#contents *²ÝÂ꣱ [#i7298d6a] ½Ð¿ÈÃϤÎÅÔÆ»Éܸ©¤ä»Ô¡¢Ä®¤Ê¤É¤ÎÃ椫¤é£²Ê¸»ú¤òÁª¤Ó¡¢¤½¤ì¤òA4¤Î¤ÎÍÑ»æ¤Ë½ñ¤¯¥í¥Ü¥Ã¥È¤òÀ½ºî¤»¤è¡£ *Áª¤ó¤Àʸ»ú [#vd1baa0f] ¼¢²ì¸©¤Ë¤¢¤ë¡¢¤È¤¢¤ëÄ®¤Î̾Á°¤Î¡Ö¹âÅġפȤ¤¤¦Ê¸»ú¤òÁª¤ó¤À¡£ *¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#i0c4c560] **¥¢¡¼¥à[#c87f6dc2] ±¦¤äº¸¤Ë¶Ê¤¬¤Ã¤¿¤ê¡¢Àû²ó¤·¤Æ¤âÉ®¥Ú¥ó¤ÎÍÑ»æ¾å¤Ç¤Î°ÌÃÖ¤¬¥Ö¥ì¤Ê¤¤¤è¤¦¤ËÉ®À褬Á°Îؤò·ë¤ó¤ÀľÀþ¤ÎÃæÅÀ¤Î¿¿¾å¤ËÀßÃÖ¤·¤¿¡£¤Þ¤¿¡¢¥¢¡¼¥à¤Î¥³¥ó¥Ñ¥¯¥È²½¡¢É®Àè¤Î¥Ö¥ìËɻߤΤ¿¤á¤Ë»õ¼Ö¤ÈÍæÀû¾õ¤ÎÉôÉʤòÍѤ¤¤Æ¡¢É®¥Ú¥ó¤òÃÏÌ̤ȿ⾤˸ÇÄꤷ¤¿¤Þ¤Þ¾å²¼¤ËÆ°¤«¤»¤ë¤è¤¦¤Ë¤·¤¿¡£¡Ê¿Þ£Á¡ËÉ®¤ÏÉôÉÊƱ»Î¤Ç¶´¤ó¤Ç¥¢¡¼¥à¤Ë¸ÇÄꤷ¤Æ¤¤¤ë¡£»ÅÁȤߤϿޤΤ褦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£(¿Þ£Â¡Ë &ref(buhinnB.png); &ref(penjouge.png); &ref(IMG_1261.jpg); ¢¨É®Éôʬ¤Ï¸«¤ä¤¹¤¤¤è¤¦¤Ë·Ö¸÷¥Ú¥ó»ÈÍѤ·¤Æ¤¤¤ë¡£ **¼ÖÎØÉôʬ[#j1bb9317] ¥·¥ó¥×¥ë¤Ê»°Îع½Â¤¤ÇÁ°Îؤ¬ÆóÎØ¡¢¸åÎؤ¬°ìÎؤȤʤäƤ¤¤ë¡£Á°ÎؤÎÆóÎؤ¬¶îÆ°¤·¡¢¸åÎؤÏ360¡ë²óž²Äǽ¤È¤Ê¤Ã¤Æ¤¤¤ë¡£ &ref(IMG_1250.jpg); *¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤¢¤¿¤Ã¤Æ¤Î½àÈ÷[#s1616dcd] #define arm_down OnFwd(OUT_A,50);Wait(150);Off(OUT_A);//É®¥Ú¥ó¤ò¾å¤²¤ë #define arm_up OnRev(OUT_A,50);Wait(150);Off(OUT_A);//É®¥Ú¥ó¤ò²¼¤í¤¹ #define go_straight OnFwd(OUT_B,40);OnFwd(OUT_C,43);//Á°¿Ê¤¹¤ë º¸±¦¤Î¥â¡¼¥¿¤Î½ÐÎϤ¬°Û¤Ê¤ë¤¿¤áÄ´À°¤·¤¿¡£ #define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,25);Wait(1425);Off(OUT_BC);//ľ³Ñ±¦¤Ë¶Ê¤¬¤ë #define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,25);Wait(1425);Off(OUT_BC);//ľ³Ñº¸¤Ë¶Ê¤¬¤ë #define turn_R OnFwd(OUT_C,25);OnRev(OUT_B,25);//±¦¤Ë¶Ê¤¬¤ë #define turn_L OnRev(OUT_C,25);OnFwd(OUT_B,25);//º¸¤Ë¶Ê¤¬¤ë #define off Off(OUT_BC);//Ää»ß¤¹¤ë *¥×¥í¥°¥é¥àËÜÊÔ[#v6748922] &ref(¹âÅijä¤ê¿¶¤ê.png); **¡Ö¹â¡×¤ò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à[#z1f9ebf0] arm_down¡¡¡¡¡¡¡¡//É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¡»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(150);¡¡¡¡¡¡//0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¡½ª¤ï¤ê turn_right //±¦¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(350); //0.35Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë u_turn //180ÅÙ²ó¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¢»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(700); //0.70Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¢½ª¤ï¤ê turn_R //±¦¤Ë¶Ê¤¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê Wait(2700); //2.70Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë go_straight //Á°¤Ë¿Ê¤à Wait(650); //0.65Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_L¡¡¡¡¡¡¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë Wait(1275); //1.275Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦£»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(150); //0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(500); //0.50Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(150); //0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦£½ª¤ï¤ê turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(500); //0.50Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_L //º¸¤Ë¶Ê¤¬¤ë Wait(950); //0.95Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë go_straight //Á°¤Ë¿Ê¤à Wait(230); //0.23Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_L //º¸¤Ë¶Ê¤¬¤ë Wait(425); //0.425Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë go_straight //Á°¤Ë¿Ê¤à Wait(500); //0.50Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë u_turn //180ÅÙ²ó¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¤»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(500); //0.50Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_right //±¦¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(765); //0.765Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_right //±¦¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(500); //0.50Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_right //±¦¤Ë90Åٶʤ¬¤ë turn_R //±¦¤Ë¶Ê¤¬¤ë Wait(425); //0.425Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë go_straight //Á°¤Ë¿Ê¤à Wait(150); //0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¤½ª¤ï¤ê go_straight //Á°¤Ë¿Ê¤à¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê Wait(378); //0.378Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_L //º¸¤Ë¶Ê¤¬¤ë Wait(1850); //1,85Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¥»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(150); //0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(150); //0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(150); //0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(150); //0.15Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¥½ª¤ï¤ê **¡ÖÅġפò½ñ¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à[#v9ddb1ce] arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¦»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(460); //0.46Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(460); //0.46Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(460); //0.46Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(460); //0.46Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¦½ª¤ï¤ê turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(230); //0.23Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦§»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(460); //0.46Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦§½ª¤ï¤ê turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(230); //0.23Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë go_straight //Á°¤Ë¿Ê¤à Wait(230); //0.23Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë turn_left //º¸¤Ë90Åٶʤ¬¤ë¡¦¡¦¡¦°ÜÆ°½ª¤ï¤ê arm_down //É®¥Ú¥ó¤ò²¼¤í¤¹¡¦¡¦¡¦¨»Ï¤Þ¤ê go_straight //Á°¤Ë¿Ê¤à Wait(430); //0.43Éô־õÂÖ¤òÊÝ¤Ä off //¼ÖÎؤò»ß¤á¤ë arm_up //É®¥Ú¥ó¤ò¾å¤²¤ë¡¦¡¦¡¦¨½ª¤ï¤ê &ref(takada.pdf); ÀÄÀþ¤ÏÉ®À褬ÀÜÃϤ·¤Æ¤ª¤ê¡¢ÀÖÀþ¤ÏÀÜÃϤ·¤Æ¤¤¤Ê¤¤¡£ *´°À®¤·¤¿Ê¸»ú[#i3fe4a9f] &ref(IMG_1257ex2.jpg); ¾¯¤··¹¤¤¤Æ¤·¤Þ¤Ã¤¿¤¬¡¢Àþ¤Ï¤¤ì¤¤¤Ë°ú¤±¤¿¡£ * ²ÝÂê1¤ò¿¶¤êÊ֤äÆ[#d7a6f340] **¶ìÏ«¤·¤¿ÅÀ[#b617525e] ¥í¥Ü¥Ã¥ÈÂè°ìÃƤϽſ´¤¬¸åÊý¤ËÊФäƤ·¤Þ¤¤¡¢Àû²ó»þ¤ËÁ°Îؤ¬É⤤¤Æ¤·¤Þ¤¦¤È¤¤¤¦ÌäÂ꤬µ¯¤³¤Ã¤¿¤Î¤Ç¡¢²ò·è¤¹¤ë¤¿¤á¤Ë½Å¿´¤òÊФ餻¤º¡¢¤¦¤Þ¤¯µ¡Ç½¤¹¤ë¤è¤¦¤Ê¥í¥Ü¥Ã¥È¤òÀ½ºî¤¹¤ë¤Î¤¬ÂçÊѤÀ¤Ã¤¿¡£¤Þ¤¿¡¢¥í¥Ü¥Ã¥È¤ÎdzÈñ¤¬Èó¾ï¤Ë°¤¯¡¢°ìÄ̤êÆ°ºî¤µ¤»¤ëÅ٤˽ÐÎϤ¬ÊѤï¤Ã¤Æ¤·¤Þ¤¤¡¢¥×¥í¥°¥é¥ß¥ó¥°¤ÈÆ°ºî¤¬¤º¤ì¤Æ¤·¤Þ¤¦¤È¤³¤í¤òÄ´À°¤¹¤ë¤³¤È¤âÂçÊѤÀ¤Ã¤¿¡£ **Îɤ«¤Ã¤¿ÅÀ[#w17d50c9] ¥í¥Ü¥Ã¥ÈÀ½ºî¤Ë¤ª¤¤¤Æ¡¢¥¢¡¼¥à¤ÎÀÜÃÏ°ÌÃÖ¤òÁ°ÎؤÎÃæÅÀ¤Ë¤ª¤¤¤¿¤³¤È¤ä¡¢¥¢¡¼¥à¤Î¥ê¡¼¥Á¤ò̵¤¯¤·¡¢»õ¼Ö¤ò»È¤¦¤³¤È¤Ç¥í¥Ü¥Ã¥ÈÁ´ÂΤΥ³¥ó¥Ñ¥¯¥È²½¤¬²Äǽ¤Ë¤Ê¤Ã¤¿¤³¤È¡¢¤Þ¤¿¡¢¥×¥í¥°¥é¥à¤Ë¤ª¤¤¤Æ¡¢¤Ç¤¤ë¤À¤±#define¤ò»È¤¤°ìʸ°ìʸ¤òû¤¯½ÐÍ褿¤³¤È¤¬¤è¤«¤Ã¤¿¡£ **È¿¾ÊÅÀ[#mce76d23] ¥í¥Ü¥Ã¥ÈÂè°ìÃƤ¬´°À®¤·¡¢¤½¤ì¤Ë¹ç¤ï¤»¤¿¥×¥í¥°¥é¥ß¥ó¥°¤¬ÂçÊý¤Ç¤¤¿¤È¤³¤í¤Ç¥í¥Ü¥Ã¥È¤ËÌäÂ꤬À¸¤¸¡¢ºÇ½é¤«¤éºî¤êľ¤¹¤³¤È¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢Ãà°ì³Îǧ¤·¤Æ¡¢ºÇ¾®¸Â¤Î¼êľ¤·¤ÇºÑ¤à¤è¤¦¤Ë¤·¤¿¤¤¡£¤Þ¤¿¡¢¥×¥í¥°¥é¥ß¥ó¥°¤Î¹Ô¿ô¤¬Â¿¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç¡¢ÍÍ¡¹¤Ê´Ø¿ô¤ò¶î»È¤·¤Æû¤¯ÍÞ¤¨¤é¤ì¤ë¤è¤¦¤Ë¤·¤¿¤¤¡£