[[2017a/Member]]
*²ÝÂê¤Ë¤Ä¤¤¤Æ [#g2d8427a]
²ÝÂꣳ¤Ï¥³¡¼¥¹¾å¤Ë¤¢¤ë¥«¥ó¤òGOAL¤ÎÎΰè¤ËÀѤ߾夲¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£
#ref(2017a/Member/takato/Mission3/2017robotcontest.png,100%,·ë²Ì)
¿Þ¤Î¥Ô¥ó¥¯¤Î´Ý¤Ë¥«¥ó¤¬ÃÖ¤«¤ì¤Æ¤ª¤ê¡¢¤½¤ì¤òGOAL¤Þ¤Ç±¿¤ó¤ÇÀѤó¤Ç¤¤¤¯¡£
¾Ü¤·¤¯¤Ï²ÝÂê3¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£
*Êý¿Ë [#p4a09ae8]
Ëͤ¿¤Á¤ÎÈɤϥ«¥ó¤òÀѤতȥ«¥ó¤ò½¸¤á¤ÆGOAL¤Þ¤Ç±¿¤Ö¦¤Î£²ÂΤËʬ¤±¤Æ¤ä¤ë¤³¤È¤Ë¤·¤¿¡£
**ÀѤঠ[#a6cb9c0a]
¡-ÀѤতϺǽé¤Ë¥í¡¼¥¿¥ê¡¼¤«¤é¥¹¥¿¡¼¥È¤·¤Æ¡¢TÃÏÅÀ¤Î¥«¥ó¤òÄϤó¤ÇÂÔµ¡¤·¤Æ¤ª¤¯¡£
¢-bluetooth¤Î¿®¹æ¤¬Í褿¤é¡¢¥«¥ó¤òÀѤࡣ
£-ÀѤޤ줿¥«¥ó¤Î°ìÈÖ²¼¤òÄϤó¤Ç»ý¤Á¾å¤²¤ÆÂÔµ¡
°Ê²¼¢¡¢£¤ò·«¤êÊÖ¤·¡£
**½¸¤á¤ë¦ [#z9435c57]
¡-¥«¥ó¤ò½¸¤á¤ÆGOALÃÏÅÀ¤ËÆϤ±¤ë¡£
¢-ÀѤত˿®¹æ¤òÁ÷¤ë¡£
°Ê²¼¡¡¢¢¤ò·«¤êÊÖ¤·¡£
*¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#r7e4b31b]
»ä¤¿¤Á¤Ï´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È¤È¡¢´Ì¤òÀѤ߾夲¤ë¥í¥Ü¥Ã¥È¤òÀ½ºî¤·¤Þ¤·¤¿¡£
**´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È [#s2bc434b]
#ref(2017a/Member/takato/Mission3/¥ì¥Ý¡¼¥ÈÍÑ_10.jpg,50%,·ë²Ì)
¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ´Ì¤ò½¸¤á¤ë¤¿¤áÁ°Êý¤Ë¸÷¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¤¿¡£¹©ÉפȤ·¤Æ¤Ï´Ì¤¬Åݤì¤Ê¤¯¤¹¤ë¤è¤¦¤Ë¡¢º¸±¦¤Î¥¢¡¼¥à¤Î¹â¤µ¤ò¹â¤¯¤·¤¿¡£
**´Ì¤òÀѤ߾夲¤ë¥í¥Ü¥Ã¥È [#r8b93da7]
#ref(2017a/Member/takato/Mission3/¥ì¥Ý¡¼¥ÈÍÑ_1.jpg,20%,·ë²Ì)
¥â¡¼¥¿¡¼¤ò»°¤Ä»È¤¤¤Þ¤·¤¿¡£°ì¤ÄÌܤϡ¢¥¿¥¤¥ä¤Ë¤Ä¤±¤Æ¾å²¼¤Ë¤·¤«Æ°¤±¤Ê¤¤¤â¤Î¤Î¤³¤ì¤Ç»ý¤Á¾å¤²¤¿´Ì¤Î¾ì½ê¤«¤é¤½¤ì¤òÃÖ¤¯¾ì½ê¤Þ¤Ç¤òÆ°¤¯¤³¤È¤ò²Äǽ¤Ë¤·¤Þ¤·¤¿¡£
Æó¤ÄÌܤϥ¢¡¼¥à¤ò¾å²¼¤ËÆ°¤«¤¹¤¿¤á¤Î¤â¤Î¤ÇÊ¿¹Ô»ÍÊÕ·Á¤Î·Á¤Î³Ñ¤ÎÉôʬ¤Ë¥â¡¼¥¿¡¼¤ò¼è¤êÉÕ¤±¤¿¡£¤À¤¬¡¢¥â¡¼¥¿¡¼¤ÎÎϤÀ¤±¤Ç¤Ï¥¢¡¼¥à¤¬¤¢¤¬¤é¤Ê¤«¤Ã¤¿¤Î¤Ç¥®¥¢¤ò¤Ä¤±¤Æ¥â¡¼¥¿¡¼¤ÎÎϤò¤¢¤²¤ë¹©Éפò¤·¤Þ¤·¤¿¡£
»°¤ÄÌܤϥ¢¡¼¥à¤òÄù¤áÉÕ¤±¤ë¤¿¤á¤Î¥â¡¼¥¿¡¼¤Ç¤¹¡£´Ì¤ò¤Ç¤¤ë¤À¤±²¼¤«¤é»ý¤Æ¤ë¤è¤¦¤Ë¥¢¡¼¥à¤ÎºÇ²¼ÅÀ¤ò²¼¤²¤ë¹©Éפò¤·¤Þ¤·¤¿¡£¤½¤·¤Æ´Ì¤ò¤Ä¤«¤ó¤À¤Þ¤Þ¥¢¡¼¥à¤¬¾å¤¬¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥ß¥ó¥°¤Ç¤Ï¤º¤Ã¤È¥â¡¼¥¿¡¼¤¬²ó¤ê¤Ä¤º¤±¤ë¤è¤¦¹©Éפ·¤Þ¤·¤¿¡£
*¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ä¤¤¤Æ [#k83c21fe]
´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È¤Ïmattu¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£
´Ì¤òÀѤà¥í¥Ü¥Ã¥È
**ÊÑ¿ôÀë¸À [#r8cfd443]
//A¡¦¡¦¡¦Â²ó¤ê B¡¦¡¦¡¦¥¢¡¼¥à¾å²¼ C¡¦¡¦¡¦¥¢¡¼¥à
#define CONN 0
#define INBOX MAILBOX3
#define ang_up 340 //»ý¤Á¾å¤²ÍѳÑÅÙ
#define ang_put 80 //¥«¥óÃÖ¤¯³ÑÅÙ
#define ANGLE 50 //ÄϤàÍѳÑÅÙ
#define POWER 30 //ÀµÅ¾
#define POWER_LEGS 40 //²ó¤êÍÑ
#define POWER_RE -30 //µÕž
°ìÈÖ¾å¤Ë¤É¤ÎÆ°ºî¤Ë¤É¤Î¥â¡¼¥¿¤ò³ä¤êÅö¤Æ¤ë¤«¤ò½ñ¤¤¤Æ¤¤¤Þ¤¹¡£
¥³¥á¥ó¥Èʸ¤ÇÀâÌÀ¤Ç¤¤Æ¤¤¤ë¤È»×¤¦¤Î¤ÇÀâÌÀ¤Ï¾Êά¤¹¤ë¡£
**¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ [#odf5cf7d]
sub go_f(int l){ //»ØÄêµ÷Î¥Á°¿Ê
float Ang=l*2.0463; //²óž³ÑÅÙ·×»»
RotateMotor(OUT_A,POWER_LEGS,Ang); //Á°¿Ê
Off(OUT_A);
}
¤³¤ì¤Ë¤Ä¤¤¤Æ¤Ï²ÝÂ꣱¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£
sub hold(){ //¥«¥ó¤òÄϤà
go_f(100); //Á°¿Ê¤·¤Æ¥«¥ó¤Î°ÌÃÖ¤ò¹ç¤ï¤»¤ë
RotateMotor(OUT_C,POWER_RE,ANGLE); ¡¡¡¡¡¡¡¡//¥«¥óÄϤà
}
sub stack(){ //¥«¥ó¤òÀѤà
go_f(170); //Á°¿Ê¤·¤Æ¥«¥ó¤Î°ÌÃÖ¤ò¹ç¤ï¤»¤ë
go_f(-10); //¥«¥ó¤«¤éÎ¥¤ì¤Æ°ÌÃÖÄ´À°
RotateMotor(OUT_B,POWER_RE,ang_put); //¥«¥ó¤òÃÖ¤¯(ÀѤà)
}
¤³¤ì¤é¤Ï¥³¥á¥ó¥Èʸ¤ÇÀâÌÀ¤Ç¤¤Æ¤¤¤ë¤È»×¤¦¤Î¤Ç¾Êά
sub down_arm(){ //¥¢¡¼¥à¤ò²¼¤²¤ë
OnFwd(OUT_B,POWER_RE);
Wait(1100);
Off(OUT_B);
}
¥¢¡¼¥à¤ò²¼¤²¤ë´Ø¿ô¡£
¥¢¡¼¥à¤ò²¼¤Ë1100¥ß¥êÉò¼¤²¤ë¡£¤³¤³¤Ï³ÑÅÙ¤è¤ê¤â»þ´Ö¤ÇÀ©¸æ¤·¤¿¤Û¤¦¤¬³Î¼Â¤Ë²¼¤¬¤ë¤¿¤á¡¢»þ´Ö¤Ç
À©¸æ¤·¤Æ¤¤¤ë¡£
*¥á¥¤¥ó¥¿¥¹¥¯ [#x31005ed]
task main(){
int msg=0;
until(BluetoothStatus(CONN)==NO_ERR);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //bluetooth¤¬³ÎΩ¤¹
¤ë¤Þ¤ÇÂÔµ¡
go_f(-50); //¥¢¡¼¥à¤ò²¼¤²¤ë¤¿
¤á¤Î°ÌÃÖÄ´À°
down_arm(); //¥¢¡¼¥à¤ò²¼¤²¤Æ¥«
¥ó¤òÄϤà½àÈ÷
while(1){
hold(); //¥«¥óÄϤà
OnFwd(OUT_C,POWER_RE); ¡¡¡¡¡¡¡¡//ÊÝ»ý¤·Â³¤±¤ë
RotateMotor(OUT_B,50,ang_up); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»ý¤Á¾å¤²¤ë
go_f(-150); //°ÌÃÖÄ´À°
ReceiveRemoteNumber(MAILBOX3,true,msg); //½¸¤á¤ë¦¤«¤é¤Î¿®
¹æ¤¬Íè¤ë¤Þ¤ÇÂÔµ¡
while(msg!=2){
ReceiveRemoteNumber(MAILBOX3,true,msg);
Wait(10);
}
stack(); //£²¤Î¿®¹æ¤¬Í褿¤é
ÀѤà
Off(OUT_C); //¥«¥ó¤òÊÝ»ý¤¹¤ëÎÏ
¤òÈ´¤¯
RotateMotor(OUT_C,POWER,ANGLE); //¥«¥óÎ¥¤¹
go_f(-100); //°ÌÃÖÄ´À°
down_arm(); //¥¢¡¼¥à¤ò²¼¤²¤Æ¼¡
¤Î½àÈ÷
}
}
*·ë²Ì [#daf99cee]
ºÇ¸å¤Þ¤ÇÇ´¤Ã¤¿¤¬·ë¶É´Ì¤òÀѤ߾夲¤ë¥í¥Ü¥Ã¥È¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬´°À®¤»¤ºËÜÈ֤ˤʤäƤ·¤Þ¤¤¡¢ËÜÈ֤ϴ̤ò½¸¤á¤ë¤À¤±¤Î¥í¥Ü¥Ã¥È¤À¤±¤È¤Ê¤ê¡¢6ÅÀ¤È¤Ê¤ê¤Þ¤·¤¿¡£
*È¿¾Ê.´¶ÁÛ [#h228fd69]
¼«Ê¬¤â´Þ¤á¤Æ4¿ÍÁ´°÷¤¬¥Ð¥¤¥È¤ä¥µ¡¼¥¯¥ë³èÆ°¤Ç»þ´Ö¤¬Á´Á³¹ç¤ï¤Ê¤«¤Ã¤¿¤Î¤¬ËÜÈ֤ޤǤ˴֤˹ç¤ï¤Ê¤«¤Ã¤¿¸¶°ø¤Î°ì¤Ä¤È¹Í¤¨¤Æ¤¤¤Þ¤¹¤¬¡¢°ìÈ֤θ¶°ø¤Ï¤É¤¦¤¤¤Ã¤¿¥í¥Ü¥Ã¥È¤Ë¤¹¤ë¤«¤È¤¤¤¦Á´ÂΤγµÍפ¬ËÜÈ֤λ°ÆüÁ°¤Þ¤ÇÊѤï¤ê³¤±¤Æ¤¤¤¿»ö¤À¤È»×¤¤¤Þ¤¹¡£
¤½¤·¤Æ¤³¤Î¥¼¥ß¤òÄ̤·¤ÆÉÔÈ÷¤Î¤Ê¤¤¥í¥Ü¥Ã¥È¤òºî¤ëÆñ¤·¤µ¤ä¡¢¼«Ê¬¤Î»×¤Ã¤¿¤È¤ª¤ê¤Î¥×¥í¥°¥é¥ß¥ó¥°¤ÇËè²óÆ°¤¤¤Æ¤¯¤ì¤Ê¤¤¤È¤¤¤¦¤³¤È¤ò³Ø¤Ó¤Þ¤·¤¿¡£
»ä¤Ïµ¡³£¥·¥¹¥Æ¥à¹©³Ø²Ê¤Ê¤Î¤Ç¤³¤ì¤«¤é¤â¥í¥Ü¥Ã¥È¤Ë·È¤ï¤ë¤³¤È¤â¿¡¹¤¢¤ë¤È»×¤¦¤Î¤Ç¤³¤Î¥¼¥ß¤ÇÆÀ¤¿·Ð¸³¤ò¸µ¤Ë¤µ¤é¤Ëµ¡³£¤Î¥×¥í¤Ë¶á¤Å¤¤¤Æ¹Ô¤¤¿¤¤¤È»×¤¤¤Þ¤¹¡£