2009a/A12/¥í¥Ü¥³¥ó
¤ò¥Æ¥ó¥×¥ì¡¼¥È¤Ë¤·¤ÆºîÀ®
[
¥È¥Ã¥×
] [
¿·µ¬
|
°ìÍ÷
|
¸¡º÷
|
ºÇ½ª¹¹¿·
|
¥Ø¥ë¥×
|
¥í¥°¥¤¥ó
]
³«»Ï¹Ô:
*Ìܼ¡ [#e994dff9]
#contents
*²ÝÂê [#f723bde2]
¡¡²ÝÂꡧ»æ¥Ñ¥Ã¥¯¼ý½¸¡¦Ê¬ÊÌ¥í¥Ü¥Ã¥È¤ÎºîÀ®
¡¡»æ¥Ñ¥Ã¥¯¤ò¼ý½¸¤·¤Æ¿§¤´¤È¤ËÊ̤ÎÌÜŪÃϤޤDZ¿¤Ö
*¥³¡¼¥¹¤Î¾Ò²ð [#y8e3d0ac]
http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2009a%2F%A5%ED%A5%DC%A5%B3%A5%F3&src=robocon2009a-1.png
*¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#nc19b27e]
-¥í¥Ü¥Ã¥È¡
ÄϤàÉôʬ
#ref(090804_2104~0001.jpg)
#ref(090804_2104~0005.jpg)
¤Ä¤«¤àÉôʬ¤ò¤Þ¤º¹Í¤¨¤Þ¤·¤¿¡£º£²ó¤ÏÈĤξå¤Ë¤¢¤ëµíÆý¥Ñ¥Ã¥¯¤ò¤Ï¤³¤Ö¤È¤¤¤¦¤³¤È¤À¤Ã¤¿¤Î¤Ç¡¢¤·¤Ã¤«¤ê¤ÈµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤à¤¿¤á¤Ë¥â¡¼¥¿¡¼¤ò»È¤¤¤Þ¤·¤¿¡£ÆñÅÀ¤È¤·¤Æ¤Ï¡¢Á°Êý¤Ë½Å¿´¤¬¤«¤«¤Ã¤Æ¤·¤Þ¤¤¡¢Á°¤Î¤á¤êµ¤Ì£¤Ê¤È¤³¤í¤Ç¤¹¤¬¡¢¤·¤Ã¤«¤ê¿Ê¤à¤è¤¦»î¹Ôºø¸í¤·¤Æ¼è¤êÉÕ¤±¤Þ¤·¤¿¡£
¼ÖÎØÉô
#ref(090804_2104~0002.jpg)
¥í¥Ü¥Ã¥È¡¤Î¼ÖÎØÉô¤Ï¡ÖÈæ³ÓŪ´Êñ¤Ë¡¢¤«¤Ä¡¢½Å¤¯¤Ê¤é¤Ê¤¤¼ÖÎØÉô¡×¤òÌܻؤ·¤Æ¹Í¤¨¤¿·ë²Ì¤³¤Î·Á¤Ë¤Ê¤ê¤Þ¤·¤¿¡£Á°Îؤ¬³°¤ì¤ä¤¹¤¤¤È¤¤¤¦ÉÔ°ÂÍ×ÁǤ¬¤¢¤ê¤Þ¤¹¤¬...
-¥í¥Ü¥Ã¥È¢
¥í¥Ü¥Ã¥È¢¤ÎÊý¤ÏµíÆý¥Ñ¥Ã¥¯¤¬¤Î¤»¤Æ¤¢¤ëÈĤΤȤ³¤í¤Þ¤Ç¥í¥Ü¥Ã¥È¡¤ò±¿¤Ö¤¿¤á¤Î¤â¤Î¤Ç¤¹¡£¤³¤Ã¤Á¤ÎÊý¤Ï¡¢¥¥ã¥¿¥Ô¥é¡¼¤ò»È¤Ã¤Æ¡¢Éý¤ò¹¤¯¤·¤Þ¤·¤¿¡£¤³¤Ã¤Á¤Ï¥í¥Ü¥Ã¥È¡¤ò±¿¤Ö¤³¤È¤¬¼ç¤Ê»Å»ö¤Ë¤Ê¤ë¤¿¤á¡¢ÅÚÂæºî¤ê¤¬ÂçÊѤǤ·¤¿¡£¤·¤«¤·¡¢¤Ê¤ó¤È¤«¤³¤Î·Á¤Ë¤Þ¤È¤Þ¤ê¡¢¥í¥Ü¥Ã¥È¡¤¬¤·¤Ã¤«¤ê¼ý¤Þ¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£
#ref(090804_2104~0003.jpg)
#ref(090804_2104~0004.jpg)
²¼¤Î¼Ì¿¿¤Ï¥í¥Ü¥Ã¥È¢¤Ë¥í¥Ü¥Ã¥È¡¤ò¾è¤Ã¤±¤¿¼Ì¿¿¤Ç¤¹¡£
#ref(090805_1110~0001.jpg)
*¥×¥í¥°¥é¥ß¥ó¥°¤Î¾Ò²ð [#jf6b1b26]
NUMBER_1
#define turn_time 95¡¡¡¡//90ÅÙÀû²ó¤¹¤ë¤Î¤ËÍפ¹¤ë»þ´Ö
#define turn_right OnFwd(OUT_A);OnRev(OUT_C);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//±¦¤Ë90ÅÙÀû²ó¤¹¤ë
#define turn_left OnFwd(OUT_C);OnRev(OUT_A);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//º¸¤Ë90ÅÙÀû²ó¤¹¤ë
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);¡¡¡¡//ľ¿Ê¤¹¤ë
#define SIGNAL 11
task main()
{
SetSensor(SENSOR_3,SENSOR_TOUCH);¡¡¡¡//¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
Wait(300);¡¡¡¡//¥¹¥¤¥Ã¥Á¤òÆþ¤ì¤Æ¤«¤é¾¯¤·ÂÔ¤Ä
go_straight(300);¡¡¡¡//ľ¿Ê
turn_right;¡¡¡¡//±¦¤ØÀû²ó
go_straight(200);¡¡¡¡//ľ¿Ê
turn_right;¡¡¡¡//±¦¤ØÀû²ó
go_straight(300);¡¡¡¡//ľ¿Ê
turn_left;¡¡¡¡//º¸¤ØÀû²ó
go_straight(300);¡¡¡¡//ľ¿Ê
if(SENSOR_2==1)¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤È¤
{
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
Wait(300);¡¡¡¡//¾¯¤·ÂÔ¤Ä
SendMessage(SIGNAL);¡¡¡¡//SIGNAL¤òÁ÷¿®
}
}
NUMBER_2
#define turn_time 55¡¡¡¡//90ÅÙÀû²ó¤¹¤ë¤Î¤ËÍפ¹¤ë»þ´Ö
#define turn_right OnFwd(OUT_A);OnRev(OUT_C);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//±¦¤Ë90ÅÙÀû²ó¤¹¤ë
#define turn_left OnFwd(OUT_C);OnRev(OUT_A);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//º¸¤Ë90ÅÙÀû²ó¤¹¤ë
#define go_straight OnFwd(OUT_A+OUT_C);¡¡¡¡//ľ¿Ê¤¹¤ë
#define back OnRev(OUT_A+OUT_C);Wait(100);Off(OUT_A+OUT_C);¡¡¡¡//¸åÂह¤ë
#define SIGNAL 11
#define light 50¡¡¡¡//ÇòÀþ¤È¹õÀþ¤ò¼±Ê̤¹¤ë¤¿¤á¤ÎÃÍ
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡¡¡//¥»¥ó¥µ¡¼£±¤ò¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_2,SENSOR_TOUCH);¡¡¡¡//¥»¥ó¥µ¡¼£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡¡¡//¥»¥ó¥µ¡Ý£³¤ò¸÷¥»¥ó¥µ¡¼
int n ;¡¡¡¡//½é¤á¤Îif¤Èwhile¤¬¤«¤Ö¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤ËÀߤ±¤¿
int m ;¡¡¡¡//¸òº¹ÅÀ¤ò¿ô¤¨¤ë¡Ê£²¤Ä¤Î¸÷¥»¥ó¥µ¡¼¤¬Î¾Êý°Å¤¤¤Èǧ¼±¤·¤¿²ó¿ô¡Ë
int l ;¡¡¡¡//¥¢¡¼¥à¤ÎÆ°ºî¤ò¿ô¤¨¤ë¡Ê´ñ¿ô¤Ç³«¤¡¢0¤ò´Þ¤à¶ö¿ô¤ÇÊĤ¸¤ë¡Ë
n=0;
m=0;
l=0;
ClearMessage();
if(Message()==SIGNAL)¡¡¡¡//SIGNAL¤ò¼õ¿®¤·¤¿¤é
{
back;¡¡¡¡/¸åÂà
turn_right;¡¡¡¡//±¦¤ØÀû²ó
n=n+1;
}
while((n>0)&&(m<26))¡¡¡¡//¾å¤Î¥×¥í¥°¥é¥à¤ò¤·¤¿¤¢¤È³î¤Ä¡¢¥Ñ¥Ã¥¯¤òÁ´¤Æ±¿¤Ó½ª¤ï¤Ã¤Æ¤Ê¤¤¤È¤
{
if(SENSOR_2==1 && ((l==0)||(l==2)||(l==4)||(l==6)||(l==8)||(l==10)))¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ³î¤Ä¡¢¥¢¡¼¥à¤¬³«¤¤¤Æ¤¤¤ë¤È¤
{
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
OnFwd(OUT_B);¡¡¡¡
Wait(100);¡¡¡¡//¥¢¡¼¥à¤òÊĤ¸¤ë
back;¡¡¡¡//¸åÂà
turn_right;
turn_right;¡¡¡¡//180ÅÙ±¦Àû²ó
l=l+1;
}
if(SENSOR_2==1 && ((l==1)||(l==3)||(l==5)||(l==7)||(l==9)||(l==11)))¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ³î¤Ä¡¢¥¢¡¼¥à¤¬ÊĤ¸¤Æ¤¤¤ë¤È¤
{
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
OnRev(OUT_B);¡¡¡¡
Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯
Off(OUT_B);
back;¡¡¡¡//¸åÂà
turn_right;
turn_right;¡¡¡¡//180ÅÙ±¦Àû²ó
l=l+1;
}
if(SENSOR_1>light && SENSOR_3>light)¡¡¡¡//¹õÀþ¾å¤Ë¤¢¤ë¤È¤
{
go_straight;¡¡¡¡//ľ¿Ê
}
if(SENSOR_1<light && SENSOR_3>light)¡¡¡¡//¹õÀþ¤è¤ê±¦¤Ø¥º¥ì¤Æ¤¤¤ë¤È¤
{
turn_left;¡¡¡¡//º¸¤ØÀû²ó
}
if(SENSOR_1>light && SENSOR_3<light)¡¡¡¡//¹õÀþ¤è¤êº¸¤Ø¥º¥ì¤Æ¤¤¤ë¤È¤
{
turn_right;¡¡¡¡//±¦¤ØÀû²ó
}
if(SENSOR_1<light && SENSOR_3<light)¡¡¡¡//¸òº¹ÅÀ¤ËÍ褿¤È¤¡ÊξÊý¤Î¥»¥ó¥µ¡¼¤¬°Å¤¤¤Èǧ¼±¤·¤¿¤È¤
{
if((m==0))¡¡¡¡//¸òº¹ÅÀ1¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
turn_left;¡¡¡¡//º¸¤ØÀû²ó
m=m+1;
}
if((m==1)||(m==11)||(m==13)||(m==14)||(m==24))¡¡¡¡//¸òº¹ÅÀ2¡¢12¡¢13¡¢15¡¢25¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
OnFwd(OUT_A+OUT_C);
Wait(50);¡¡¡¡//¾¯¤·Á°¿Ê
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
m=m+1;
}
if((m==2)||(m==5)||(m==8)||(m==10)||(m==20)||(m==25))¡¡¡¡//3¡¢6¡¢9¡¢11¡¢21¡¢26¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
turn_right;¡¡¡¡//±¦¤ØÀû²ó
OnFwd(OUT_A+OUT_C);
Wait(50);¡¡¡¡//¾¯¤·Á°¿Ê
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
m=m+1;
}
if((m==3)||(m==17)||(m==19)||(m==22))¡¡¡¡//¸òº¹ÅÀ4¡¢18¡¢20¡¢23¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
OnFwd(OUT_A);
Wait(50);¡¡¡¡//¾¯¤·±¦Àû²ó
m=m+1;
}
if((m==4)||(m==6)||(m==9)||(m==16))¡¡¡¡//¸òº¹ÅÀ5¡¢7¡¢10¡¢17¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
OnFwd(OUT_C);
Wait(50);¡¡¡¡//¾¯¤·º¸Àû²ó
m=m+1;
}
if((m==7)||(m==12)||(m==15)||(m==18)||(m==21)||(m==23))¡¡¡¡//¸òº¹ÅÀ8¡¢13¡¢16¡¢19¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
turn_left;¡¡¡¡//º¸¤ØÀû²ó
OnFwd(OUT_A+OUT_C);
Wait(50);¡¡¡¡//¾¯¤·Á°¿Ê
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
m=m+1;
}
}
}
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
}
*¹©Éפä´èÄ¥¤Ã¤¿ÅÀ [#qde6c338]
¥í¥Ü¥Ã¥È¤Î¹½Â¤¤ò¤É¤Î¤è¤¦¤Ë¤¹¤ë¤«¤Ç¡¢¤Þ¤ºÇº¤ß¤Þ¤·¤¿¡£·ë²ÌŪ¤Ë¾å¤Î¼Ì¿¿¤Î¤è¤¦¤Ë¤Þ¤È¤Þ¤ê¤Þ¤·¤¿¤¬¡¢Æäˡ¢¾åµ¤Î¤è¤¦¤ËµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤à¤È¤³¤í¤ÏÎϤòÆþ¤ì¤¿¤È¤³¤í¤Ç¤¹¡£¤Þ¤¿¡¢RCXƱ»Î¤ÎÄÌ¿®¤¬º£²ó¤ÏɬÍפʤ¿¤á¡¢¤Î¤»¤¿»þ¤ÎRCX¤Î°ÌÃ֤ʤɤ⹩Éפ¬É¬ÍפʤƤó¤Ç¤·¤¿¡£
*´¶ÁÛ [#p244e497]
º£²ó¤Ï¥í¥Ü¥Ã¥È¤Î¹½Â¤¤«¤é¼«Ê¬¤¿¤Á¤Ç¹Í¤¨¤Ê¤±¤ì¤Ð¤Ê¤é¤º¡ÊRCX¤òÆó¤Ä»È¤Ã¤Æ°ìÂæ¤Î¥í¥Ü¥Ã¥È¤òºî¤ë¤«¡¢°ìÂ椺¤ÄRCX¤ò»È¤Ã¤Æ·×ÆóÂæ¤Î¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë¤«¡Ë¤³¤Î²áÄø¤Ç»þ´Ö¤¬¤¿¤¯¤µ¤ó¤«¤«¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£¤½¤Î¤¿¤á¥×¥í¥°¥é¥à¤Ë¼è¤ê¤«¤«¤ë¤Î¤¬ÃÙ¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢¥í¥Ü¥³¥óÅöÆü¤Î¸áÁ°Ãæ¤Þ¤Ç¤«¤«¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£¡¡
¥ì¥´¥Ö¥í¥Ã¥¯¤ÎÀ¼Á¤ò¤¦¤Þ¤¯¤Ä¤«¤á¤º¡¢Ê䶯¤·¤è¤¦¤È»×¤Ã¤Æ¤Ä¤±¤¿¥Ñ¡¼¥Ä¤¬ËÜÂΤνÅÎ̤ò¤¢¤²¤Æ¤·¤Þ¤Ã¤Æ¡¢µÕ¤Ë²õ¤ì¤ä¤¹¤¤¥í¥Ü¥Ã¥È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤È¤Æ¤â»ÄÇ°¤À¤Ã¤¿¡£
¤¦¤Þ¤¯¤¤¤«¤Ê¤¯¤Æ¤â¡¢·è¤á¤¿Êý¸þÀ¤òÊø¤·¤Æ°ì¤«¤é¤Þ¤¿ºî¤ê¤Ê¤ª¤½¤¦¤È¤¤¤¦Í¦µ¤¤¬Í¯¤«¤º¤ËËÜÈ֤˻ê¤ê¡¢¼ºÇÔ¤·¤Æ¤·¤Þ¤Ã¤¿¡£¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¤éº¬ËÜŪ¤Ë¤Ä¤¯¤ê¤òÊѤ¨¤é¤ì¤ë¤è¤¦¤Ê½ÀÆð¤ÊÂбþ¤äȯÁÛ¤¬É¬ÍפÀ¤Ã¤¿¤È»×¤¤¤Þ¤·¤¿¡£
*¥í¥Ü¥³¥ó·ë²Ì [#lbb04196]
Ëͤ¿¤Á¤ÎÈɤÏȬÈÖÌܤȤ¤¤¦¡¢¤½¤í¤½¤íÀ®¸ù¤¹¤ë¤È¤³¤í¤¬½Ð¤Æ¤¤Æ¤Û¤·¤¤ÈÖÌܤǤ·¤¿¡£¤·¤«¤·¡¢¥×¥í¥°¥é¥à¤Ç¤Ïľ¿Ê¤¹¤ë¤Ï¤º¤À¤Ã¤¿¤Î¤ËÆÍÁ³²¿¤ò»×¤Ã¤¿¤Î¤«º¸²óž¡¢±¦²óž¤ò·«¤êÊÖ¤¹¤È¤¤¤¦Ææ¤Î¹ÔÆ°¤ò¤·¤Æ¤·¤Þ¤¤°ì²óÌܤΥÁ¥ã¥ì¥ó¥¸¼ºÇÔ...Æó²óÌܤΥÁ¥ã¥ì¥ó¥¸¤Î¤¿¤áÄ´À°¤ò¤·¤è¤¦¤È¤·¤¿¤È¤³¤í¡¢¥í¥Ü¥Ã¥È¢¤¬ÂçÇË¡£¤ä¤à¤Ê¤¯¥ê¥¿¥¤¥¢¤òÀë¸À¤»¤¶¤ë¤òÆÀ¤Þ¤»¤ó¤Ç¤·¤¿¡£º£¤Þ¤Ç¤Î¶ìÏ«¤¬¡Á¡Á¡Á¡Á¡£ÇÔ°ø¤È¤·¤Æ¤Ï¡¢¥í¥Ü¥³¥ó¸å¤ËÀèÀ¸¤¬¸À¤Ã¤Æ¤¤¤¿¤è¤¦¤Ë¡¢¸ÇÄꤹ¤ë¤¿¤á¤Ë¥Ñ¡¼¥Ä¤ò¤¿¤¯¤µ¤ó»È¤Ã¤Æ¤¤¤¿¤Î¤¬¡¢¸ÇÄꤹ¤ëÌò³ä¤ò²Ì¤¿¤·¤Æ¤¤¤Ê¤«¤Ã¤¿¤È¤¤¤¦ÅÀ¤Ç¤¹¡£
**¥³¥á¥ó¥ÈÍó [#od22ab77]
¤´¼«Í³¤Ë¤É¤¦¤¾¡°¡°
#comment
½ªÎ»¹Ô:
*Ìܼ¡ [#e994dff9]
#contents
*²ÝÂê [#f723bde2]
¡¡²ÝÂꡧ»æ¥Ñ¥Ã¥¯¼ý½¸¡¦Ê¬ÊÌ¥í¥Ü¥Ã¥È¤ÎºîÀ®
¡¡»æ¥Ñ¥Ã¥¯¤ò¼ý½¸¤·¤Æ¿§¤´¤È¤ËÊ̤ÎÌÜŪÃϤޤDZ¿¤Ö
*¥³¡¼¥¹¤Î¾Ò²ð [#y8e3d0ac]
http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2009a%2F%A5%ED%A5%DC%A5%B3%A5%F3&src=robocon2009a-1.png
*¥í¥Ü¥Ã¥È¤Î¾Ò²ð [#nc19b27e]
-¥í¥Ü¥Ã¥È¡
ÄϤàÉôʬ
#ref(090804_2104~0001.jpg)
#ref(090804_2104~0005.jpg)
¤Ä¤«¤àÉôʬ¤ò¤Þ¤º¹Í¤¨¤Þ¤·¤¿¡£º£²ó¤ÏÈĤξå¤Ë¤¢¤ëµíÆý¥Ñ¥Ã¥¯¤ò¤Ï¤³¤Ö¤È¤¤¤¦¤³¤È¤À¤Ã¤¿¤Î¤Ç¡¢¤·¤Ã¤«¤ê¤ÈµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤à¤¿¤á¤Ë¥â¡¼¥¿¡¼¤ò»È¤¤¤Þ¤·¤¿¡£ÆñÅÀ¤È¤·¤Æ¤Ï¡¢Á°Êý¤Ë½Å¿´¤¬¤«¤«¤Ã¤Æ¤·¤Þ¤¤¡¢Á°¤Î¤á¤êµ¤Ì£¤Ê¤È¤³¤í¤Ç¤¹¤¬¡¢¤·¤Ã¤«¤ê¿Ê¤à¤è¤¦»î¹Ôºø¸í¤·¤Æ¼è¤êÉÕ¤±¤Þ¤·¤¿¡£
¼ÖÎØÉô
#ref(090804_2104~0002.jpg)
¥í¥Ü¥Ã¥È¡¤Î¼ÖÎØÉô¤Ï¡ÖÈæ³ÓŪ´Êñ¤Ë¡¢¤«¤Ä¡¢½Å¤¯¤Ê¤é¤Ê¤¤¼ÖÎØÉô¡×¤òÌܻؤ·¤Æ¹Í¤¨¤¿·ë²Ì¤³¤Î·Á¤Ë¤Ê¤ê¤Þ¤·¤¿¡£Á°Îؤ¬³°¤ì¤ä¤¹¤¤¤È¤¤¤¦ÉÔ°ÂÍ×ÁǤ¬¤¢¤ê¤Þ¤¹¤¬...
-¥í¥Ü¥Ã¥È¢
¥í¥Ü¥Ã¥È¢¤ÎÊý¤ÏµíÆý¥Ñ¥Ã¥¯¤¬¤Î¤»¤Æ¤¢¤ëÈĤΤȤ³¤í¤Þ¤Ç¥í¥Ü¥Ã¥È¡¤ò±¿¤Ö¤¿¤á¤Î¤â¤Î¤Ç¤¹¡£¤³¤Ã¤Á¤ÎÊý¤Ï¡¢¥¥ã¥¿¥Ô¥é¡¼¤ò»È¤Ã¤Æ¡¢Éý¤ò¹¤¯¤·¤Þ¤·¤¿¡£¤³¤Ã¤Á¤Ï¥í¥Ü¥Ã¥È¡¤ò±¿¤Ö¤³¤È¤¬¼ç¤Ê»Å»ö¤Ë¤Ê¤ë¤¿¤á¡¢ÅÚÂæºî¤ê¤¬ÂçÊѤǤ·¤¿¡£¤·¤«¤·¡¢¤Ê¤ó¤È¤«¤³¤Î·Á¤Ë¤Þ¤È¤Þ¤ê¡¢¥í¥Ü¥Ã¥È¡¤¬¤·¤Ã¤«¤ê¼ý¤Þ¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£
#ref(090804_2104~0003.jpg)
#ref(090804_2104~0004.jpg)
²¼¤Î¼Ì¿¿¤Ï¥í¥Ü¥Ã¥È¢¤Ë¥í¥Ü¥Ã¥È¡¤ò¾è¤Ã¤±¤¿¼Ì¿¿¤Ç¤¹¡£
#ref(090805_1110~0001.jpg)
*¥×¥í¥°¥é¥ß¥ó¥°¤Î¾Ò²ð [#jf6b1b26]
NUMBER_1
#define turn_time 95¡¡¡¡//90ÅÙÀû²ó¤¹¤ë¤Î¤ËÍפ¹¤ë»þ´Ö
#define turn_right OnFwd(OUT_A);OnRev(OUT_C);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//±¦¤Ë90ÅÙÀû²ó¤¹¤ë
#define turn_left OnFwd(OUT_C);OnRev(OUT_A);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//º¸¤Ë90ÅÙÀû²ó¤¹¤ë
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t);Off(OUT_A+OUT_C);¡¡¡¡//ľ¿Ê¤¹¤ë
#define SIGNAL 11
task main()
{
SetSensor(SENSOR_3,SENSOR_TOUCH);¡¡¡¡//¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
Wait(300);¡¡¡¡//¥¹¥¤¥Ã¥Á¤òÆþ¤ì¤Æ¤«¤é¾¯¤·ÂÔ¤Ä
go_straight(300);¡¡¡¡//ľ¿Ê
turn_right;¡¡¡¡//±¦¤ØÀû²ó
go_straight(200);¡¡¡¡//ľ¿Ê
turn_right;¡¡¡¡//±¦¤ØÀû²ó
go_straight(300);¡¡¡¡//ľ¿Ê
turn_left;¡¡¡¡//º¸¤ØÀû²ó
go_straight(300);¡¡¡¡//ľ¿Ê
if(SENSOR_2==1)¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤È¤
{
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
Wait(300);¡¡¡¡//¾¯¤·ÂÔ¤Ä
SendMessage(SIGNAL);¡¡¡¡//SIGNAL¤òÁ÷¿®
}
}
NUMBER_2
#define turn_time 55¡¡¡¡//90ÅÙÀû²ó¤¹¤ë¤Î¤ËÍפ¹¤ë»þ´Ö
#define turn_right OnFwd(OUT_A);OnRev(OUT_C);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//±¦¤Ë90ÅÙÀû²ó¤¹¤ë
#define turn_left OnFwd(OUT_C);OnRev(OUT_A);Wait(turn_time);Off(OUT_A+OUT_C);¡¡¡¡//º¸¤Ë90ÅÙÀû²ó¤¹¤ë
#define go_straight OnFwd(OUT_A+OUT_C);¡¡¡¡//ľ¿Ê¤¹¤ë
#define back OnRev(OUT_A+OUT_C);Wait(100);Off(OUT_A+OUT_C);¡¡¡¡//¸åÂह¤ë
#define SIGNAL 11
#define light 50¡¡¡¡//ÇòÀþ¤È¹õÀþ¤ò¼±Ê̤¹¤ë¤¿¤á¤ÎÃÍ
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡¡¡//¥»¥ó¥µ¡¼£±¤ò¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_2,SENSOR_TOUCH);¡¡¡¡//¥»¥ó¥µ¡¼£²¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡¡¡//¥»¥ó¥µ¡Ý£³¤ò¸÷¥»¥ó¥µ¡¼
int n ;¡¡¡¡//½é¤á¤Îif¤Èwhile¤¬¤«¤Ö¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤ËÀߤ±¤¿
int m ;¡¡¡¡//¸òº¹ÅÀ¤ò¿ô¤¨¤ë¡Ê£²¤Ä¤Î¸÷¥»¥ó¥µ¡¼¤¬Î¾Êý°Å¤¤¤Èǧ¼±¤·¤¿²ó¿ô¡Ë
int l ;¡¡¡¡//¥¢¡¼¥à¤ÎÆ°ºî¤ò¿ô¤¨¤ë¡Ê´ñ¿ô¤Ç³«¤¡¢0¤ò´Þ¤à¶ö¿ô¤ÇÊĤ¸¤ë¡Ë
n=0;
m=0;
l=0;
ClearMessage();
if(Message()==SIGNAL)¡¡¡¡//SIGNAL¤ò¼õ¿®¤·¤¿¤é
{
back;¡¡¡¡/¸åÂà
turn_right;¡¡¡¡//±¦¤ØÀû²ó
n=n+1;
}
while((n>0)&&(m<26))¡¡¡¡//¾å¤Î¥×¥í¥°¥é¥à¤ò¤·¤¿¤¢¤È³î¤Ä¡¢¥Ñ¥Ã¥¯¤òÁ´¤Æ±¿¤Ó½ª¤ï¤Ã¤Æ¤Ê¤¤¤È¤
{
if(SENSOR_2==1 && ((l==0)||(l==2)||(l==4)||(l==6)||(l==8)||(l==10)))¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ³î¤Ä¡¢¥¢¡¼¥à¤¬³«¤¤¤Æ¤¤¤ë¤È¤
{
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
OnFwd(OUT_B);¡¡¡¡
Wait(100);¡¡¡¡//¥¢¡¼¥à¤òÊĤ¸¤ë
back;¡¡¡¡//¸åÂà
turn_right;
turn_right;¡¡¡¡//180ÅÙ±¦Àû²ó
l=l+1;
}
if(SENSOR_2==1 && ((l==1)||(l==3)||(l==5)||(l==7)||(l==9)||(l==11)))¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ³î¤Ä¡¢¥¢¡¼¥à¤¬ÊĤ¸¤Æ¤¤¤ë¤È¤
{
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
OnRev(OUT_B);¡¡¡¡
Wait(100);¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯
Off(OUT_B);
back;¡¡¡¡//¸åÂà
turn_right;
turn_right;¡¡¡¡//180ÅÙ±¦Àû²ó
l=l+1;
}
if(SENSOR_1>light && SENSOR_3>light)¡¡¡¡//¹õÀþ¾å¤Ë¤¢¤ë¤È¤
{
go_straight;¡¡¡¡//ľ¿Ê
}
if(SENSOR_1<light && SENSOR_3>light)¡¡¡¡//¹õÀþ¤è¤ê±¦¤Ø¥º¥ì¤Æ¤¤¤ë¤È¤
{
turn_left;¡¡¡¡//º¸¤ØÀû²ó
}
if(SENSOR_1>light && SENSOR_3<light)¡¡¡¡//¹õÀþ¤è¤êº¸¤Ø¥º¥ì¤Æ¤¤¤ë¤È¤
{
turn_right;¡¡¡¡//±¦¤ØÀû²ó
}
if(SENSOR_1<light && SENSOR_3<light)¡¡¡¡//¸òº¹ÅÀ¤ËÍ褿¤È¤¡ÊξÊý¤Î¥»¥ó¥µ¡¼¤¬°Å¤¤¤Èǧ¼±¤·¤¿¤È¤
{
if((m==0))¡¡¡¡//¸òº¹ÅÀ1¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
turn_left;¡¡¡¡//º¸¤ØÀû²ó
m=m+1;
}
if((m==1)||(m==11)||(m==13)||(m==14)||(m==24))¡¡¡¡//¸òº¹ÅÀ2¡¢12¡¢13¡¢15¡¢25¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
OnFwd(OUT_A+OUT_C);
Wait(50);¡¡¡¡//¾¯¤·Á°¿Ê
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
m=m+1;
}
if((m==2)||(m==5)||(m==8)||(m==10)||(m==20)||(m==25))¡¡¡¡//3¡¢6¡¢9¡¢11¡¢21¡¢26¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
turn_right;¡¡¡¡//±¦¤ØÀû²ó
OnFwd(OUT_A+OUT_C);
Wait(50);¡¡¡¡//¾¯¤·Á°¿Ê
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
m=m+1;
}
if((m==3)||(m==17)||(m==19)||(m==22))¡¡¡¡//¸òº¹ÅÀ4¡¢18¡¢20¡¢23¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
OnFwd(OUT_A);
Wait(50);¡¡¡¡//¾¯¤·±¦Àû²ó
m=m+1;
}
if((m==4)||(m==6)||(m==9)||(m==16))¡¡¡¡//¸òº¹ÅÀ5¡¢7¡¢10¡¢17¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
OnFwd(OUT_C);
Wait(50);¡¡¡¡//¾¯¤·º¸Àû²ó
m=m+1;
}
if((m==7)||(m==12)||(m==15)||(m==18)||(m==21)||(m==23))¡¡¡¡//¸òº¹ÅÀ8¡¢13¡¢16¡¢19¤Ä¤á
{
Wait(100);¡¡¡¡//¾¯¤·ÂÔ¤Ä
turn_left;¡¡¡¡//º¸¤ØÀû²ó
OnFwd(OUT_A+OUT_C);
Wait(50);¡¡¡¡//¾¯¤·Á°¿Ê
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
m=m+1;
}
}
}
Off(OUT_A+OUT_C);¡¡¡¡//Ää»ß
}
*¹©Éפä´èÄ¥¤Ã¤¿ÅÀ [#qde6c338]
¥í¥Ü¥Ã¥È¤Î¹½Â¤¤ò¤É¤Î¤è¤¦¤Ë¤¹¤ë¤«¤Ç¡¢¤Þ¤ºÇº¤ß¤Þ¤·¤¿¡£·ë²ÌŪ¤Ë¾å¤Î¼Ì¿¿¤Î¤è¤¦¤Ë¤Þ¤È¤Þ¤ê¤Þ¤·¤¿¤¬¡¢Æäˡ¢¾åµ¤Î¤è¤¦¤ËµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤à¤È¤³¤í¤ÏÎϤòÆþ¤ì¤¿¤È¤³¤í¤Ç¤¹¡£¤Þ¤¿¡¢RCXƱ»Î¤ÎÄÌ¿®¤¬º£²ó¤ÏɬÍפʤ¿¤á¡¢¤Î¤»¤¿»þ¤ÎRCX¤Î°ÌÃ֤ʤɤ⹩Éפ¬É¬ÍפʤƤó¤Ç¤·¤¿¡£
*´¶ÁÛ [#p244e497]
º£²ó¤Ï¥í¥Ü¥Ã¥È¤Î¹½Â¤¤«¤é¼«Ê¬¤¿¤Á¤Ç¹Í¤¨¤Ê¤±¤ì¤Ð¤Ê¤é¤º¡ÊRCX¤òÆó¤Ä»È¤Ã¤Æ°ìÂæ¤Î¥í¥Ü¥Ã¥È¤òºî¤ë¤«¡¢°ìÂ椺¤ÄRCX¤ò»È¤Ã¤Æ·×ÆóÂæ¤Î¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë¤«¡Ë¤³¤Î²áÄø¤Ç»þ´Ö¤¬¤¿¤¯¤µ¤ó¤«¤«¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£¤½¤Î¤¿¤á¥×¥í¥°¥é¥à¤Ë¼è¤ê¤«¤«¤ë¤Î¤¬ÃÙ¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢¥í¥Ü¥³¥óÅöÆü¤Î¸áÁ°Ãæ¤Þ¤Ç¤«¤«¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£¡¡
¥ì¥´¥Ö¥í¥Ã¥¯¤ÎÀ¼Á¤ò¤¦¤Þ¤¯¤Ä¤«¤á¤º¡¢Ê䶯¤·¤è¤¦¤È»×¤Ã¤Æ¤Ä¤±¤¿¥Ñ¡¼¥Ä¤¬ËÜÂΤνÅÎ̤ò¤¢¤²¤Æ¤·¤Þ¤Ã¤Æ¡¢µÕ¤Ë²õ¤ì¤ä¤¹¤¤¥í¥Ü¥Ã¥È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤È¤Æ¤â»ÄÇ°¤À¤Ã¤¿¡£
¤¦¤Þ¤¯¤¤¤«¤Ê¤¯¤Æ¤â¡¢·è¤á¤¿Êý¸þÀ¤òÊø¤·¤Æ°ì¤«¤é¤Þ¤¿ºî¤ê¤Ê¤ª¤½¤¦¤È¤¤¤¦Í¦µ¤¤¬Í¯¤«¤º¤ËËÜÈ֤˻ê¤ê¡¢¼ºÇÔ¤·¤Æ¤·¤Þ¤Ã¤¿¡£¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¤éº¬ËÜŪ¤Ë¤Ä¤¯¤ê¤òÊѤ¨¤é¤ì¤ë¤è¤¦¤Ê½ÀÆð¤ÊÂбþ¤äȯÁÛ¤¬É¬ÍפÀ¤Ã¤¿¤È»×¤¤¤Þ¤·¤¿¡£
*¥í¥Ü¥³¥ó·ë²Ì [#lbb04196]
Ëͤ¿¤Á¤ÎÈɤÏȬÈÖÌܤȤ¤¤¦¡¢¤½¤í¤½¤íÀ®¸ù¤¹¤ë¤È¤³¤í¤¬½Ð¤Æ¤¤Æ¤Û¤·¤¤ÈÖÌܤǤ·¤¿¡£¤·¤«¤·¡¢¥×¥í¥°¥é¥à¤Ç¤Ïľ¿Ê¤¹¤ë¤Ï¤º¤À¤Ã¤¿¤Î¤ËÆÍÁ³²¿¤ò»×¤Ã¤¿¤Î¤«º¸²óž¡¢±¦²óž¤ò·«¤êÊÖ¤¹¤È¤¤¤¦Ææ¤Î¹ÔÆ°¤ò¤·¤Æ¤·¤Þ¤¤°ì²óÌܤΥÁ¥ã¥ì¥ó¥¸¼ºÇÔ...Æó²óÌܤΥÁ¥ã¥ì¥ó¥¸¤Î¤¿¤áÄ´À°¤ò¤·¤è¤¦¤È¤·¤¿¤È¤³¤í¡¢¥í¥Ü¥Ã¥È¢¤¬ÂçÇË¡£¤ä¤à¤Ê¤¯¥ê¥¿¥¤¥¢¤òÀë¸À¤»¤¶¤ë¤òÆÀ¤Þ¤»¤ó¤Ç¤·¤¿¡£º£¤Þ¤Ç¤Î¶ìÏ«¤¬¡Á¡Á¡Á¡Á¡£ÇÔ°ø¤È¤·¤Æ¤Ï¡¢¥í¥Ü¥³¥ó¸å¤ËÀèÀ¸¤¬¸À¤Ã¤Æ¤¤¤¿¤è¤¦¤Ë¡¢¸ÇÄꤹ¤ë¤¿¤á¤Ë¥Ñ¡¼¥Ä¤ò¤¿¤¯¤µ¤ó»È¤Ã¤Æ¤¤¤¿¤Î¤¬¡¢¸ÇÄꤹ¤ëÌò³ä¤ò²Ì¤¿¤·¤Æ¤¤¤Ê¤«¤Ã¤¿¤È¤¤¤¦ÅÀ¤Ç¤¹¡£
**¥³¥á¥ó¥ÈÍó [#od22ab77]
¤´¼«Í³¤Ë¤É¤¦¤¾¡°¡°
#comment
¥Ú¡¼¥¸Ì¾: