[[2019a/Member]] Ìܼ¡ #contents *²ÝÂê¤Ë¤Ä¤¤¤Æ [#va34cc61] **²ÝÂê¤ÎÆâÍÆ [#g93b83e2] 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~ ¥ß¥Ã¥·¥ç¥ó¤ÎÆâÍÆÅù¤Ï [[2019a/Mission2]]¤ò»²¾È¡£ #ref(2019a/Member/ohta/Mission2/²ÝÂꥳ¡¼¥¹.png,50%,²ÝÂꥳ¡¼¥¹) **Áª¤ó¤À¥³¡¼¥¹ [#q0bf97ed] »ä¤¿¤Á¤Î¥°¥ë¡¼¥×¤Ï°Ê²¼¤Î¤è¤¦¤Ê¥³¡¼¥¹¤òÁªÂò¤·¤¿¡£~ AÃÏÅÀ¤«¤é½Ðȯ ¢ª B ¢ª C(ľ¿Ê) ¢ª D(°ì»þÄä»ß¤Î¸å¡¢Ä¾¿Ê) ¢ª E ¢ª F~ ¢ª G(°ì»þÄä»ß¤Î¸å¡¢±¦ÀÞ) ¢ª H ¢ª I ¢ª J(±¦ÀÞ) ¢ª K(º¸ÀÞ) ¢ª L(¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à)~ ¢ª K(ľ¿Ê) ¢ª M(°ì»þÄä»ß) ¢ª ¥·¥å¡¼¥È¢ª AÃÏÅÀ¤ËÆþ¤ë(¥´¡¼¥ë) **¥³¡¼¥¹¤Ë´Ø¤¹¤ëÀïά [#yadb5565] »ä¤¿¤Á¤ÎÈɤϰʲ¼¤Î¤è¤¦¤Ë¤³¤Î¥³¡¼¥¹¤ò¿Ê¤àºîÀï¤òΩ¤Æ¤¿¡£~ #ref(2019a/Member/ohta/Mission2/¥³¡¼¥¹.png,50%,¥³¡¼¥¹) ¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¤Þ¤Ã¤¹¤°¿Ê¤ó¤À¸å¡¢±¦Â¦¤ÎľÀþ¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¯¡£~ ¸òº¹ÅÀ¡(¿Þ¤Ç¤Ï¸ò¡)¤Ç¤Ï¸òº¹ÅÀ¤Ç°ì»þÄä»ß¸å¡¢Ä¾¿Ê¤¹¤ë¡£~ ¤½¤ì¤Þ¤Ç¤Î²áÄø¤òÎТª¤Çɽ¤·¤Æ¤¤¤ë¡£~ ¤½¤Î¸å¡¢KÃÏÅÀ¤«¤é¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤¹¤ë¤Þ¤Ç¤Ï¼êÆ°¤ÇÀßÄꤷ¤Æ¤¤¤¯¡£~ ¤½¤Î²áÄø¤òÀÄ¢ª¤Çɽ¤·¤Æ¤¤¤ë¡£~ ºÇ¸å¤Ïº¸Â¦¤ÎľÀþ¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¡¢¥´¡¼¥ëľÁ°¤Çµå¤ò¥·¥å¡¼¥È¤·¤Æ¼«¿È¤¬¥´¡¼¥ë¤¹¤ë¡£~ ¤½¤ì¤Þ¤Ç¤Î²áÄø¤ò¥ª¥ì¥ó¥¸¢ª¤Çɽ¤·¤Æ¤¤¤ë¡£~ ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ä¸òº¹ÅÀ¤Ç¤ÎÆ°ºî(¥×¥í¥°¥é¥ß¥ó¥°)¤Î»ÅÁȤߤˤĤ¤¤Æ¤Ï [[#adc6e636]] ¤ò»²¾È¡£~ *¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#e6876581] **Á´ÂΤΥѡ¼¥Ä [#y3762732] ¼ç¤Ê¥Ñ¡¼¥Ä¤Ï¼ÖÂΡ¢ËÜÂΡ¢¥¢¡¼¥à¡¢¸÷¥»¥ó¥µ¡¼¤Ç¤¢¤ë¡£~ ¾Ü¤·¤¯¤Ï°Ê²¼¤Î¼Ì¿¿¤ò»²¾È¡£~ #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0001.jpg,20%,¥Ñ¡¼¥Ä) **¥í¥Ü¥Ã¥ÈÁ´ÂÎÁü [#d3cbddf7] #ref(2019a/Member/ohta/Mission2/Á´ÂοÞ.jpg,20%,Á´ÂÎÁü) ¾å¤Î¼Ì¿¿¤¬º£²óºîÀ®¤·¤¿¥í¥Ü¥Ã¥È¤ÎÁ´ÂΤǤ¢¤ë¡£~ ¼Ì¿¿º¸¸þ¤¤¬Á°Êý¸þ¤Ç¤¢¤ë¡£~ #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0008.jpg,20%,¸÷¥»¥ó¥µ¡¼) Á°Êý¤Ë¤Ï¸÷¥»¥ó¥µ¡¼¤¬¤Ä¤¤¤Æ¤ª¤ê¡¢¤³¤ì¤¬¿§¤ÎÌÀÅÙ¤ò¬¤ê¥×¥í¥°¥é¥ß¥ó¥°¤·¤¿Ä̤ê¤Î»Ø¼¨¤ò¹Ô¤¦¡£~ ¸åÊý¤Ë¤Ï¥¢¡¼¥à¤¬¤Ä¤¤¤Æ¤ª¤ê¡¢¤³¤ì¤¬¥Ô¥ó¥Ý¥ó¶Ì¤ò¥¥ã¥Ã¥Á¤¹¤ë»ÅÁȤߤˤʤäƤ¤¤ë¡£~ º£²ó¤ÏÁ°²ó¤Î²ÝÂê¤Ç¼ºÇÔ¤·¤¿ÅÀ¡¢¼ÖÂΤνŤµ¤Ç¸åÎؤ¬¥¹¥à¡¼¥º¤Ë²ó¤é¤Ê¤¤ÅÀ¤ò¹Íθ¤·¤Æ¡¢~ ½Å¿´¤òÁ°Êý¤Ë»ý¤Ã¤Æ¤¯¤ë¤³¤È¤Ç¹îÉþ¤·¤Æ¤¤¤ë¡£ **¥±¡¼¥Ö¥ë¤Î¼ýǼ [#b279f47e] #ref(2019a/Member/ohta/Mission2/¥±¡¼¥Ö¥ë.jpg,20%,¥³¡¼¥É) º£²ó¹©Éפ·¤¿ÅÀ¤Î°ì¤Ä¤¬¡¢¤³¤Î¥±¡¼¥Ö¥ë¼ýǼ¤Ç¤¢¤ë¡£~ ¤³¤Î²ÝÂê¤Ç¤Ï¡¢¥â¡¼¥¿3¤Äʬ¡Ü¥»¥ó¥µ¡¼1¤Äʬ¤Î4¤Ä¤Î¥±¡¼¥Ö¥ë¤ò»ÈÍѤ¹¤ë¡£~ ¤½¤Î¤¿¤áɬÁ³Åª¤Ë¥±¡¼¥Ö¥ë¤¬¤´¤Á¤ã¤´¤Á¤ã¤·¤Æ¤·¤Þ¤¤¡¢»þ¤È¤·¤Æ¥í¥Ü¥Ã¥È¤ÎÆ°ºî¤ò~ ¼ÙË⤷¤Æ¤·¤Þ¤¦²ÄǽÀ¤¬¤¢¤ë¡£¤½¤ì¤ò²ò·è¤¹¤ë¤Î¤¬¤³¤Î¼ýǼ¤Ç¤¢¤ê¡¢Í¾Ê¬¤ÊŤµÊ¬¤ò~ ¤³¤Î°Ï¤¤Éôʬ¤Ë¤¯¤ë¤¯¤ë´¬¤ÉÕ¤±¤ë¤³¤È¤Ç¥³¥ó¥Ñ¥¯¥È¤ËÁõÃå¤Ç¤¤ë¡£~ ¼ýǼ»þ¤Î¼Ì¿¿¤Ï [[#d3cbddf7]] ¤ò»²¾È¡£~ **¥¢¡¼¥à¤Î¹½Â¤ [#o909993d] ¤³¤ì¤¬ºîÀ®¤·¤¿¥¢¡¼¥à¤Ç¤¢¤ë¡£~ °ìÊý¤Î»Ø¤Ï¸ÇÄꤵ¤ì¤Æ¤ª¤ê¡¢¤â¤¦ÊÒÊý¤Î»Ø¤¬»õ¼Ö¤Ç¥â¡¼¥¿¤ÈÏ¢·È¤µ¤ì¤ÆÆ°¤«¤¹¤³¤È¤¬¤Ç¤¤ë¡£~ #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0003.jpg,20%,¥¢¡¼¥à) -µå¤Î¥¥ã¥Ã¥Á~ ²ÄÆ°¤¹¤ë»Ø¤¬ÊĤޤ뤳¤È¤Çµå¤ò¶´¤ß¥¥ã¥Ã¥Á¤¹¤ëñ½ã¤Ê¹½Â¤¤Ç¤¢¤ë¡£~ #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0010.jpg,20%,¥¢¡¼¥à£±) #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0009.jpg,20%,¥¢¡¼¥à£²) -µå¤Î¥·¥å¡¼¥È~ ¶´¤ó¤Ç¤¤¤ë¾õÂÖ¤«¤é²ÄÆ°»Ø¤¬³«¤¯¡£¤½¤·¤Æ¥¢¡¼¥à¤Î¶õ¤¤¤¿Êý¸þ¤Ø¼ÖÂΤ¬·¹¤¯¡£~ ¤½¤ì¤Ë¤è¤ê¡¢¸ÇÄê»Ø¤¬µå¤ò²¡¤·½Ð¤¹¡£¤³¤Î¤è¤¦¤Ë¤·¤Æ¥´¡¼¥ë¤Ëµå¤ò¥·¥å¡¼¥È¤¹¤ë»ÅÁȤߤˤʤ롣 #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0027.jpg,20%,¥¢¡¼¥à£³) #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0026.jpg,20%,¥¢¡¼¥à£´) #ref(2019a/Member/ohta/Mission2/¥í¥Ü¥Ã¥È_190718_0025.jpg,21%,¥¢¡¼¥à£µ) *¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ä¤¤¤¤¤Æ [#e208e56b] **»ÈÍѤ·¤¿ÄêµÁ [#dea9a98f] -ÃÍ~ °Ê²¼¤ÎÄêµÁ¤Ï¸å½Ò¤¹¤ë¥×¥í¥°¥é¥ß¥ó¥°¤Ë»È¤¦ÃͤòÄêµÁ¤·¤¿¤â¤Î¤À¡£~ ¤³¤ÎÉôʬ¤òÊѹ¹¤¹¤ë¤À¤±¤Ç¤¤¤Á¤¤¤Á´Ø¿ô¤ËÁȤ߹þ¤ó¤À¤ÎÃͤòÊѤ¨¤º¤Ë´Êά²½¤Ç¤¤ë¡£~ #define MOVE_TIME 250 ///¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ïÍѤλþ´Ö(¾ÜºÙ¤Ï¸å½Ò) #define SPEED_H 35 ///¥¹¥Ô¡¼¥É¤ÎÃÍ(Åý°ì¤¹¤ë¤³¤È¤Ç´Ê°×²½) #define MOVE_TIME 250 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ïÍѤλþ´Ö(¾ÜºÙ¤Ï¸å½Ò) #define SPEED_H 35 //¥¹¥Ô¡¼¥É¤ÎÃÍ(Åý°ì¤¹¤ë¤³¤È¤Ç´Ê°×²½) #define SPEED_L 20 #define B1 43 ///ÌÀÅÙ¤ÎÃÍ(¾ÜºÙ¤Ï¸å½Ò) #define B1 43 //ÌÀÅÙ¤ÎÃÍ(¾ÜºÙ¤Ï¸å½Ò) #define G 53 #define W1 59 #define W2 61 -OnRL~ ¤³¤ÎÄêµÁ¤ÏOnRL(x,y)¤È¤·¤¿»þ¡¢x=(¥â¡¼¥¿¡¼B¤Î®¤µ)y=(¥â¡¼¥¿¡¼C¤Î®¤µ)¤òɽ¤¹¡£~ ¥â¡¼¥¿¡¼B¤¬±¦¤Î¼ÖÎØ¡¢¥â¡¼¥¿¡¼C¤¬º¸¤Î¼ÖÎؤËÏ¢·È¤·¤Æ¤¤¤Æ¡¢Ç¤°Õ¤ÎÃͤòx,£ù¤ËÆþ¤ì¤ë~ ¤³¤È¤Ç¼ÖÂΤ¬Á°¸å±¿Æ°¡¢Êý¸þž´¹¤ò¹Ô¤¦¤³¤È¤¬¤Ç¤¤ë¡£~ ¤³¤ÎÄêµÁ¤Ë¤è¤ê¸å½Ò¤¹¤ëÄêµÁÅù¤Î´Êά²½¤Ë¹×¸¥¤·¤Æ¤¤¤ë¡£~ #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); -Á°¸å±¿Æ°¡¢Êý¸þž´¹~ --Á°¿Ê #define go_straight OnRL(SPEED_H,SPEED_H); --Àû²ó(µÞ·ã¤ÊÊý¸þž´¹) #define rot_r OnRL(-SPEED_L,SPEED_L); ///±¦Àû²ó #define rot_l OnRL(SPEED_L,-SPEED_L); ///º¸Àû²ó #define rot_r OnRL(-SPEED_L,SPEED_L); //±¦Àû²ó #define rot_l OnRL(SPEED_L,-SPEED_L); //º¸Àû²ó --²óž(´Ë¤ä¤«¤ÊÊý¸þž´¹) #define turn_r OnRL(0,SPEED_L); ///±¦²óž #define turn_l OnRL(SPEED_L,0); ///º¸²óž #define turn_r OnRL(0,SPEED_L); //±¦²óž #define turn_l OnRL(SPEED_L,0); //º¸²óž --¥¢¡¼¥à¤Î³«ÊÄ #define arm_open OnRev(OUT_A,20);Wait(1000);Off(OUT_A); ///¥¢¡¼¥à¤ò³«¤¯ #define arm_close OnFwd(OUT_A,30);Wait(600);Off(OUT_A); ///¥¢¡¼¥à¤òÊĤ¸¤ë #define arm_open OnRev(OUT_A,20);Wait(1000);Off(OUT_A); //¥¢¡¼¥à¤ò³«¤¯ #define arm_close OnFwd(OUT_A,30);Wait(600);Off(OUT_A); //¥¢¡¼¥à¤òÊĤ¸¤ë **sub¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ [#adc6e636] º£²óºî¤Ã¤¿¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤Ï°Ê²¼¤ÎÄ̤ê¤Ç¤¢¤ë¡£ -¥é¥¤¥ó¥È¥ì¡¼¥¹[follow_line]~ ¤³¤Î´Ø¿ô¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¥³¡¼¥¹¤ÎÀþ¤ÎÌÀÅÙ¤ò·×¬¤·¡¢~ ¾ò·ï¤Ë±è¤Ã¤Æ»ØÄꤷ¤¿Æ°ºî¤ò¤·¤Ê¤¬¤éÀþ¾å¤òÆ°¤Æ¤¤¤¯¤â¤Î¤À¡£~ °Ê²¼¤¬¤½¤Î´Ø¿ô¤Ç¤¢¤ë¡£~ --º¸Â¦¤ÎľÀþ¥È¥ì¡¼¥¹ sub follow_line_l() { SetSensorLight(S1); long t0=CurrentTick(); while(CurrentTick()-t0<MOVE_TIME){ if(SENSOR_1>W1){ rot_r;t0=CurrentTick(); } else if(SENSOR_1>W2){ turn_r;t0=CurrentTick(); } else if(SENSOR_1>G){ go_straight;t0=CurrentTick(); } else if(SENSOR_1>B1){ turn_l;t0=CurrentTick(); } else{ rot_l; } } } --±¦Â¦¤ÎľÀþ¥È¥ì¡¼¥¹ sub follow_line_r() { SetSensorLight(S1); long t0=CurrentTick(); while(CurrentTick()-t0<MOVE_TIME){ if(SENSOR_1>W1){ rot_l;t0=CurrentTick(); } else if(SENSOR_1>W2){ turn_l;t0=CurrentTick(); } else if(SENSOR_1>G){ go_straight;t0=CurrentTick(); } else if(SENSOR_1>B1){ turn_r;t0=CurrentTick(); } else{ rot_r; } } } ¾ÜºÙ¤Ë¤Ä¤¤¤Æ½Ò¤Ù¤Æ¤¤¤¯¡£º£²ó¤Ïº¸Â¦Ä¾Àþ¥È¥ì¡¼¥¹¤ò¼è¤ê¾å¤²¤ë¡£~ ¸÷¥»¥ó¥µ¡¼¤¬¥³¡¼¥¹¤ÎÀþÏ©¤ÎÌÀÅÙ¤ò·×¬¡£ÌÀÅÙ¤´¤È¤ËÀßÄꤵ¤ì¤¿Ì¿Îá¤ò¤³¤Ê¤¹¡£~ ÌÀÅÙ¤ÈÌ¿Îá¤ÎÀßÄê¤Ï°Ê²¼¡£~ #ref(2019a/Member/ohta/Mission2/ɽ.png,50%,¥é¥¤¥ó) ¤³¤Îɽ¤ò¿Þ²½¤·¤¿¤â¤Î¤¬°Ê²¼¤Ç¤¢¤ë¡£~ ÎТª¤¬Á°¿Ê¡¢¥ª¥ì¥ó¥¸¢ª¤¬²óž¡¢ÀÄ¢ª¤¬Àû²ó¤ò¼¨¤·¤Æ¤¤¤ë¡£~ ¡Ê¡ö¸«¤ä¤¹¤¯¤¹¤ë¤¿¤á¡¢¡»¤ÎÃæ¤Î¿ô»ú¤ÏÄêµÁ¤·¤¿Ãͤˤ·¤Æ¤¤¤ë¡£¡Ë #ref(2019a/Member/ohta/Mission2/¥é¥¤¥óÀ©¸æ.png,50%,¥é¥¤¥ó) ¡Öfollow_line_l¡×¤ò¥Õ¥í¡¼¥Á¥ã¡¼¥È²½¤¹¤ë¤È¼¡¤Î¤è¤¦¤Ë¤Ê¤ë¡£ #ref(2019a/Member/ohta/Mission2/¥Á¥ã¡¼¥È²þ.png,65%,¥Á¥ã¡¼¥È) ¡¡¡¡»Ï¤á¤ËCurrentTick¤òt0¤Ë(¥ê¥»¥Ã¥È)¤¹¤ë¡£~ ¡¡¡¡¼¡¤Ë¡ÖCurrentTick()-t0<MOVE_TIME¡×¤Ë¤è¤Ã¤ÆCurrentTick¤Î·×¬»þ´Ö¤¬~ ¡¡¡¡MOVE_TIME(250)¤òĶ¤¨¤ë¤Þ¤Çwhile¤ÎÃæ¤ò¥ë¡¼¥×¤·Â³¤±¤ë¡£~ ¡¡¡¡whileʸ¤ÎÃæ¤Ë¤Ïifʸ¡¢elseʸ¤Ç¹½À®¤µ¤ì¤Æ¤¤¤Æ¡¢¸÷¥»¥ó¥µ¡¼¤ÎÃͤˤè¤Ã¤Æ½èÍý¤¬~ ¡¡¡¡°Û¤Ê¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬43¤è¤êÂ礤¤Ãͤλþ¡Ê¹õ°Ê³°¤Î»þ¡Ë~ ¡¡¡¡CurrentTick¤ÎÃͤÏÌ¿Îá¿ë¹Ô¸å¡¢¾ï¤Ë¥ê¥»¥Ã¥È¤µ¤ì¡¢¥ë¡¼¥×¤Ï·Ñ³¤µ¤ì¤ë¡£~ ¡¡¡¡¤·¤«¤·¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬45°Ê²¼¤Î»þ¡Ê¹õ¤Î»þ¡Ë¡¢CurrentTick¤Ï¥ê¥»¥Ã¥È¤µ¤ì¤Ê¤¤¡£~ ¡¡¡¡¤³¤Î¾õÂÖ¤¬°ìÄê¤Î»þ´Ö¡ÊMOVE_TIME¡Ë³¤¯¤³¤È¤Ç¡¢¸òº¹ÅÀ¤Ç¤¢¤ë¤ÈȽÃǤ·¡¢~ ¡¡¡¡¤³¤Î¥ë¡¼¥×¤«¤éÈ´¤±¡¢»ß¤Þ¤ë¹½Â¤¤È¤Ê¤Ã¤Æ¤¤¤ë¡£~ -¸òº¹ÅÀ¤Ç¤ÎÆ°ºî~ ¥é¥¤¥ó¥È¥ì¡¼¥¹Ãæ¡¢¸òº¹ÅÀ¤ÈȽÃǤ·¤Æ»ß¤Þ¤Ã¤¿¸å¤ÎÆ°ºî¤Ï3¤Ä¤ËʬÎव¤ì¤ë~ --¸òº¹ÅÀ¤ò´Ë¤ä¤«¤Ëľ¿Ê[cross_line_1]~ sub cross_line_1() { while(SENSOR_1<W1){ go_straight; } while(SENSOR_1>G){ turn_l; } Off(OUT_BC); } --¸òº¹ÅÀ¤òµÞ·ã¤Ëľ¿Ê[cross_line_2]~ sub cross_line_2() { while(SENSOR_1<W1){ go_straight; } while(SENSOR_1>G){ rot_l; } Off(OUT_BC); } º£²ó¤Ï±¦Â¦Ä¾Àþ¥È¥ì¡¼¥¹¸å¤Î¸òº¹ÅÀ¤Ê¤Î¤Ç±¦Â¦¤Ç¤Î¸òº¹ÅÀľ¿Ê¤òÀâÌÀ¤¹¤ë¡£~ ¤³¤Î2¤Ä¤Î´Ø¿ô¤Î»ÅÁȤߤÏƱ¤¸¤Ç¤¢¤ë¡£~ ¤Þ¤º¸òº¹ÅÀ¤ÇÄä»ß¸å¡¢ÀßÄêÌÀÅÙ¡ÒÇò¡Ó¤ò¸«¤Ä¤±¤ë¤Þ¤Çľ¿Ê¤¹¤ë¡£~ ¼ÖÂΤϱ¦Â¦¤Ë·¹¤¤¤Æ¤¤¤ë¤Î¤Çľ¿Ê¤¹¤ì¤ÐÇò¿§(ÀþÏ©°Ê³°¤Î¾ì½ê)¤ò¸«¤Ä¤±¤é¤ì¤ë¡£~ Çò¤ò¸«¤Ä¤±¤¿¤é¡¢ÀßÄêÌÀÅÙ¡Ò³¥¡Ó¤ò¤ß¤Ä¤±¤ë¤Þ¤Ç~ ´Ë¤¤Ä¾¿Ê¤Ç¤¢¤ì¤Ðº¸²óž¡¢µÞ·ã¤Êľ¿Ê¤Ç¤¢¤ì¤Ðº¸Àû²ó¤ò¤¹¤ë¡£~ ³¥¤ò¸«¤Ä¤±¤¿¤éÄä»ß¤¹¤ë¡£ #ref(2019a/Member/ohta/Mission2/¸òº¹ÅÀ²þ.png,50%,¸òº¹ÅÀ) --¸òº¹ÅÀ¤òľ³Ñ¤Ë¶Ê¤¬¤ë[follow_line_r]~ ¸òº¹ÅÀ¤ÇÄä»ß¸å¡¢Ä¾³Ñ¤Ë¶Ê¤¬¤ë¾ì¹ç¤ÏºÆÅÙ¡Öfollow_line¡×¤òÌ¿Î᤹¤ë¤³¤È¤Ç~ ¤½¤Î¤Þ¤Þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·Â³¤±Ä¾³Ñ¤Ë¶Ê¤¬¤ë¤³¤È¤¬¤Ç¤¤ë¡£~ º£²ó¤Î¥³¡¼¥¹¤Ç¤Ï±¦¤Ë¶Ê¤¬¤ë¤Î¤ß¤Ê¤Î¤Ç¡Öfollow_line_r¡×¤Î¤ß¤Î»ÈÍѤˤʤ롣~ -¸òº¹ÅÀ¤Ç¤ÎÄä»ß[short_break]~ ¤³¤Î¥ß¥Ã¥·¥ç¥ó¤Ç¤Ï¡Ö¸òº¹ÅÀ¤Ç¤Ï1ÉôÖÄä»ß¤·¡¢Ãú»úÏ©¤Ç¤Ïľ³ÑÊý¸þ¤Ë¿ÊÆþ¤¹¤ë»þ¤Î¤ß°ì»þÄä»ß¡×~ ¤òµÁ̳¤Å¤±¤Æ¤¤¤ë¡£¤½¤Î¤¿¤á¤³¤Î´Ø¿ô¤ò¶´¤à¤³¤È¤Ç¤½¤Î¾ò·ï¤ò¥¯¥ê¥¢¤·¤Æ¤¤¤ë¡£~ sub short_break() { Off(OUT_BC); Wait(1000); } -µå¤ò¥¥ã¥Ã¥Á¤¹¤ë[ball_catch]~ ¥³¡¼¥¹¤ÎKÃÏÅÀ¤«¤éµå¤ò¥¥ã¥Ã¥Á¤¹¤ë¤Þ¤Ç¤Ï¼êÆ°¤Î¥×¥í¥°¥é¥ß¥ó¥°¤òºÎÍѤ·¤Æ¤¤¤ë¡£~ ¤½¤ì¤¬°Ê²¼¤Î´Ø¿ô¤Ç¤¢¤ë¡£¥¥ã¥Ã¥Á¤Î»ÅÁȤߤ˴ؤ·¤Æ¤Ï [[#o909993d]] ¤ò»²¾È¡£~ sub ball_catch() { rot_l; ///º¸Àû²ó rot_l; //º¸Àû²ó Wait(350); Off(OUT_BC); go_straight; ///Á°¿Ê go_straight; //Á°¿Ê Wait(2000); Off(OUT_BC); OnRL(-SPEED_L,0); ///±¦¼ÖÎؤò¸åž¤µ¤»±¦²óž OnRL(-SPEED_L,0); //±¦¼ÖÎؤò¸åž¤µ¤»±¦²óž Wait(1000); Off(OUT_B); OnRL(-SPEED_L,-SPEED_L); ///¸åÂà OnRL(-SPEED_L,-SPEED_L); //¸åÂà Wait(1500); Off(OUT_BC); arm_close; ///¥¢¡¼¥à¤òÊĤ¸¤ë arm_close; //¥¢¡¼¥à¤òÊĤ¸¤ë rot_r; Wait(1300); go_straight; ///Á°¿Ê go_straight; //Á°¿Ê Wait(800); Off(OUT_BC); } -µå¤ò¥·¥å¡¼¥È¡¢¼ÖÂΤ⥴¡¼¥ë[shoot_goal]~ º¸Â¦¤ÎľÀþ¤ò¥È¥ì¡¼¥¹¤·¤ÆMÃÏÅÀ¤ËÅþ㤷¤¿¸å¤Î´Ø¿ô¤Ç¤¢¤ë¡£~ ¤³¤Î´Ø¿ô¤Ïµå¤ò¥·¥å¡¼¥È¤·¤Æ¼ÖÂÎËÜÂΤ¬¥´¡¼¥ë¤¹¤ë¤Þ¤Ç¤Î´Ø¿ô¤Ç¤¢¤ë¡£~ ¥·¥å¡¼¥È¤Î»ÅÊý¤Ë¤Ä¤¤¤Æ¤Ï [[#o909993d]] ¤ò»²¾È¡£~ sub shoot_goal() { rot_l; ///º¸Àû²ó rot_l; //º¸Àû²ó Wait(300); Off(OUT_BC); go_straight;///Á°¿Ê(¥´¡¼¥ë¤ËÂФ·¤Æ²£¸þ¤¤Ë¤Ê¤ë) go_straight;//Á°¿Ê(¥´¡¼¥ë¤ËÂФ·¤Æ²£¸þ¤¤Ë¤Ê¤ë) Wait(1300); arm_open; ///¥¢¡¼¥à¤ò³«¤¯ rot_l; ///º¸Àû²ó(Æ°ºî¤Ë¹ç¤ï¤»¤Æµå¤ò¥·¥å¡¼¥È) arm_open; //¥¢¡¼¥à¤ò³«¤¯ rot_l; //º¸Àû²ó(Æ°ºî¤Ë¹ç¤ï¤»¤Æµå¤ò¥·¥å¡¼¥È) Wait(500); Off(OUT_BC); go_straight;///Á°¿Ê(¼ÖÂΤ¬¥´¡¼¥ë) go_straight;//Á°¿Ê(¼ÖÂΤ¬¥´¡¼¥ë) Wait(500); Off(OUT_BC); } **¥á¥¤¥ó¥×¥í¥°¥é¥à [#m1a442bb] °Ê¾å¤Î¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ò»ÈÍѤ·¤Æ¥í¥Ü¥Ã¥È¤¬¥¹¥¿¡¼¥È¤·¥Ü¡¼¥ë¥¥ã¥Ã¥Á¸å~ ¥·¥å¡¼¥È¤ò¤·¤Æ¥´¡¼¥ë¤¹¤ë¤Þ¤Ç¤ÎÆ°ºî¤Î¥×¥í¥°¥é¥ß¥ó¥°¤ò¤·¤Æ¤¤¤¯¡£~ °Ê²¼¤¬¥á¥¤¥ó¤Î¥×¥í¥°¥é¥ß¥ó¥°¤À¡£~ ¡ö¥³¡¼¥¹ÃÏÅÀ¤Î̾Á°¤Ï [[#q0bf97ed]] ¤ò»²¾È¡£~ task main() { go_straight; ///¥¹¥¿¡¼¥È(A)¡ÁB go_straight; //¥¹¥¿¡¼¥È(A)¡ÁB Wait(1000); Off(OUT_BC); follow_line_r(); ///B¡ÁC(T»úÏ©) cross_line_1(); ///T»úϩľ¿Ê follow_line_r(); ///C¡ÁD(¸òº¹ÅÀ) short_break(); ///¸òº¹ÅÀ¤Î¤¿¤á°ì»þÄä»ß cross_line_1(); ///¸òº¹ÅÀľ¿Ê follow_line_r(); ///D¡ÁE follow_line_r(); //B¡ÁC(T»úÏ©) cross_line_1(); //T»úϩľ¿Ê follow_line_r(); //C¡ÁD(¸òº¹ÅÀ) short_break(); //¸òº¹ÅÀ¤Î¤¿¤á°ì»þÄä»ß cross_line_1(); //¸òº¹ÅÀľ¿Ê follow_line_r(); //D¡ÁE follow_line_r(); follow_line_r(); ///E¡ÁF follow_line_r(); //E¡ÁF follow_line_r(); follow_line_r(); ///F¡ÁH cross_line_2(); ///H(T»úϩľ¿Ê) follow_line_r(); ///H¡ÁI cross_line_2(); ///I(T»úϩľ¿Ê) follow_line_r(); ///I¡ÁJ follow_line_r(); ///J¡ÁK ball_catch();¡¡¡¡///K¡Áµå¥¥ã¥Ã¥Á follow_line_l(); ///L¡ÁM shoot_goal(); ///M¡Áµå¥·¥å¡¼¥È¡Á¥´¡¼¥ë follow_line_r(); //F¡ÁH cross_line_2(); //H(T»úϩľ¿Ê) follow_line_r(); //H¡ÁI cross_line_2(); //I(T»úϩľ¿Ê) follow_line_r(); //I¡ÁJ follow_line_r(); //J¡ÁK ball_catch();¡¡¡¡//K¡Áµå¥¥ã¥Ã¥Á follow_line_l(); //L¡ÁM shoot_goal(); //M¡Áµå¥·¥å¡¼¥È¡Á¥´¡¼¥ë } *´¶ÁÛ [#a6751cd0] **¥í¥Ü¥Ã¥È¤Ë´Ø¤·¤Æ [#l6947958] º£²ó¤Ï¥Ú¥¢¤Î¿Í¤¬¥í¥Ü¥Ã¥Èºî¤ê¤¬¾å¼ê¤ÇÁ°²ó¤Î¤è¤¦¤Ê²ÝÂêÅÀ¤â¹îÉþ¤·¤Æ¥¹¥à¡¼¥º¤Ë~ Æ°¤¯¥í¥Ü¥Ã¥È¤òºî¤ì¤¿¡£¤Þ¤¿¥¢¡¼¥àÉôʬ¤Ç¤Ï¥·¥å¡¼¥ÈÆ°ºî¤¬¹©Éפµ¤ì¤Æ¤¤¤ë¤È»×¤¦¡£~ **¥×¥í¥°¥é¥ß¥ó¥°¤Ë´Ø¤·¤Æ [#wc1f2ec2] ¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ò»È¤¦¤³¤È¤Ë¤è¤ê¡¢¥á¥¤¥ó¥×¥í¥°¥é¥à¤ò´Êά²½¤¹¤ë¤³¤È¤ËÀ®¸ù¤·¤¿¡£~ ¤Þ¤¿NXT¤Î¼èÀâ¤ò»²¹Í¤Ë¤·¤¿OnRL¤ÎÄêµÁ¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤â´Þ¤áÁ´ÂΤòÄ̤·¤Æ~ ´Êά²½¤¹¤ë¤³¤È¤Ë¹×¸¥¤·¤Æ¤¯¤ì¤¿¤Î¤Ç¤³¤ì¤«¤é¤â»ÈÍѤ·¤Æ¤¤¤¤¿¤¤¡£~ **Á´ÂΤòÄ̤·¤Æ [#i55b5170] ¤³¤Î²ÝÂê¤Ï¥ß¥Ã¥·¥ç¥ó¤ò¤¦¤Þ¤¯¤³¤Ê¤¹¤³¤È¤¬¤Ç¤¤¿¡£¥Ú¥¢¤È¤Î°Õ¸«¸òή¤âÀ¹¤ó¤Ë¹Ô¤ï¤ì~ ¥í¥Ü¥Ã¥È¤¬ÆÀ°Õ¤Ê¥Ú¥¢¤Î¿Í¤Ï¥í¥Ü¥Ã¥Èºî¤ê¤ò¡¢¥×¥í¥°¥é¥ß¥ó¥°¤¬¤¢¤ëÄøÅ٤Ǥ¤ë»ä¤Ï~ ¥×¥í¥°¥é¥ß¥ó¥°¤ò¼ç¤Ëʬô¤¹¤ë¤³¤È¤Çºî¶È¤Î¸úΨ²½¤¬¤Ç¤¤¿¡£~ ¼¡¤Î²ÝÂê¤Ç¤â¤³¤ÎÀ®¸ùÅÀ¤òÀ¸¤«¤·¤Æ¼è¤êÁȤó¤Ç¤¤¤¤¿¤¤¡£