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&ref(2017a/Member/tucky/Mission3/DSC_0108.jpg,25%); Àè¤ÎÊý¤Ë¥¢¡¼¥àÉôʬ¤òÉÕ¤±¤¿¤À¤±¤À¤È½Å¤ß¤ÇÁ°¤ËÅݤì¤Æ¤·¤Þ¤Ã¤¿¤ê¡¢´Ì¤ò»ý¤Á¾å¤²¤Æ¤â²¼¤ËÍî¤Á¤Æ¤¤Æ¤·¤Þ¤¦¡£¤½¤Î¤¿¤á¡¢¥¢¡¼¥àÉôʬ¤È¤ÏÈ¿ÂЦ¤Ë½Å¤ê¤È¤·¤Æ¥â¡¼¥¿¡¼¤ä¥¿¥¤¥ä¤ò¤¯¤Ã¤Ä¤±¤ë¤³¤È¤ÇÄà¤ê¹ç¤¦¤è¤¦¤ËÄ´Àᤷ¤¿¡£²¼¤Î¼Ì¿¿¤¬½Å¤ê¤ÎÉôʬ¤Ç¤¢¤ë¡£ &ref(2017a/Member/tucky/Mission3/DSC_0109.jpg,30%); **¥¢¡¼¥àÉôʬ [#v1095c78] ¥¢¡¼¥àÉôʬ¤Ï¥â¡¼¥¿¡¼¤ò²óž¤µ¤»¤ë¤³¤È¤Ç³«ÊĤ¹¤ë»ÅÁȤߤˤʤäƤ¤¤ë¡£¤³¤ì¤ò½Ä¤Ë±ä¤Ð¤·¡¢¥¹¥È¥Ã¥Ñ¡¼¤ò¤Ä¤±¤ë¤³¤È¤Ë¤è¤Ã¤Æ2ÃʤޤǤδ̤ʤé°ÂÄꤷ¤ÆÄϤळ¤È¤¬½ÐÍè¤ë¡£ &ref(2017a/Member/tucky/Mission3/DSC_0110.jpg,30%); **¥³¥Ã¥¯¥Ô¥Ã¥È [#e900665e] µ»½ÑÅÀ¤ÎÃæ¤Ë¤Ï¥í¥Ü¥Ã¥È¤Î¸«¤¿Ìܤ˴ؤ¹¤ëɾ²Á¤â´Þ¤Þ¤ì¤Æ¤¤¤¿¤Î¤Ç¸«¤¿Ìܤˤ⤳¤À¤ï¤Ã¤Æ¤¤¤ë¡£ÉÕ°¤Î¿Í·Á¤ò»È¤Ã¤Æ¡¢¥³¥Ã¥¯¥Ô¥Ã¥È¤Î¤è¤¦¤Ê¤â¤Î¤òºî¤ê¤¢¤²¤¿¡£ &ref(2017a/Member/tucky/Mission3/DSC_0106.jpg,30%); *¥×¥í¥°¥é¥à [#s8d23517] **¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#s0818c21] »ä¤¿¤Á¤ÎÈɤϻþ´Ö¤ÎÅÔ¹ç¾å¡¢´Ì¤ò£²ÃÊÀѤळ¤È¤Ë¤·¤¿¡£¿Þ¤Î¤è¤¦¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¡¢¤Þ¤º¡¤Î´Ì¤òÄϤߡ¢»ý¤Á¾å¤²¤ë¡£¤½¤Î¤Þ¤Þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤Æ¡¢¢¤Î´Ì¤Î¾å¤Ë¡¤Î´Ì¤ò¾è¤»¤Æ2¤Ä¤Î´Ì¤ò»ý¤Á¾å¤²¤ë¡£¤½¤·¤Æ¸þ¤¤òÊѤ¨¤Æ¥´¡¼¥ë¤Ë´Ì¤ò»ý¤Ã¤Æ¤¤¤¡¢¤½¤Î¾ì¤òÎ¥¤ì¤ë¡¢¤È¤¤¤¦¥×¥í¥°¥é¥à¤À¡£¤Þ¤¿¡¢2Âæ¤Î¥í¥Ü¥Ã¥È¤òÏ¢·È¤µ¤»¤Æ¤ª¤ê¡¢¥Þ¥¹¥¿¡¼¤ÎÊý¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢¥¹¥ì¡¼¥Ö¤ÎÊý¤Ç¥¢¡¼¥à¤Î³«ÊÄ¡¢´Ì¤Î»ý¤Á¾å¤²¤Ê¤É¤ò¹Ô¤Ã¤Æ¤¤¤ë¡£ &ref(2017a/Member/tucky/Mission3/setumei.png,40%); **¥Þ¥¹¥¿¡¼¤Î¥×¥í¥°¥é¥à [#t53d91cd] #define THRESHOLD 50 //¤·¤¤¤ÃÍ #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); //ľ¿Ê¡Ê½ÐÎÏ¡Ë #define go_forward OnRL(SPEED, SPEED); //ľ¿Ê #define go_back OnRL(-SPEED,-SPEED); //¸åÂà #define turn_left1 OnRL(SPEED, -SPEED); //º¸¤ËÀû²ó #define turn_left0 OnRL(SPEED, 0); //º¸¤Ë¥«¡¼¥Ö #define turn_right0 OnRL(0, SPEED); //±¦¤Ë¥«¡¼¥Ö #define turn_right1 OnRL(-SPEED, SPEED); //±¦¤ËÀû²ó #define SPEED 45 //½ÐÎÏ task main() { SetSensorLight(S3); //¸÷¥»¥ó¥µ¡¼ SetSensorLowspeed(S1); //Ķ²»ÇÈ¥»¥ó¥µ¡¼ until(BluetoothStatus(1)==NO_ERR); //¥¹¥ì¡¼¥Ö¦¤ÈÀܳ¤¹¤ë¤Þ¤ÇÂÔ¤Ä int nKan=0; //ÄϤó¤À´Ì¤Î¸Ä¿ô while (nKan < 2) { //ÄϤó¤À´Ì¤Î¸Ä¿ô¤¬1¸Ä¤Î»þ while(SensorUS(S1)>15){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Îµ÷Î¥¤¬15¥»¥ó¥Á°Ê¾å¤Î»þ¤Ë¤Ï¼¡¤ÎÆ°ºî¤ò¹Ô¤¦ if (SENSOR_3 < THRESHOLD-10) { turn_left1; //º¸¤ËÀû²ó } else { if (SENSOR_3 < THRESHOLD-5) { turn_left0; //º¸¤Ë¥«¡¼¥Ö } else if (SENSOR_3 < THRESHOLD+5) { go_forward; //ľ¿Ê } else if (SENSOR_3 < THRESHOLD+10) { turn_right0; //±¦¤Ë¥«¡¼¥Ö } else { turn_right1; //±¦¤ËÀû²ó } } Wait(1); } until(SensorUS(S1)<=12){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12Ѱʲ¼¤Ë¤Ê¤ë¤Þ¤Ç go_forward; //ľ¿Ê } if (SensorUS(S1)<=12){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12Ѱʲ¼¤Ë¤Ê¤Ã¤¿¤é Off(OUT_BC); RemoteStartProgram(1,"sss1.rxe"); //¥¹¥ì¡¼¥Ö¦¤Ë¥Õ¥¡¥¤¥ë¡Össs1.nxc¡×¤òÌ¿Îá Wait(2000); RotateMotorEx(OUT_BC,45,100,0,true,true); //´Ì¤ò¤Ä¤«¤à¤¿¤á¤Î°ÌÃÖÄ´À° Wait(6000); nKan++; //¥«¥¦¥ó¥¿¤òÁý¤ä¤¹ } } while(nKan<3){ //ÄϤó¤À´Ì¤Î¸Ä¿ô¤¬2¸Ä¤Î»þ RotateMotor(OUT_B,-SPEED,200); //¥´¡¼¥ëÊý¸þ¤ËÊý¸þž´¹ go_forward; //ľ¿Ê Wait(2500); Off(OUT_BC); RemoteStartProgram(1,"sss2.rxe"); //¥¹¥ì¡¼¥Ö¦¤Ë¥Õ¥¡¥¤¥ë¡Össs2.nxc¡×¤òÌ¿Îá Wait(5000); go_back; //¸åÂà Wait(3000); Off(OUT_BC); nKan++;¡¡¡¡¡¡//¥×¥í¥°¥é¥à¤ò½ªÎ»¤µ¤»¤ë¤¿¤á¤Ë¥«¥¦¥ó¥¿¤òÁý¤ä¤¹ } } **¥¹¥ì¡¼¥Ö¤Î¥×¥í¥°¥é¥à [#n94b01d0] ¥Õ¥¡¥¤¥ë̾¡Össs1.nxc¡×¡Ê´Ì¤òÄϤà¡õ»ý¤Á¾å¤²¤ë¡Ë task main() { RotateMotor(OUT_C,-30,30); //Í·Ú¸º¤Î¤¿¤á¤Ë¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë RotateMotor(OUT_B,30,30); //¥¢¡¼¥à¤ò³«¤¯ RotateMotor(OUT_C,-30,150); //¥¢¡¼¥à¤ò²¼¤²¤ë Wait(2000); OnFwd(OUT_B,-30); //´Ì¤òÄϤà Wait(3000); Off(OUT_B); RotateMotor(OUT_C,50,180); //¥¢¡¼¥à¤ò¾å¤²¤ë } ¥Õ¥¡¥¤¥ë̾¡Össs2.nxc¡×¡Ê´Ì¤òÃÖ¤¯¡Ë task main() { RotateMotor(OUT_C,-30,180); //¥¢¡¼¥à¤ò²¼¤²¤ë RotateMotor(OUT_B,30,90); //¥¢¡¼¥à¤ò³«¤¯ } *·ë²Ì [#c10736a9] ´Ì¤ò2ÃÊÀѤळ¤È¤ËÀ®¸ù¤·¤¿¡£¤½¤ì¤È¡Ö¸µ¤«¤é¥´¡¼¥ë¤Î¥é¥¤¥ó¤Ë¾è¤Ã¤Æ¤¤¤ë´Ì¤Ë¿¨¤ì¤¿¾ì¹ç¤Ë¤Ï¤½¤Î´Ì¤â¥´¡¼¥ë¤ËÆþ¤Ã¤¿¤È¤ß¤Ê¤·¤Æ3ÅÀ¤È¤¹¤ë¡×¤È¤¤¤¦¥ë¡¼¥ë¤¬ÅöÆü¤ËÄɲ䵤졢»ä¤¿¤Á¤ÎÈɤϤ¿¤Þ¤¿¤Þ¤½¤Î´Ì¤Ë¿¨¤ì¤¿¤¿¤á¡¢(3+6)+3=12ÅÀ³ÍÆÀ¤¹¤ë¤³¤È¤¬½ÐÍ褿¡£¤Þ¤¿¡¢µ»½ÑÅÀ¤âÄɲ䵤졢Á´ÂΤÎÃæ¤Ç3°Ì¤È¤¤¤¦·ë²Ì¤ò¼ý¤á¤ë¤³¤È¤¬½ÐÍ褿¡£ *´¶ÁÛ [#i9783ca2] ºÇ½é¤Ï´Ì¤ò£³ÃÊÀѤàͽÄê¤À¤Ã¤¿¤¬¡¢»þ´Ö¤ò¤¢¤Þ¤ê¼è¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤Î¤Ç´Ì¤Ï£²ÃÊÀѤळ¤È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤À¤¬¡¢2ÃÊÀѤळ¤È¤ËÀ®¸ù¤·¤¿¾å¤ËÆÃÊ̥롼¥ë¤Ë¤è¤Ã¤Æ3ÅÀ¤¬¥×¥é¥¹¤µ¤ì¡¢Á´ÂΤÎÃæ¤Ç3°Ì¤È¤¤¤¦¤¤¤¤·ë²Ì¤Ë¤Ê¤Ã¤¿¤Î¤Ç·ë²ÌŪ¤ËÈó¾ï¤ËÎɤ«¤Ã¤¿¤È»×¤¦¡£º£¤Þ¤ÇÁêÅö¤Ê»þ´Ö¤òÈñ¤ä¤·¤Æ¤¤¿¤Î¤Ç¡¢¶ìÏ«¤·¤Æ¤¤¿¹ÃÈ夬¤¢¤Ã¤¿¤È¼Â´¶¤·¤¿¡£¤Þ¤À¤Þ¤À²þÁ±ÅÀ¤Ï¤¤¤Ã¤Ñ¤¤¤¢¤ë¤Î¤Ç¡¢µ¡²ñ¤¬¤¢¤ì¤Ð¤³¤Î³¤¤ò¤ä¤ê¤¿¤¤¡£ ºÇ½é¤Ï´Ì¤ò£³ÃÊÀѤàͽÄê¤À¤Ã¤¿¤¬¡¢»þ´Ö¤ò¤¢¤Þ¤ê¼è¤ë¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¤Î¤Ç´Ì¤Ï£²ÃÊÀѤळ¤È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤À¤¬¡¢2ÃÊÀѤळ¤È¤ËÀ®¸ù¤·¤¿¾å¤ËÆÃÊ̥롼¥ë¤Ë¤è¤Ã¤Æ3ÅÀ¤¬¥×¥é¥¹¤µ¤ì¡¢Á´ÂΤÎÃæ¤Ç3°Ì¤È¤¤¤¦¤¤¤¤·ë²Ì¤Ë¤Ê¤Ã¤¿¤Î¤Ç·ë²ÌŪ¤ËÈó¾ï¤ËÎɤ«¤Ã¤¿¤È»×¤¦¡£º£¤Þ¤ÇÁêÅö¤Ê»þ´Ö¤òÈñ¤ä¤·¤Æ¤¤¿¤Î¤Ç¡¢¶ìÏ«¤·¤Æ¤¤¿¹ÃÈ夬¤¢¤Ã¤¿¤È´¶¤¸¤¿¡£¤Þ¤À¤Þ¤À²þÁ±ÅÀ¤Ï¤¤¤Ã¤Ñ¤¤¤¢¤ë¤Î¤Ç¡¢µ¡²ñ¤¬¤¢¤ì¤Ð¤³¤Î³¤¤ò¤ä¤ê¤¿¤¤¡£