Ìܼ¡
#contents
*²ÝÂꣲ [#g01266c5]
²¼¤Î¿Þ¤Î¤è¤¦¤Ê¥³¡¼¥¹¤ò³Æ¥Á¡¼¥à¤ÇºîÀ®¤·¡¢¡Ö¥ß¥Ã¥·¥ç¥ó¡×¤ò¿ë¹Ô¤¹¤ë¤¿¤á¤Î¥í¥Ü¥Ã¥È¤òºîÀ®¤»¤è¡£

&ref(2018b/Member/Jerry/Mission2/¥³¡¼¥¹.png,70%,¥³¡¼¥¹);

º£²ó¡¢»ä¤¬Áö¤é¤»¤ë¥³¡¼¥¹¤ÏB¥³¡¼¥¹¤Ç¤¢¤ê¡¢¾Ü¤·¤¤¥³¡¼¥¹¤ÎÆâÍƤϰʲ¼¤ÎÄ̤ê¤Ç¤¢¤ë¡£ ÀÖ¤¤Àþ¤¬B¥³¡¼¥¹¤Ç¤¢¤ë¡£

&ref(2018b/Member/Jerry/Mission2/B¥³¡¼¥¹.jpg,40%,B¥³¡¼¥¹);

    ­¡¥í¥Ü¥Ã¥È¤òÀµÊý·ÁXÆâ¤Ë¤ª¤­¡¢L¤ò¥¹¥¿¡¼¥È
    ­¢E¤ò°ì»þÄä»ß¤·¤Æľ¿Ê¡£
    ­£I¤ò°ì»þÄä»ß¤·¤Æº¸ÀÞ¡£
    ­¤H¤òľ¿Ê¡£
    ­¥K¤òľ¿Ê¡£
    ­¦J¤òº¸ÀÞ¡£
    ­§C¤ò°ì»þÄä»ß¤·¤Æ±¦ÀÞ¡£
    ­¨E¤ò°ì»þÄä»ß¤·¤Æľ¿Ê¡£
    ­©G¤ò°ì»þÄä»ß¤·¤Æľ¿Ê¡£
    ­ªÄ¹Êý·ÁXÆâ¤ËÆþ¤Ã¤ÆÄä»ß¡£
    (°ì»þÄä»ß¤Î»ØÄ꤬¤¢¤ë¾ì½ê¤Ï¡¢1ÉôÖÄä»ß¤¹¤ë¤³¤È)
    ¥Ü¡¼¥ë¤Ï¥í¥Ü¥Ã¥È¤¬¸ÌIHKJ¾å¤Ë¤¢¤ë»þ¤ËQÃÏÅÀ¤Î¶õ¤­´Ì¤ËÅö¤Æ¤ë¡£
*º£²ó¤Î¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#d390a7d1]
**¸÷¥»¥ó¥µÉôʬ [#qec9c6c5]

&ref(2018b/Member/Jerry/Mission2/¸÷¥»¥ó¥µ.jpg,25%,¸÷¥»¥ó¥µ);

¸÷¥»¥ó¥µ¤È»æ¤¬Ê¿¹Ô¤Ë¤Ê¤ë¤è¤¦¤Ê°ÌÃ֤˸÷¥»¥ó¥µ¤ò¼è¤êÉÕ¤±¡¢¸÷¥»¥ó¥µ¤ÎÃͤòÀµ³Î¤Ë¬¤ë¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¡£¤Þ¤¿¡¢¸÷¥»¥ó¥µ¤ò¥¿¥¤¥ä¤ÎÃæÅÀ¤Î°ÌÃ֤˼è¤êÉÕ¤±¤ë¤È¡¢¤¦¤Þ¤¯¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¥¿¥¤¥ä¤ÎÃæÅÀ¤è¤ê¤â±¦Â¦¤Ë¸÷¥»¥ó¥µ¤ò¼è¤êÉÕ¤±¤ë¤è¤¦¤Ë¤·¤¿¡£
**Ķ²»ÇÈ¥»¥ó¥µÉôʬ [#jbba0b34]

&ref(2018b/Member/Jerry/Mission2/Ķ²»ÇÈ¥»¥ó¥µ.jpg,25%,Ķ²»ÇÈ¥»¥ó¥µ);

¶õ¤­´Ì¤È¤Îµ÷Î¥¤òŬÀڤˬ¤ë¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÁ°¤Ë¾¤Î¥»¥ó¥µ¤È¤ÎÀܳ¥³¡¼¥É¤¬¤³¤Ê¤¤¤è¤¦¤Ê°ÌÃÖ¤ËĶ²»ÇÈ¥»¥ó¥µ¤ò¼è¤êÉÕ¤±¤¿¡£¤Þ¤¿¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤ò¾¯¤·²¼¸þ¤­¤Ë·¹¤±¤ë¤³¤È¤Ç¡¢¶õ¤­´Ì¤òǧ¼±¤·¤ä¤¹¤¤¤è¤¦¤Ë¤·¤¿¡£
**¥¢¡¼¥à¤òÆ°¤«¤¹¤¿¤á¤Î¥â¡¼¥¿ [#y0f397c4]

&ref(2018b/Member/Jerry/Mission2/¥¢¡¼¥à.jpg,25%,¥¢¡¼¥à);

¥Ü¡¼¥ë¤È¥â¡¼¥¿¤È¤Îµ÷Î¥¤òÎ¥¤·¤¹¤®¤ë¤ÈÁö¹ÔÃæ¤Ë¥¢¡¼¥à¤¬ÉÔ°ÂÄê¤Ë¤Ê¤ê¥Ü¡¼¥ë¤òž¤¬¤·¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤Ã¤¿¤Î¤Ç¡¢¥Ü¡¼¥ë¤È¤Îµ÷Î¥¤¬¤Ê¤ë¤Ù¤¯¶á¤Å¤±¤é¤ì¤ë¤è¤¦¤Ê°ÌÃ֤˥⡼¥¿¤ò¼è¤êÉÕ¤±¤¿¡£¤Þ¤¿¡¢ÃÏÌ̤ȿâľ¤Ë¤Ê¤ë¤è¤¦¤Ë¥¢¡¼¥à¤ò¼è¤êÉÕ¤±¤ë¤³¤È¤Ç¡¢¥Ð¥é¥ó¥¹¤òÊݤÁ¤ä¤¹¤¯¤·¤¿¡£

*¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¤¿¤á¤Î¥×¥í¥°¥é¥à [#o323fe35]
**¥é¥¤¥ó¥È¥ì¡¼¥¹ [#rdf914a5]
º£²ó¤Ï¡¢¡Ö¹õ¤ÈÇò¤Î¶­³¦Àþ¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¤È¤¤¤¦¥×¥í¥°¥é¥à¤òÀ©ºî¤·¤¿¡£
¼ÂºÝ¤Ë¥³¡¼¥¹¾å¤ÇÌÀ¤ë¤µ¤ò¬Äꤷ¤Æ¤ß¤ë¤È¡ÖÇò¡×¡ÖÇò¤È¶­³¦Àþ¤Î´Ö¡×¡Ö¶­³¦Àþ¡×¡Ö¹õ¤È¶­³¦Àþ¤Î´Ö¡×¡Ö¹õ¡× ¤È¤¤¤¦£µÃʳ¬¤ÎÌÀ¤ë¤µ¤ÎÃͤò¬Äê¤Ç¤­¤¿¡££µ¤Ä¤Î¬Äê¤Ç¤­¤¿Ãͤϰʲ¼¤Î¤â¤Î¤È¤Ê¤Ã¤¿¡£

&ref(2018b/Member/Jerry/Mission2/ÌÀ¤ë¤µ¤ÎÃÍ.jpg,25%,ÌÀ¤ë¤µ¤ÎÃÍ);

ÌÀ¤ë¤µ¤ÎÃͤ¬5Ãʳ¬Â¸ºß¤¹¤ë¤Î¤Ç¡¢¤½¤ì¤¾¤ì¤ÎÌÀ¤ë¤µ¤ËÂбþ¤·¤¿Æ°¤­¤ò¤¹¤ë¤¿¤á¤Ë£µÃʳ¬¤ÇÆ°¤­¤òÀ©¸æ¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¡¢°Ê²¼¤Î¤è¤¦¤ËÆ°¤¯¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£

&ref(2018b/Member/Jerry/Mission2/Æ°¤­Êý.jpg,25%,Æ°¤­Êý);

    #define go_forward OnFwd(OUT_B,40);OnFwd(OUT_C,40)   //ľ¿Ê
    #define turn_left1 OnFwd(OUT_B,35);OnFwd(OUT_C,-30)  //º¸Àû²ó
    #define turn_left2 OnFwd(OUT_B,25);OnFwd(OUT_C,-20)  //º¸ÀÞ
    #define turn_right1 OnFwd(OUT_C,35);OnFwd(OUT_B,-30) //±¦Àû²ó
    #define turn_right2 OnFwd(OUT_C,25);OnFwd(OUT_B,-20) //±¦ÀÞ

¤Þ¤¿¡¢¹õ¤ÈÇò¤Î¶­³¦Àþ¤Ë¤Ï¡Ö¹õÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¡¢¡Ö¹õÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¤È¤¤¤¦2¼ïÎà¤Î¶­³¦Àþ¤¬Â¸ºß¤¹¤ë¤Î¤Ç¡¢¤³¤ì¤é¤Î¥×¥í¥°¥é¥à¤òʬ¤±¤Æ¹Í¤¨¤ë¤³¤È¤Ë¤·¤¿¡£
***º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#eb9a7328]
Àè¤Û¤É¤â¼¨¤·¤¿¤è¤¦¤ËÇò¤È¹õ¤Î¶­³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬45¤Ê¤Î¤Ç
     #define THRESHOLD 45 //Çò¤È¹õ¤Î¶­³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬45¤Ç¤¢¤ë¡£
¤ÈÄêµÁ¤·¤Æ¡¢°Ê²¼¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£
    void Lfollow_line(long max_t) //max_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
    { 
    long t0=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
    while (CurrentTick()-t0<=max_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬max_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
        if (SENSOR_4<THRESHOLD-11) {
           if (SENSOR_4<THRESHOLD-11) {
            turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        }
    else if (SENSOR_4<THRESHOLD-7){
           }
           else if (SENSOR_4<THRESHOLD-7){
            turn_right2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_right2¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else if (SENSOR_4<THRESHOLD+7){  
           } 
           else if (SENSOR_4<THRESHOLD+7){  
            go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else if (SENSOR_4<THRESHOLD+11){
           } 
           else if (SENSOR_4<THRESHOLD+11){
            turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else {
           } 
           else {
            turn_left2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_left2¤ÎÆ°¤­¤ò¤¹¤ë¡£
         }
           }
    }
¤³¤Î¥×¥í¥°¥é¥à¤Ï²¼¿Þ¤Î¤è¤¦¤ËÆ°¤¯¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£

&ref(2018b/Member/Jerry/Mission2/º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.jpg,25%,º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);

***±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#d2668aea]

    void Rfollow_line(long max_t) //max_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
    { 
    long t0=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
    while (CurrentTick()-t0<=max_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬max_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
        if (SENSOR_4<THRESHOLD-11) {
           if (SENSOR_4<THRESHOLD-11) {
            turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        }
    else if (SENSOR_4<THRESHOLD-7){
           }
           else if (SENSOR_4<THRESHOLD-7){
            turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else if (SENSOR_4<THRESHOLD+7){  
           } 
           else if (SENSOR_4<THRESHOLD+7){  
            go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else if (SENSOR_4<THRESHOLD+11){
           } 
           else if (SENSOR_4<THRESHOLD+11){
            turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else {
           } 
           else {
            turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤­¤ò¤¹¤ë¡£
         }
           }
    }
¤³¤Î¥×¥í¥°¥é¥à¤Ï²¼¿Þ¤Î¤è¤¦¤ËÆ°¤¯¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£

&ref(2018b/Member/Jerry/Mission2/±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹.jpg,25%,±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹);

**¸òº¹ÅÀ¤Îǧ¼± [#o92a7fcb]
º£¤Þ¤Ç¼¨¤·¤Æ¤­¤¿¥×¥í¥°¥é¥à¤À¤±¤À¤È¸òº¹ÅÀ¤Ë¤µ¤·¤«¤«¤Ã¤Æ¤â¡¢¤½¤Î¤Þ¤Þ³Ñ¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤È¤Ê¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£ 

&ref(2018b/Member/Jerry/Mission2/¸òº¹ÅÀ¤Îǧ¼±.jpg,40%,¸òº¹ÅÀ¤Îǧ¼±);

¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¾å¿Þ¤Ë¼¨¤·¤¿¤è¤¦¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£¤½¤Î¥×¥í¥°¥é¥à¤¬°Ê²¼¤Î¤â¤Î¤Ç¤¢¤ë¡£
    void follow_intersection(long min_t) //min_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£  
    { 
    long t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
    while (CurrentTick()-t1<=min_t) //¸½ºß¤Î»þ´Ö¤Èt1¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£(min_t¤Î»þ´Ö¤Ç¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¡£){
        if (SENSOR_4<THRESHOLD-11) {
           if (SENSOR_4<THRESHOLD-11) {
            Off(OUT_BC);Wait(1000); //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢B,C¤Î¥â¡¼¥¿¤ò1ÉôÖÄä»ß¤µ¤»¤ë¡£
        }
         if (SENSOR_4<THRESHOLD-7){
           }
           else if (SENSOR_4<THRESHOLD-7){
            turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
        }
    else if (SENSOR_4<THRESHOLD+7){ 
           }
           else if (SENSOR_4<THRESHOLD+7){ 
            go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
        }
    else if (SENSOR_4<THRESHOLD+11){
           }
           else if (SENSOR_4<THRESHOLD+11){
            turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
        }
    else {
           }
           else {
            turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
         }
           }
    }

**¸òº¹ÅÀ¤Î²£ÃÇ [#x64b1f0f]
¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢Ä¾¿Ê¡¢º¸ÀÞ¡¢±¦ÀޤʤɤÎÆ°¤­¤ò¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¡¢¸òº¹ÅÀ¤ò²£ÃǤ¹¤ë¥×¥í¥°¥é¥à¤ò¹Í¤¨¤ë¡£¸òº¹ÅÀ¤Î²£ÃǤλÅÊý¤Ï¼ç¤Ë2¼ïÎढ¤ë¡£

&ref(2018b/Member/Jerry/Mission2/¸òº¹ÅÀ¤Î²£ÃÇ.jpg,50%,¸òº¹ÅÀ¤Î²£ÃÇ);

­¡¤ò¼Â¹Ô¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ï°Ê²¼¤Î¤â¤Î¤Ç¤¢¤ë¡£
    #define across OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(1000)//1Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
    #define across2 OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(400)//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
    #define across3 OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(200)//0.2Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
**¶õ¤­´Ì¤òõ¤¹¤¿¤á¤Î¥×¥í¥°¥é¥à [#n07ded69]
    #define SPEED 50
    #define SPEED_SLOW 30
    const float diameter = 5.45; //¥¿¥¤¥ä¤Îľ·Â(cm)
    const float track = 10.35;   //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm)
    const float pi = 3.1415;     //±ß¼þΨ

    void turnAng(long ang) // ³ÑÅÙ ang Å٤λþ·×²ó¤ê¤ÎÀû²ó¤¹¤ë¡£
    {
    long angle;
    angle = track/diameter*ang;
    RotateMotorEx(OUT_BC, SPEED_SLOW, angle, 100, true, true);   
    }

    int searchDirection(long ang)  // ¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤¹¡£
                                   // ¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹¡£
    {
    long angle, tacho_min=0, tacho_corr;
    int d_min; 
    d_min=300; // ²¾¤ÎºÇ¾®ÃÍ
    angle = (track/diameter)*ang;// Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë¡£
    turnAng(ang/2);              // »ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó¤¹¤ë¡£
    ResetTachoCount(OUT_BC);     // ³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
    OnFwdSync(OUT_BC,SPEED_SLOW,-100);// È¿»þ·×²ó¤ê¤ËÀû²ó¤¹¤ë¡£
    while(MotorTachoCount(OUT_B)<=angle){
        if(SensorUS(S2)<d_min){
        d_min=SensorUS(S2);          // ²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡£
        tacho_min=MotorTachoCount(OUT_B);
        }
         if(SensorUS(S2)<d_min){
         d_min=SensorUS(S2);          // ²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡£
         tacho_min=MotorTachoCount(OUT_B);
         }
    }
    OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE);
    until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S2)<=d_min);
    Wait(14);  //ÈùÄ´À°
    Off(OUT_BC);Wait(500);
    return d_min;
    }
¾å¤Î¥×¥í¥°¥é¥à¤Ï²¼¿Þ¤Î¤è¤¦¤Ê»ÅÁȤߤÇÀ©¸æ¤µ¤ì¤Æ¤¤¤ë¡£

&ref(2018b/Member/Jerry/Mission2/¶õ¤­´Ì¤òǧ¼±¤¹¤ë»ÅÁȤß.jpg,40%,¶õ¤­´Ì¤òǧ¼±¤¹¤ë»ÅÁȤß);


º£²ó¤Ï¥í¥Ü¥Ã¥È¤ò360Åٲ󞤵¤»,¶õ¤­´Ì¤Î°ÌÃÖ¤òõ¤¹¡£
    int d=searchDirection(360);  //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë360Åٲ󞤷¡¢ºÇ¾®ÃͤÎÊý¸þ¤ò¸þ¤¯¡£

**¶õ¤­´Ì¤Ë¥Ü¡¼¥ë¤ò¤¢¤Æ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#yc171ea9]
    #define throw
    OnFwd(OUT_A,30);Wait(700);Off(OUT_A);Wait(2000); //¥¢¡¼¥à¤òÆ°¤«¤·¡¢¥Ü¡¼¥ë¤ò¶õ¤­´Ì¤ËÅö¤Æ¤ë¡£
    OnFwd(OUT_A,-35);Wait(700);Off(OUT_A);           //¥¢¡¼¥à¤ò¤â¤È¤Î°ÌÃÖ¤ËÌ᤹¡£
**¸ú²Ì²» [#z851aaa6]
¥é¥¤¥ó¥È¥ì¡¼¥¹¥Þ¥·¥ó¤òºîÀ®¤·¤Æ¤¤¤ë»þ¤Ë¡¢¸òº¹ÅÀ¤Îǧ¼±¤¬¤¦¤Þ¤¯¹Ô¤¨¤Æ¤¤¤ë¤«¤ò³Îǧ¤¹¤ë¤¿¤á¤Ë¡¢²»¤òÍѤ¤¤¿¡£¤³¤Î²»¤Î¤ª¤«¤²¤Çºî¶È¸úΨ¤¬ÂçÉý¤Ë¾å¤¬¤Ã¤¿¡£
     #define MI 659 //¥ß¤Î²»
     SetSensorSound(S1);

     void follow_intersection(long min_t) //min_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£ 
    {  
    long t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
    while (CurrentTick()-t1<=min_t) //¸½ºß¤Î»þ´Ö¤Èt1¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
        if (SENSOR_4<THRESHOLD-11) {
           if (SENSOR_4<THRESHOLD-11) {
            Off(OUT_BC);Wait(1000); //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢B,C¤Î¥â¡¼¥¿¤ò1ÉôÖÄä»ß¤µ¤»¤ë¡£
        }
         if (SENSOR_4<THRESHOLD-7){
           }
           else if (SENSOR_4<THRESHOLD-7){
            turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
        }
    else if (SENSOR_4<THRESHOLD+7){ 
           }
           else if (SENSOR_4<THRESHOLD+7){ 
            go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
        }
    else if (SENSOR_4<THRESHOLD+11){
           }
           else if (SENSOR_4<THRESHOLD+11){
            turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
        }
    else {
           }
           else {
            turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤­¤ò¤¹¤ë¡£
            t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë¡£
         }
           }
    }
    PlayTone(MI,900);Wait(1000); //¥ß¤Î²»¤ò0.9ÉôֽФ¹¡£
 }
*Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#r8027741]
¤³¤ì¤Þ¤Ç¤Ëµ­½Ò¤·¤Æ¤­¤¿¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤Æ¡¢Á´ÂÎ¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¡£
 task main()
 {
    SetSensorLight(S4);   //¸÷¥»¥ó¥µ¤ò4¤ËÀܳ¤¹¤ë¡£
    SetSensorLowspeed(S2);//Ķ²»ÇÈ¥»¥ó¥µ¤ò2¤ËÀܳ¤¹¤ë¡£
    Wait(3000);//¥¹¥¿¡¼¥È¥Ü¥¿¥ó¤ò²¡¤·¤Æ¤«¤é¤¹¤°¤Ë¥í¥Ü¥Ã¥È¤¬Æ°¤¯¤Î¤òËɤ°¤¿¤á¤Ë¡¢3Éô֥í¥Ü¥Ã¥È¤òÄä»ß¤µ¤»¤ë¡£
    across2;//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
    Lfollow_line(2500);//2.5Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    follow_intersection(400);//0.4ÉäǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
    across2;//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
    Lfollow_line(950);//0.95Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    Lfollow_line(400);//0.4Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    follow_intersection(400);//0.4ÉäǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
    Rfollow_line(8000);//8Éô֥饤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    int d=searchDirection(360);//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë360Åٲ󞤷¡¢ºÇ¾®ÃÍ(¶õ¤­´Ì)¤ÎÊý¸þ¤ò¸þ¤¯¡£
    throw; //¥Ü¡¼¥ë¤òÅꤲ¤ë¡£
    Lfollow_line(6000);//6Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    follow_intersection(400);//0.4ÉäǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
    across3;//ÈùÄ´À°¤Î¤¿¤á¡¢0.2ÉôÖÁ°¿Ê¤µ¤»¤ë¡£
    across3;//ÈùÄ´À°¤Î¤¿¤á¡¢0.2ÉôÖÁ°¿Ê¤µ¤»¤ë¡£
    Lfollow_line(8500);//8.5Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    follow_intersection(400);//0.4ÉäǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
    turn_left2;Wait(1000);//¸òº¹ÅÀ¤òº¸ÀÞ¤¹¤ë¡£
    Rfollow_line(26000);//26Éô֥饤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    follow_intersection(400);//0.4ÉäǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
    across2;//ÈùÄ´À°¤Î¤¿¤á¡¢0.4ÉôÖÁ°¿Ê¤µ¤»¤ë¡£
    across2;//ÈùÄ´À°¤Î¤¿¤á¡¢0.4ÉôÖÁ°¿Ê¤µ¤»¤ë¡£
    across2;//ÈùÄ´À°¤Î¤¿¤á¡¢0.4ÉôÖÁ°¿Ê¤µ¤»¤ë¡£
    Rfollow_line(26500);//26.5Éô֥饤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    follow_intersection(400);//0.4ÉäǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
    across2;//ÈùÄ´À°¤Î¤¿¤á¡¢0.4ÉôÖÁ°¿Ê¤µ¤»¤ë¡£
    across2;//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
    Rfollow_line(1500);//1.5Éô֥饤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£ 
    across;//¥´¡¼¥ë¤Ë¸þ¤«¤Ã¤ÆÁ°¿Ê¤¹¤ë¡£
 }
*¤Þ¤È¤á [#bc366f6e]
º£²ó¤Î²ÝÂê¤Ç¤Ï¡¢¸òº¹ÅÀ¤Îǧ¼±¤¬¤¦¤Þ¤¯¹Ô¤¨¤ë¤«¤¬¥³¡¼¥¹¤ò´°Áö¤¹¤ë¤¿¤á¤Î¸°¤È¤Ê¤Ã¤¿¡£¥í¥Ü¥Ã¥È¤ÎÀ½ºî²áÄø¤ÇÅÅÃӤλÄÎ̤ˤè¤Ã¤Æ¥í¥Ü¥Ã¥È¤Î¿Ê¤ßÊý¤¬ÊѤï¤ê¡¢¤½¤ì¤Ë¤è¤ê¸òº¹ÅÀ¤Îǧ¼±¤Ë¸íº¹¤¬À¸¤¸¤ë¤È¤¤¤¦ÌäÂ꤬ȯÀ¸¤·¤¿¤¬¡¢2¿Í¤ÇÏ䷹礤¤Ê¤¬¤é¤è¤êÎɤ¤¥×¥í¥°¥é¥àºî¤ê¤Ë¼è¤êÁȤळ¤È¤¬¤Ç¤­¤¿¤Î¤ÇÎɤ«¤Ã¤¿¡£¤¿¤À¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤ò°·¤¦¤Ë¤¢¤¿¤Ã¤Æ¡¢Æ±¤¸¥×¥í¥°¥é¥à¤ò»È¤Ã¤Æ¤â¶õ¤­´Ì¤òǧ¼±¤Ç¤­¤ë»þ¤È¤Ç¤­¤Ê¤¤»þ¤¬Â¸ºß¤·¤Æ¤·¤Þ¤¤¡¢¤³¤ÎÌäÂê¤òº¬ËÜŪ¤Ë²ò·è¤¹¤ë¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ä¤¤¤Æ¤â¤¦°ìÅÙÉü½¬¤ò¤·¤Æ¡¢¼¡²ó¤Î²ÝÂê¤Ç¤ÏĶ²»ÇÈ¥»¥ó¥µ¤ò¤¦¤Þ¤¯³èÍѤǤ­¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤­¤¿¤¤¤È»×¤¦¡£

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