1:http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMission1]]°úÍÑ) *¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#gd87beb3] **¥í¥Ü¥Ã¥È¤Î¹½Â¤ [#u3bcc79c] 2¤Ä¤Î¥Ñ¡¼¥Ä¤ò»È¤¤¥Ú¥ó¤ò¶´¤ß¡¢ÎØ¥´¥à¤Ç¸ÇÄꤷ¤Æ¡¢¥¢¡¼¥à¤Ë¼è¤êÉÕ¤±¤Þ¤·¤¿¡£(¼Ì¿¿(A)) (A) #ref(robo1.jpg) (B) #ref(robo2.jpg) ¥¢¡¼¥à¤Ë¼è¤êÉÕ¤±¤¿ºÝ¡¢²¼¤Î¤ß¤·¤«¸ÇÄê¤Ç¤¤Ê¤«¤Ã¤¿¤¿¤á¡¢¾åÉôʬ¤Ë¤Æ¤°¤é¤Ä¤¤¬µ¯¤³¤Ã¤Æ¤¤¤Þ¤·¤¿¡£ ¤Ê¤Î¤Ç¡¢¥Ú¥ó¤ò¶´¤ó¤Ç¤¤¤ë¥Ñ¡¼¥Ä¤ËºÙ¤¤ËÀ¤ÈÎؤ䫤ò¼è¤êÉÕ¤±¡¢ËÜÂΤˤĤ±¤¿ÂÀ¤¤ËÀ¤Ç»Ù¤¨¤ë¤³¤È¤Ë¤è¤Ã¤Æ¤°¤é¤Ä¤¤òÍÞ¤¨¤Þ¤·¤¿¡£(¼Ì¿¿(B)¤Î¡) ¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤ò²óž¤µ¤»¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡¢ÉÁ¤¯»þ¤Ï¥Ú¥ó¤ò²¼¤ËÆ°¤«¤·¡¢°ÜÆ°¤¹¤ë»þ¤Ï¥Ú¥ó¤ò¾å¤ËÆ°¤«¤¹¤³¤È¤¬É¬ÍפǤ¢¤Ã¤¿¤¿¤á¡¢¸ÇÄê¤Ï¤·¤Þ¤»¤ó¤Ç¤·¤¿¡£ ¡Éôʬ¡¢¢Éôʬ(¥¢¡¼¥à¤ÈËÜÂΤò¤Ä¤Ê¤¤¤Ç¤¤¤ëÉôʬ)¤È¤â¤Ë¡¢¤°¤é¤Ä¤¤òÍÞ¤¨¤ë¤³¤È¤À¤±¤Ë½¸Ã椷¤Þ¤Ã¤¿¤¿¤á¡¢¥Ñ¡¼¥Ä¤¬Â¿¤¯¤Ê¤ê½ÅÎ̤¬½Å¤¯¤Ê¤Ã¤¿¤ê(½Å¤¯¤Ê¤ë¤³¤È¤ÇÆ°¤¤¬Æߤ¯¤Ê¤ë)¡¢ º¸±¦ÂоΤǤʤ¤¤¿¤á¸«¤¿Ìܤ¬°¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£ ¤ª¤½¤é¤¯Í¾Ê¬¤Ê¥Ñ¡¼¥Ä¤â¤¢¤Ã¤¿¤Î¤Ç¡¢¤â¤Ã¤È¹©Éפò»Ü¤»¤Ð¾¯¤Ê¤¤¥Ñ¡¼¥Ä¤Ç¤¤ì¤¤¤Ê·Á¤Ë½ÐÍ褿¤È»×¤¤¤Þ¤¹¡£ *»÷´é³¨¤Î¥×¥í¥°¥é¥à [#r581f746] ²¼¤Î¤è¤¦¤Ê»÷´é³¨¤òÉÁ¤³¤¦¤È»×¤¤¤Þ¤·¤¿¡£½ñ¤¤ä¤¹¤µ¤ò½Å»ë¤·¤¿¤Î¤Ç¤¢¤Þ¤ê»÷¤Æ¤ª¤ê¤Þ¤»¤ó¡£ #ref(nigaoe1.png) **ÄêµÁ [#ee44dcf3] #define PEN_DOWN RotateMotor(OUT_A,25,30); // ¥Ú¥ó¤ò²¼¤²¤ë #define PEN_UP RotateMotor(OUT_A,-25,30); // ¥Ú¥ó¤ò¾å¤²¤ë #define GO_FORWARD(s) OnFwd(OUT_BC,25);Wait(s);Off(OUT_BC); // (s/1000)ÉÃÁ°¿Ê #define GO_BACK(u) OnRev(OUT_BC,25);Wait(u);Off(OUT_BC); // (u/1000)Éøå¿Ê #define TURN_LEFT45 OnFwd(OUT_B,50);Wait(570);Off(OUT_B); // 45¡ëº¸²óž #define TURN_LEFT OnFwd(OUT_B,50);Wait(1140);Off(OUT_B); // ±¦¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ëº¸²óž #define TURN_LEFT2 OnRev(OUT_C,50);Wait(1140);Off(OUT_C); // º¸¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ëº¸²óž #define TURN_RIGHT OnFwd(OUT_C,50);Wait(1140);Off(OUT_C); // º¸¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ë±¦²óž #define TURN_RIGHT2 OnRev(OUT_B,50);Wait(1140);Off(OUT_B); // ±¦¥¿¥¤¥ä¤òÆ°¤«¤·¤Æ90¡ë±¦²óž **´é¤ÎÎØ³Ô¥×¥í¥°¥é¥à [#f7dd8c53] #ref(nigaoe2.png) task main () { PEN_DOWN GO¡¡_FORWARD(800) // Îسԡ PEN_UP GO_FORWARD(1920) TURN_LEFT45 GO_BACK(2650) PEN_DOWN GO_FORWARD(480) // ÎسԢ PEN_UP GO_FORWARD(1750) TURN_LEFT45 GO_BACK(2560) PEN_DOWN GO_FORWARD(320) // Îسԣ PEN_UP GO_FORWARD(1520) TURN_LEFT45 GO_BACK(2320) PEN_DOWN GO_FORWARD(480) // ÎسԤ PEN_UP GO_FORWARD(1840) TURN_LEFT45 GO_BACK(2320) PEN_DOWN GO_FORWARD(800) // Îسԥ **´ã¶À¡¦É¡¡¦¸ý¥×¥í¥°¥é¥à [#wdc43964] #ref(nigaoe3.png) ***´ã¶À¥×¥í¥°¥é¥à [#eb5f874a] PEN_UP GO_FORWARD(2560) TURN_LEFT2 GO_BACK(1280) PEN_DOWN GO_FORWARD(960) // ´ã¶À¦ PEN_UP GO_FORWARD(320) TURN_RIGHT GO_BACK(160) TURN_LEFT2 GO_BACK(640) PEN_DOWN GO_BACK(240) // ´ã¶À§-üñ(ÎÐ) PEN_UP GO_BACK(160) PEN_DOWN GO_BACK(240) // ´ã¶À§-üò(ÎÐ) PEN_UP GO_FORWARD(3200) TURN_LEFT2 GO_BACK(1360) PEN_DOWN GO_BACK(160) // ´ã¶À¨-üñ(ÀÄ) PEN_UP GO_FORWARD(1520) TURN_RIGHT GO_FORWARD(240) TURN_LEFT2 GO_BACK(1360) PEN_DOWN GO_BACK(160) // ´ã¶À¨-üò(ÀÄ) PEN_UP GO_FORWARD(1520) TURN_RIGHT GO_FORWARD(160) TURN_LEFT2 GO_BACK(1360) PEN_DOWN GO_BACK(160) // ´ã¶À¨-üó(ÀÄ) PEN_UP GO_FORWARD(1520) TURN_RIGHT GO_FORWARD(240) TURN_LEFT2 GO_BACK(1360) PEN_DOWN GO_BACK(160) // ´ã¶À¨-üô(ÀÄ) ***É¡¥×¥í¥°¥é¥à [#z3063d84] PEN_UP TURN_LEFT GO_FORWARD(320) TURN_RIGHT2 GO_BACK(80) PEN_DOWN GO_FORWARD(320) // É¡© PEN_UP GO_FORWARD(1600) TURN_LEFT GO_BACK(3360) PEN_DOWN GO_BACK(80) // É¡ª ***¸ý¥×¥í¥°¥é¥à [#kb5fb584] PEN_UP GO_FORWARD(3440) TURN_RIGHT2 GO_FORWARD(320) TURN_LEFT GO_BACK(3200) PEN_DOWN GO_BACK(320) // ¸ý« } **¥×¥í¥°¥é¥à¹Í»¡ [#a9a69e81] Ãí°ÕÅÀ¤Ëα°Õ¤·¥×¥í¥°¥é¥à¤òÁȤó¤Ç¤ß¤Þ¤·¤¿¡£ ÄêµÁ¤òÍѤ¤¤¿¤Î¤Ç¡¢ÍѤ¤¤Ê¤¤¾ì¹ç¤è¤ê¤Ï¥·¥ó¥×¥ë¤Ë½ÐÍ褿¤È»×¤¤¤Þ¤¹¡£ ¤¿¤À¡¢¥Þ¥¯¥í¤ä¡Örepeat¡×¤ò»È¤¦¤³¤È¤Ë¤è¤Ã¤Æ¤è¤ê¥·¥ó¥×¥ë¤Ë½ÐÍè¤ë¤È»×¤¦¤Î¤Ç¡¢¼¡¤Î²ÝÂê¤Ç¤Ï¤³¤ì¤é¤â¾å¼ê¤¯»È¤Ã¤Æ¤¤¤¤¿¤¤¡£ *»÷´é³¨ [#bc2ce2de] **ÉÁ¤¤¤¿»÷´é³¨ [#zf54cad7] ²¼¤Î²èÁü¤¬¼ÂºÝ¤ËÉÁ¤«¤ì¤¿»÷´é³¨¤Ç¤¹¡£ #ref(nigaoe4.jpg) **»÷´é³¨¹Í»¡ [#ac519d86] ÎسԤÎÀþ¤Î´Ö¤¬¹¤¯¶õ¤¤¤Æ¤·¤Þ¤¤¡¢´ã¶À¤Î¾å¤ÎÀþ¤ÎŤµ¤¬Â¤ê¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£ ¤Þ¤¿¡¢90¡ë¤è¤êÂ礤ʳÑÅÙ¡¢¤¢¤ë¤¤¤Ï90¡ë̤Ëþ¤Î²óž¤Ë¤Ê¤Ã¤Æ¤¤¤Æ¡¢¿âľ¤ÊÀþ¤¬½ñ¤±¤Þ¤»¤ó¤Ç¤·¤¿¡£ ÊÑ¿ô¤ä²óž»þ´Ö¤Ê¤É¤â¤¦¾¯¤·ÈùÄ´À°¤ò²Ã¤¨¤ëɬÍפ¬¤¢¤Ã¤¿¤È»×¤¤¤Þ¤·¤¿¡£ ¤µ¤é¤Ë¡¢ÅÅÃӤλÄÎ̤ˤè¤Ã¤Æ¥¹¥Ô¡¼¥É¤âÊѤï¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¤½¤ÎÅÀ¤ËÃí°Õ¤¹¤ë¡¢¤¢¤ë¤¤¤Ï¤½¤ÎÂкöÊýË¡¤ò¹Í¤¨¤ëɬÍפ⤢¤ë¤È»×¤¤¤Þ¤·¤¿¡£ ¤³¤ì¤é¤Î¤³¤È¤Ï¼¡¤Î²ÝÂê¤Ç¤â´Ø¤ï¤Ã¤Æ¤¯¤ë¤³¤È¤Ê¤Î¤Ç¡¢¤è¤êÎɤ¯¤Ê¤ë¤è¤¦¤Ë¤·¤¿¤¤¤Ç¤¹¡£ *Á´ÂΤιͻ¡¤È´¶ÁÛ [#ec8f7627] º£²ó»÷´é³¨¤òÉÁ¤¯¤Ë¤¢¤¿¤Ã¤Æ¡¢Î©¤Á¤Ï¤À¤«¤ëÌäÂ꤬¤¤¤¯¤Ä¤â¤¢¤ê¤Þ¤·¤¿¡£ ¤Þ¤º¤Ï¥í¥Ü¥Ã¥È¤ÎÁÈΩ¾å¡¢±ß¤òÉÁ¤¯¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤³¤È¤Ç¤¹¡£¤Ê¤Î¤Ç¡¢¥×¥í¥°¥é¥à¤¬Ä¹¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£ º£²ó¤Ï¥Ú¥ó¤ò¿¿¤ÃÀµÌ̤ˤΤßÉÕ¤±¤¿¤Î¤Ç¡¢¥µ¥¤¥É¤ËÉÕ¤±¤ë¤³¤È¤ò»î¤·¤Æ¤ª¤é¤º¡¢¤â¤·»î¤·¤Æ¤¤¤¿¤é½ÐÍ褿¤Î¤Ç¤Ï¤Ê¤¤¤«¤È¾¯¤·¸å²ù¤·¤Æ¤¤¤Þ¤¹¡£ ¤½¤·¤Æ¡¢ºÇÂç¤ÎÌäÂ꤬Àè¤Û¤É¤â½Ò¤Ù¤¿¡¢ÅÅÃÓ»ÄÎ̤ˤè¤Ã¤Æ¥â¡¼¥¿¡¼¤Î²óž®ÅÙ¤¬ÃÙ¤¯¤Ê¤ë¤³¤È¤Ç¤¹¡£ ºÇ½é¤Ï¤½¤ì¤Ëµ¤¤Å¤«¤Ê¤«¤Ã¤¿¤¿¤á¡¢Æ°¤«¤·¤Æ¤ÏÄ´À°¡¢Æ°¤«¤·¤Æ¤ÏÄ´À°¤ò·«¤êÊÖ¤·¤Æ¤¤¤Þ¤·¤¿¡£ ¤½¤·¤Æ¡¢°ìÄ̤ê¥×¥í¥°¥é¥à¤¬´°À®¤·¤¿¸å¤Ë¤½¤ì¤Ëµ¤¤Å¤¤¤¿¤Î¤Ç¡¢ÅÅÃÓ¸ò´¹¤¹¤ë¤È»÷´é³¨¤â¤°¤Á¤ã¤°¤Á¤ã¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£ Ä´Àá¤Ê¤É¤Ç²¿Å٤⿴¤¬Àޤ줽¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¤¬¡¢¥Á¡¼¥à¤ÎÃç´Ö¤ÈÎå¤Þ¤·¹ç¤Ã¤¿¤ê¤·¤Ê¤¬¤é¤Ê¤ó¤È¤«»÷´é³¨¤òÉÁ¤¾å¤²¤ë¤³¤È¤¬½ÐÍè¤Þ¤·¤¿¡£ º£²ó¤Î²ÝÂê¤òÄ̤·¤Æ¡¢¥í¥Ü¥Ã¥È¤Î¹½Â¤¤ä¤¢¤ëÄøÅÙ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Î¤ä¤êÊý¤ò³Ø¤Ù¤¿¤À¤±¤Ç¤Ê¤¯¡¢Ãç´Ö¤È¤Î¶¨Ä´À¤ÎÂçÀÚ¤µ¤ò²þ¤á¤Æ´¶¤¸¤Þ¤·¤¿¡£ ¤Þ¤¿¡¢¶¯¤¤Ã£À®´¶¤âÆÀ¤ë¤³¤È¤¬½ÐÍè¤Æ¤è¤«¤Ã¤¿¤Ç¤¹¡£ ¤Þ¤À¤Þ¤À²þÁ±ÅÀ¤Ï¿¤¯¤¢¤ë¤Î¤Ç¡¢¼¡²ó¤Î²ÝÂê¤Ç¤Ï²þÁ±¤Ç¤¤ë¤è¤¦¤ËÅؤ᤿¤¤¤Ç¤¹¡£