2011b/A1/¥í¥Ü¥³¥ó
¤ò¥Æ¥ó¥×¥ì¡¼¥È¤Ë¤·¤ÆºîÀ®
[
¥È¥Ã¥×
] [
¿·µ¬
|
°ìÍ÷
|
¸¡º÷
|
ºÇ½ª¹¹¿·
|
¥Ø¥ë¥×
|
¥í¥°¥¤¥ó
]
³«»Ï¹Ô:
[[2011b]]
&ref(2011b/A1/¥í¥Ü¥³¥ó/title.gif,200%,);
#contents
*¥á¥ó¥Ð¡¼ [#ce47b351]
-¤°¤ÃP¡¡¡Ö¥í¥Ü¥³¥ó¡×¤Ã¤Æ¶Á¤¡¢¤¤¤¤¤è¤Í¡ª
-¤À¤¤¡¡Á´ÎϤò½Ð¤·Àڤäơ¢¤¤¤¤¥í¥Ü¥Ã¥È¤È¥×¥í¥°¥é¥à¤ò´°À®¤µ¤»¤¿¤¤¡£
-ÆóµÜ(Å·¥Ñ)¡¡²Î¤ÏÆÀ°Õ¤À¤¬¡¢¥×¥í¥°¥é¥à¤Ï¶ì¼ê¡£¤Ê¤Î¤ÇÁȤßΩ¤Æ´èÄ¥¡Ä¤Ã¤¿(?)
*²ÝÂêÆâÍÆ [#s5846a49]
#ref(2011b/A1/¥í¥Ü¥³¥ó/robocon2011b.png,100%,¶¥µ»¾ì)
-ľÊýÂΤλæ¥Ñ¥Ã¥¯¤ò¼«¿Ø¤Ø±¿¤Ö(¿Þ»²¾È)
-ÀѤ߾夲¤ÆÅÀ¿ô¤ò²Ô¤°¤³¤È¤¬¤Ç¤¤ë
-RCX¤ÏÆóÂæ»ÈÍѤ¹¤ë
-¹çÂΤǰìÂæ¤Ç¤â¡¢ÊÌ¡¹¤ËÆÈΩ¤µ¤»¤Æ¤â¤è¤¤
-½ªÎ»»þ¤Ë¥í¥Ü¥Ã¥È¤Ï¡¢»æ¥Ñ¥Ã¥¯¤Ë¿¨¤ì¤Æ¤¤¤Ê¤¤¤³¤È
¾ÜºÙ¤Ï[[¤³¤Î¥Ú¡¼¥¸:http://yakushi.shinshu-u.ac.jp/robotics/?2011b%2F%A5%ED%A5%DC%A5%B3%A5%F3]]¤Ë¤Æ
*¥í¥Ü¥Ã¥È [#ece073d5]
¡Ö¥¥â¤ÏÀѤ߾夲¤À¡×~
¤Ê¤é¤Ð´Êñ¤½¤¦¤Ê±¿È¤˿ô¤ò¤³¤Ê¤µ¤»¡¢ÀѤ߾夲¤È¤ÏʬΥ¤µ¤»¤è¤¦¡£~
¤È¡¢¤³¤ÎÈɤǤÏÆóÂæ¤òÆÈΩ¤µ¤»¤ëÊý¿Ë¡£~
¥é¥ó¥¿¥ó¤Ê¤ë¸÷¸»¤Î¥µ¥¤¥º¡¢°ÌÃÖ¤¬¤Ï¤Ã¤¤ê¤·¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¥é¥ó¥¿¥ó¤¬¤É¤Î¤è¤¦¤Ë±Æ¶Á¤òµÚ¤Ü¤¹¤«Ê¬¤«¤é¤Ê¤«¤Ã¤¿¤¿¤á½øÈפϰì¹æµ¡¤ÎµóÆ°¤¬ÉÔ³ÎÄê¤À¤Ã¤¿¡£~
¤·¤«¤·È¢ÄíÆâ¤Ë¤ÏÊѤï¤ê¤¢¤ë¤Þ¤¤¤È¡¢²ÚÎï¤Ë¥¹¥¿¡¼¥È¤òÀڤ롣½Ð¤ϽçÄ´¤È¤Ê¤Ã¤¿¡£~
~
¤Á¤Ê¤ß¤ËºîÀï¤Ï¤³¤ó¤Ê´¶¤¸~
¥é¥ó¥¿¥ó¤Ï·ë¶É²¡¤·¤Î¤±¤ÆÆ»¤ò³ÎÊݤ¹¤ë¤³¤È¤Ë¤Ê¤ê¤Þ¤·¤¿¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/tactics.gif,80%,¹ÔÆ°¿Þ);~
ÅÓÃæ¤Ç¤°¤ë¤°¤ë²ó¤ë¤Î¤Ï¡¢ÄÌ¿®¤ò³Î¼Â¤Ë¹Ô¤¦¤¿¤á¡£²ó¤Ã¤Æ¤¤¤ë´Ö¤ÏÄÌ¿®¤òÁ÷¤ê¤Ã¤Ñ¤Ê¤·¤Ç¤¢¤ë(¥×¥í¥°¥é¥à»²¾È)¡£
**°ì¹æµ¡¡¡±¿È [#i9a879e4]
¥í¥Ü¥Ã¥È̾¡Ö¤¤¤Á¤´¤¦·¯¡×~
ºÇ½é¤ÏÈ¢£´¥Ä¤ò°ìµ¤¤Ë±¿¤ÖºîÀï¤À¤Ã¤¿¡£È¼¤Ã¤ÆÂç·¿¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¾ã³²Êª¤È¤Î·ó¤Í¹ç¤¤¤¬Æñ¤·¤¤¡£~
¶¯¤¯¡¢³Î¼Â¤ÊÆ°ºî¤ò1ȯÌܤ«¤é¼Â¸½¤·¤¿¡£¤·¤«¤·Éý¤ò¤È¤ë¤Î¤¬¸å¤ËÌäÂê¤Ë¡£~
¤½¤ì¤Ë¤è¤ê¡¢£²¤Ä»ý¤Á¤Ø¤ÈºîÀï¤òÊѹ¹¤·¤¿¡£È¢¤ò±¿¤ÖÆ°ºî¤ò£³²ó·«¤êÊÖ¤¹¤³¤È¤Ë¤Ê¤ë¤¬¡¢¤½¤³¤Ï¥×¥í¥°¥é¥à¤Ç¥«¥Ð¡¼¤·¤¿¤¤¤È¤³¤í¡£
***Á´ÂÎ [#f45145b0]
Á´ÂÎŪ¤Ë¾®ÊÁ¤Ê¥í¥Ü¥Ã¥È¤Ë¤Ç¤¤¿¤Î¤Ç¡¢¤É¤ó¤Ê·ä´Ö¤â¤ª¼ê¤Îʪ¡£~
£³¼ï¤Î¥»¥ó¥µ¡¼¤ò£±¤Ä¤º¤ÄÅëºÜ¤·¡¢¥Õ¥£¡¼¥ë¥ÉÆâ¤ò¶î¤±½ä¤ë¡ª~
&ref(2011b/A1/¥í¥Ü¥³¥ó/carrier_1.jpg,70%,ËÜÂÎ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/carrier_2.jpg,70%,¼Ì¿¿º¸¤Ë¥¿¥Ã¥Á¥»¥ó¥µ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/carrier_3.jpg,70%,¼Ì¿¿Ãæ±û¤Ï²óž¥»¥ó¥µ¡¢º¸¤Ï¸÷¥»¥ó¥µ);
¥¿¥Ã¥Á¥»¥ó¥µ¤Ï¡¢¹õ¤¤ËÀ¾õ¤Î¥Ñ¡¼¥Ä¤¬¼ã´³²ÔƯ¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Æ¡¢¤½¤ì¤¬ÊɤËÅö¤¿¤ë¤È¥¿¥Ã¥Á¥»¥ó¥µ¤ò²¡¤¹¤È¤¤¤¦»ÅÁȤߤǤ¹¡£~
²óž¥»¥ó¥µ¤Ï¡¢¥¿¥¤¥ä¤è¤ê¤â¤µ¤é¤Ë¥®¥äÈæ¤òÍî¤È¤·¤ÆÀµ³ÎÀ¤ò¤¢¤²¤Æ¤¤¤Þ¤¹¡£
***¥Ù¡¼¥¹ [#n80ac434]
¥·¥ó¥×¥ë¤Ê¥Ù¡¼¥¹¡£Æ⦤˲󞥻¥ó¥µ¤¬¼è¤êÉÕ¤±¤Æ¤¢¤ë¡£~
¥Ý¥¤¥ó¥È¤ÏÄÌ¿®Éô¤Ë¤Ä¤±¤¿ÄÌ¿®Êä½õÁõÃÖ¡£¤³¤ì¤Ë¤è¤êÄÌ¿®À©ÅÙ¤¬200%UP¡ª(Åö¼ÒÈæ)~
&ref(2011b/A1/¥í¥Ü¥³¥ó/1base.JPG,90%,);
***¥¢¡¼¥à [#dc9ff3b7]
£²¸Ä¼è¤ê¤Ë¤·¤¿¤³¤È¤Ë¤è¤ê¡¢Ã»¤¯¤Ê¤Ã¤¿¥¢¡¼¥à¡£~
º¸±¦¤Î¥¿¥¤¥ä¤ÏÉý³ÎÊݤȥ´¥à¤Ë¤è¤ë¥°¥ê¥Ã¥×¤ÎÌò³ä¤ò¤·¤Æ¤¤¤ë¡£ËÜÅö¤Ï¼Ì¿¿±¦±ü¦¤âÂ礤ʥ¿¥¤¥ä¤ò»ÈÍѤ·¤¿¤«¤Ã¤¿¤¬¡¢²«¿§¥Ñ¡¼¥Ä¤Ë¤¢¤¿¤Ã¤Æ¤·¤Þ¤Ã¤Æ̵Íý¤Ç¤·¤¿¡¨~
¥¢¡¼¥à¤Î³«ÊÄÆ°ºî¤Ë¤Ï¥¿¥¤¥ä¤òÍøÍÑ¡£¤³¤Î¤¦¤ÁÆ°ÎϤòÅÁ¤¨¤ë¥¿¥¤¥ä¤òÊÒÊý(¼Ì¿¿¤Ç¤Ï±¦Â¦)¤À¤±¤Ë¤¹¤ë¤³¤È¤Ç¡¢¥®¥ä¤òÀáÌó¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/1arm.png,90%,);
***¤ª¤Þ¤±¡(ËÜÂε췿) [#baa17f57]
Á°²ó¤ÎÌ̱Ƥò»Ä¤·¤¿¼ÖÂΡ£¾®²ó¤ê¤Ï¸ú¤¯¤¬»æ¥Ñ¥Ã¥¯¤ò±¿¤Ö¤è¤¦¤ÊÎϻŻö¤Ë¤Ï¸þ¤¤¤Æ¤¤¤Ê¤«¤Ã¤¿¤¿¤áÊѹ¹¡£~
¿¿¤óÃæ¤Î¼Ì¿¿¤ÎÀÖ¤¤¸÷¤Ï¸÷¥»¥ó¥µ¤Ë¤è¤ë¤â¤Î¡£Åö½é¤ÏÁ°Êý¤Ë¸÷¥»¥ó¥µ¤ò¸þ¤±¤Æ¡¢¥é¥ó¥¿¥ó¤ä»æ¥Ñ¥Ã¥¯¤òȽÊ̤¹¤ë¤³¤È¤â¹Í¤¨¤Æ¤¤¤Þ¤·¤¿¡£
&ref(2011b/A1/¥í¥Ü¥³¥ó/old1.jpg,50%,ËÜÂÎ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/old2.jpg,50%,ÀµÌÌ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/old3.jpg,50%,΢ÌÌ);
***¤ª¤Þ¤±¢(¥¢¡¼¥àµì·¿) [#e794074f]
#ref(2011b/A1/¥í¥Ü¥³¥ó/old4.jpg,50%,¥¢¡¼¥à);
£´¤Ä¼è¤ê¤òÌܻؤ·¤Æ¤¤¤¿»þÂå¤ÎĶ¥í¥ó¥°¥¢¡¼¥à¡£Ì´¤È´õ˾¤ËËþ¤Á°î¤ì¤Æ¤¤¤ë¡£~
¤¢¤é¤æ¤ë¾ã³²¤Ë¥®¥ê¥®¥ê¤ÇÂбþ¤Ç¤¤ë¤è¤¦¤ËÀ߷פ·¤¿¤Ä¤â¤ê¤À¤¬¡¢¤¤¤¯¤Ä¤«¤Î¾ì½ê¤Ç¤Ï¥®¥ê¥®¥ê¥¢¥¦¥È¤Ç¤¢¤Ã¤¿¤¿¤á¡¢ÃÇÇ°¡£~
Ì´¤È´õ˾¤òȾʬ¤Ë¤·¡¢»Ä¤ê¤Î50%¤Ë³Î¼ÂÀ¤ò¤¢¤Æ¤¿¸½ºß¤Î¥¢¡¼¥à¤Ø¤È»Ñ¤òÊѤ¨¤ë¡Ä
**Æó¹æµ¡¡¡ÀѾå [#s713099b]
¥í¥Ü¥Ã¥È̾¡Ö¤Ë¤´¤¦¤Á¤ã¤ó¡×¡¦¡¦¡¦///~
±¿È¤µ¤ì¤¿È¢¤ò¹â¤¯ÀѤ߾夲¤ëÌò³ä¡£~
ËÜÍè¡¢¥Ö¥í¥Ã¥¯¤Ï4¤Äʤó¤ÇÆϤ¯Í½Äê¤À¤Ã¤¿¡£~
¤Ê¤Î¤Ç¡¢4¤Ä¤¤¤Ã¤Ú¤ó¤Ë¤Ä¤«¤Þ¤Ê¤¤¸Â¤ê²£¤«¤é»ý¤Á¾å¤²¤ë¤Î¤ÏÆñ¤·¤¯¡¢°ìÅÙ¤ËÀѤ߾夲¤ëµ¡Ç½¤âº¤Æñ¤ÈȽÃÇ¡£~
Âкö°Æ¤È¤·¤Æ2¤Ä¤ò¾å¤«¤é¤Ä¤«¤ß¡¢»ý¤Á¾å¤²¤ëÊýË¡¤òºÎ¤ë»ö¤Ë¡£¤½¤³¤«¤é¤¬ÂçÊÑ»þ´Ö¤ò¿©¤Ã¤¿¡£~
¼õ¤±¼è¤ë¥¢¡¼¥à¤Ï¾å²¼¤ËÂ礤¯Æ°¤¯É¬Íפ¬¤¢¤ë¤¬¡¢Ä¹¤µ¤Î¤¢¤ëÉôÉʤòºî¤ë¤È¤¿¤ï¤à¡¢¥Ð¥é¥ó¥¹¤¬°¤¯¤Ê¤ë¤Ê¤ÉÍÍ¡¹¤ËÌäÂ꤬½Ð¤Æ¤¤¿¡Ê¤ª¤Þ¤±»²¾È)~
¿ô¡¹¤Î¸¡¾Ú¤ÎËö¡¢¾å²¼°ÜÆ°¤Î¼´¤È¡¢¤½¤ì¤ò»Ù¤¨¤ë´Ê°×¤Î¼´¤¬É¬ÍפǤϤʤ¤¤«¤ÈÃåÁۤ˻ê¤ë¡£~
¤·¤«¤·¤½¤ì¤â¤Þ¤¿¿·¤¿¤ÊÌäÂê¤Î¼ï¤È¤Ê¤Ã¤Æ¤¤¤Æ¡¢»×¤¤¤Ã¤¤êÉôÉʤ¬Â¤é¤Ê¡¦¡¦¡¦¤¤¡¦¡¦¡¦¡£~
¹¹¤Ë¥Ð¥é¥ó¥¹¡¢¥Ñ¡¼¥Ä¤ÎÌäÂ꤬ɹ²ò¤·¤¿¸å¤âȯ¸«¤µ¤ì¤ë¤Î¤ÏÄÌ¿®¤ÎÌäÂê¡£RCX¡¢¤³¤ä¤Ä¤é°Õ³°¤ÈÀ¼¤¬¾®¤µ¤¤¤é¤·¤¯ÆϤ«¤Ê¤¤¡¦¡¦¡¦¡ª~
¤Ç¤Ï°ÌÃÖ¤òÊѤ¨¤ì¤Ð¡¢¥Ð¥é¥ó¥¹¤¬¤Ã¡ª¶ìÏ«¤¬À䤨¤Þ¤»¤ó¡£
¿ô¡¹¤ÎÌäÂê¤ò3¿Í¤Ç¾è¤ê±Û¤¨¤Æ¡¢·Á¤Ë¤Ê¤Ã¤¿ ¤Ë¤´¤¦¤Á¤ã¤ó¡£ºÇ½ªÅª¤Ë¤Ï¡¢ÄÌ¿®¡¦¥Ð¥é¥ó¥¹¡¦¶¯ÅÙÁ´¤Æ¤òƧ¤ß±Û¤¨¤ëÄøΩÇɤˤʤê¤Þ¤·¤¿¡ÊŽÎŽÛŽØ
***Á´ÂÎ [#hfa6a942]
#ref(2011b/A1/¥í¥Ü¥³¥ó/´°À®¿Þ.JPG,70%);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2all.JPG,50%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2ue.JPG,50%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2sita.JPG,50%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2usiro.JPG,50%,);~
¥¢¡¼¥à¤ÇµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤ó¤Ç¡¢¥¨¥ì¥Ù¡¼¥¿¡¼¤Î¤è¤¦¤Ë»ý¤Á¾å¤²¤ë¹½Â¤¡£½Å¿´¤¬¿¿¤óÃæ¤Ç¤Ï¤Ê¤¤¤¿¤á¡¢¼ÖÂÎÉôʬ¤ò°ÂÄꤵ¤»¤ë¤Î¤¬ºÇÂç¤Î²ÝÂê¤À¤Ã¤¿¡£~
¤Þ¤Ã¤¹¤°¤ËÁö¤é¤»¤è¤¦¤È¤·¤¿¤È¤³¤í¡£¥¢¡¼¥à¤Î½Å¤µ¤Ë¤è¤ê¡¢´°àú¤Êľ¿Ê¤¬¤Ç¤¤Ê¤¤¡£¤º¤ì¤¬½Å¤Ê¤ê¡¢ÆóÅÙÌܰʹߤαýÉüºî¶È¤Ç¤Ï¸÷¥»¥ó¥µ¤¬¹õÀþ¤«¤é°ï¤ì¤Æ¤·¤Þ¤¦¡£¤â¤È¤â¤È¡¢¥Ö¥í¥Ã¥¯¤ÎÊÝ»ý¤ò³Î¼Â¤Ê¤â¤Î¤Ë¤¹¤ë¤¿¤á¤ÎÀ߷פÀ¤Ã¤¿¤Î¤Ç¡¢°ìÊýÊý¸þ¤Ë¤·¤«Áö¤ì¤Ê¤¤£²¤´¤¦¤Á¤ã¤ó¡£¹õÀþ¤ò¥È¥ì¡¼¥¹½ÐÍè¤Æ¤â¥ª¥ó¥é¥¤¥ó¤ËÉüµ¢¤¹¤ë»ö¤Ï½ÐÍè¤Ê¤¤¡£
¤³¤ÎÌäÂê¤ÏÁêÅö¤Ë¿¼¹ï¤Ç¡¢Áö¹ÔÍѤΥ¿¥¤¥ä¤òÁȤßÂؤ¨¤¿¤ê¡¢¥Ù¡¼¥¹¤òÉýÁý¤·¤·¤¿¤ê»î¹Ôºø¸í¤ÏÁêÅö¤Ê¿ô¤Ë¤Ê¤ê¡¦¡¦¡¦¥¿¥¤¥ä¾è¤»¤Á¤ã¤¨¡ù¡¡¤È¡¢RCX¾å¤ËºÇÂ祵¥¤¥º¤Î¥¿¥¤¥ä¤òÁ´¸Ä¿ôÇÛÃÖ¤¹¤ë¤³¤È¤ÇÌäÂê²ò·è¡£¤Ê¤ó¤È¤³¤Î¾éÃ̤Τ褦¤ÊÂкö¤¬ÂçÊѸú²ÌŪ¡£¥³¡¼¥É¤Î¥ê¡¼¥ëŪ¤ÊÌò³ä¤â»ý¤¿¤»¤ë¤³¤È¤ÇÀâÆÀÎϤâÁý¤·¤¿¡£ÀѤ߾夲¤ËÆò½¤ÏÀ®¸ù¡¢ºÇÁáËÜÈÖ¤òÂԤĤФ«¤ê¤È¤Ê¤Ã¤¿¡¦¡¦¡¦
***¥Ù¡¼¥¹ [#zb65dd3b]
&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æbase.JPG,90%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2base.JPG,90%,);
***Ãì [#j2811f91]
¤¿¤Ó½Å¤Ê¤ë¸ºÎ̤ˤơ¢³ÍÆÀ¤·¤¿¶Ã°Û¤ÎÇö¤µ¡õ·øÏ´¤µ¡£~
¤½¤·¤Æ¡¢¶Ë¤á¤Ä¤±¤Ï²¿½è¤Ëʸ¶ç¤ò¤Ä¤±¤è¤¦¤«¤È¤¤¤¦´°àú¤òÂ轤¹¤ëÆ°ÎÏÉôʬ¡£~
¥â¡¼¥¿¡¼¤«¤é¤ÎÆ°ÎϤÎÅÁ¤ï¤êÊý¤Ï¼Ì¿¿¤ÎÄ̤ê¤Ç¡¢¸«¤¨¤Ë¤¯¤¤¤¬Æ⦤ˤ¢¤ë£²Ëç¤Î¥®¥ä¤¬¥¢¡¼¥à¤ËÀܤ·¡¢¾å²¼¤µ¤»¤Æ¤¤¤ë¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æÃì.JPG,90%,);&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æÃìÀèü.jpg,90%,);&ref(2011b/A1/¥í¥Ü¥³¥ó/arm_ue.jpg,85%,ÀµÌÌ¿Þ(90¡ë²óž));
¤Ê¤ªÃì¤Î²¼Éô¤Ë¤Ï¡¢¥¢¡¼¥à²¼¹ß»þ¤ÎÌܰ¤Ȥʤ륿¥Ã¥Á¥»¥ó¥µ¤¬¤Ä¤¤¤Æ¤¤¤Þ¤¹¡£
***¥¢¡¼¥à [#hd895971]
½é´ü¤«¤é¤¢¤Þ¤êÊѤï¤é¤Ê¤«¤Ã¤¿Éôʬ¡£¥¿¥¤¥ä¤ÇÆ°¤¯¡£¤Þ¤º¡¢¤«¤Í¤Æ¤«¤é¸À¤¦¥Ð¥é¥ó¥¹¤ÎÌäÂê¡£¥â¡¼¥¿¡¼¤ò¼´¤Ë¶áÉÕ¤±¤Æ°ÂÄê¤òµá¤á¤¿¡£~
¥¢¡¼¥àÀèü ¥Ö¥í¥Ã¥¯¤Ë¿¨¤ì¤ëÉôʬ¤Ï¤¤¤í¤¤¤í»î¤·¤¿Ëö¡Ö¥´¥à¤µ¤¨´¬¤±¤Ð¡¢°Æ³°¤Ê¤ó¤Ç¤â»ý¤Æ¤ë¡×¤È¤¤¤¦Å·¥Ñ¤Î·ëÏÀ¤Ë´ð¤Å¤Í¾¤Ã¤¿ºàÎÁ¤Ç½ÐÍè¤Æ¤¤¤ë¡£~
¤È¤¤¤Ã¤Æ¤â¤ª¤¶¤Ê¤ê¤Ç¤Ï¤Ê¤¯¡¢Æó¸Äʬ¤Î¥Ö¥í¥Ã¥¯Ãæ¿´¤ò¤æ¤¦¤Ë¶´¤á¤ë¥µ¥¤¥º¤È¡¢¼«²õ¤·¤Ê¤¤ÄøÅ٤ζ¯ÅÙ¤ò»ý¤Á¹ç¤ï¤»¤ë¡£~
£¹£°ÅÙ¤ÎÀܹç¤Ï¼Â¤Ï¤½¤ì¤Û¤É¶¯¤¯¤Ê¤¤¡£¤·¤«¤·¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤ë¤Î¤Ë¤«¤«¤ëÎϤȤÏÊý¸þ¤¬°ã¤¦¤Î¤Ç¡¢»Ù¾ã¤¬¤Ê¤¤¡£¶ËÎÏ·Ú¤¯¡¢²õ¤ì¤Ê¤¤¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/2arm2.JPG,90%,);
¥¿¥Ã¥Á¥»¥ó¥µ¤À¤¬¡¢Åö½é¤ÏÃì¤Ë¤Ä¤¤¤Æ¤¤¤¿¤Î¤À¤¬È¿±þ¤·¤Ê¤¤,¤È¤ì¤ë¤È¤¤¤Ã¤¿¤³¤È¤¬¤¢¤Ã¤¿¤¿¤á¡¢¤¤¤Ã¤½¥¢¡¼¥à¤Î¤Û¤¦¤Ë¤Ä¤±¤Æ¤·¤Þ¤ª¤¦¤È¤¤¤¦¤³¤È¤Ë¤Ê¤ê°ú¤Ã±Û¤·¤Æ¤¤Þ¤·¤¿¡£~
¤®¤ê¤®¤ê¤ÎÊѹ¹¤À¤Ã¤¿¤¿¤á¡¢Ãì¾åÉô¤Ë¤Ä¤¤¤Æ¤¤¤ë¼Ì¿¿¤â¤¢¤ë¤±¤ì¤É¤³¤ì¤¬ºÇ½ªÈǤǤ¹¡£
***¤ª¤Þ¤±¡(½é´ü¹½ÁÛ) [#qe8cc6c9]
#ref(2011b/A1/¥í¥Ü¥³¥ó/¥¯¥ì¡¼¥óͽÁÛ¿Þ.jpg,26%)
»Ï¤á¤Ï¥¯¥ì¡¼¥ó¥²¡¼¥à¤ò¥Ò¥ó¥È¤Ë¤·¤Æ¡¢¤³¤Î¤è¤¦¤Ê¹½Â¤¤Ë¤·¤è¤¦¤È»×¤Ã¤¿¤¬¡¢¥¯¥ì¡¼¥ó¤Î»Ù¤¨¤ëËÀ¤¬ÉÔ°ÂÄê¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¦¤¿¤á¡¢ÃÇÇ°¡£
***¤ª¤Þ¤±¢(ËÜÂε췿) [#rc744f40]
¡ÚÆó¹æµ¡¥Ù¡¼¥¹½é´ü¡Û~
Ãì¤òÁ°¸å¤Î£²Ãʹ½¤¨¤È¤·¡¢°ÂÄêÀ¤ò¿Þ¤Ã¤¿¡Ä
¤Ä¤â¤ê¤¬¡¢¥Ð¥é¥ó¥¹¤â°¤¯¥Ñ¡¼¥Ä¤ò¾ÃÈñ¤·¤¹¤®¤¿¤¿¤áÊѹ¹¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/old5.jpg,50%,ËÜÂÎ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/old6.jpg,50%,΢ÌÌ);~
~
~
~
ÊÑÁ«¤ò½Å¤Í¤¿¡¢²þÎÉ·¿¡£~
¼´¤ò°ìËܤˤ·¤Æ¡¢Í¾¤Ã¤¿¥Ñ¡¼¥Ä¤ò¤Ä¤Ê¤®¹ç¤ï¤»¤Æ°ú¤ÃÄ¥¤ë¡£¤Ê¤ó¤È¤³¤ì¤Ï¥Ð¥é¥ó¥¹Ì̤ÇÂçÉý¤Ê¿ÊÊâ¤ò¸«¤»¤ë¡£~
¤·¤«¤·¹âµé¥Ñ¡¼¥Ä¤Î»È¤¤¤É¤³¤í¤¬¤â¤Ã¤¿¤¤¤Ê¤«¤Ã¤¿¡õ¼´¤«¤é¤Þ¤À¥Ñ¡¼¥Ä¤ò¸º¤é¤»¤½¤¦¤À¤Ã¤¿¤¿¤á¤Ëʬ²ò¡£Êý¿Ë¤È¤·¤Æ¤Ï¼ê±þ¤¨¤ò´¶¤¸¤¿¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æµ¡½é´ü.JPG); &ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æµ¡½é´ü£².JPG);~
¡ÚÆó¹æµ¡¥¢¡¼¥à½é´ü¡Û~
È¢¤ò¤Ä¤«¤à¤Ë¤Ï¡©¤È¹Í¤¨Å·¥Ñ¤¬ºÇ½é¤Ë¥µ¥¯¤Ã¤Èºî¤Ã¤¿Êª¡£~
·ë¶É¼ÂÍѤˤÏÀ®¤é¤Ê¤«¤Ã¤¿¤¬´ðËÜŪ¤ÊÉôʬ¤ÏÊѤï¤é¤º¡£~
Ä¥ÎϤÀ¤±¤òµá¤á¤ÆÎØ¥´¥à¤òÍøÍѤ·¤¿¤ï¤±¤Ç¤Ï¤Ê¤¤¡¢¤Î¤¬¥Ý¥¤¥ó¥È¤«¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/ºÇ½é´ü¥¢¡¼¥à.JPG);
*¥×¥í¥°¥é¥à [#pf042337]
**°ì¹æµ¡ [#ke5f40e4]
»æ¥Ñ¥Ã¥¯¤ò±¿¤ó¤Ç¤¯¤ë¥×¥í¥°¥é¥à¤À¤¬¡¢£±¼þÌܤȣ²¼þÌܰʹߤǤÏÆ°ºî¤¬°ã¤¦¤¿¤á¤ä¤ä¤³¤·¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£~
¤µ¤é¤Ë¡¢´Ø¿ô¤ÇÂÔ¤Á»þ´ÖÀßÄꤷ¤¿¤â¤Î¤ò²óž¤Ë»È¤Ã¤¿¤ê¡¢¤½¤ÎµÕ¤ò¤·¤¿¤ê¤·¤Æ¤¤¤¿¤Î¤Ç¤´¤Á¤ã¤´¤Á¤ã¤·¤Æ¤¤¤ë¡£~
»þ´Ö¤¬¤¢¤ì¤Ð¤â¤Ã¤È¸«¤ä¤¹¤¯¤Þ¤È¤á¤¿¤«¤Ã¤¿¤Ê¤È»×¤¤¤Þ¤¹¡£~
~
¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û
#define SE_R SENSOR_1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SENSOR_1¤òSE_R(±¦¥»¥ó¥µ¤Î°Õ)¤È¾Êά
#define SE_C SENSOR_2¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾å»²¾È
#define SE_L abs(SENSOR_3)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //SENSOR_3(²óž¥»¥ó¥µ)¤ÎÃͤÎÀäÂÐÃͤòSE_L¤È¾Êά
#define WAIT_TIME 50¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê¡
#define WAIT_TIME_1 75¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê¢
#define WAIT_TIME_2 7¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔ¤Á»þ´ÖÀßÄê£
#define TURN_1 41¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê¡
#define TURN_2 45¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê¢
#define TURN_3 3¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¿ôÀßÄê£
#define TH 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê
#define go OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê¤ògo¤ÈÄêµÁ
#define back OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂà¤òback¤ÈÄêµÁ
#define turn_right OnFwd(OUT_C);OnRev(OUT_A);¡¡¡¡//±¦ÀÞ¤òturn_right¤ÈÄêµÁ
#define turn_left OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡ //º¸ÀÞ¤òturn_left¤ÈÄêµÁ
int i=1,j,k,line;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÍÍ¡¹¤Ê¾ìÌ̤ǻȤ¦ÊÑ¿ô¤òÄêµÁ
void Clear_Sensor()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤Î¥ê¥»¥Ã¥È
{
ClearSensor(SENSOR_3);
PlaySound(SOUND_FAST_UP);
Off(OUT_AC);Wait(WAIT_TIME);
}
void arm_open()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯
{
OnRev(OUT_B);
Wait(WAIT_TIME);
Off(OUT_B);
}
¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û
task main()
{
SetSensor(SENSOR_1,SENSOR_TOUCH); ¡¡¡¡//¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_2,SENSOR_LIGHT); ¡¡¡¡//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_3,SENSOR_ROTATION); ¡¡¡¡//¥»¥ó¥µ¡¼£³¤ò²óž¥»¥ó¥µ¤ÈÄêµÁ
Clear_Sensor(); ¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤ò¥ê¥»¥Ã¥È
back; until(SE_L >= 175); ¡¡¡¡//¸åÂà
//»æ¥Ñ¥Ã¥¯³ÎÊÝ¤Þ¤Ç¤Î¥×¥í¥°¥é¥à//
for(i = 1;i <= 3;i++){ ¡¡¡¡//{}Æâ¤ò£³²ó·«¤êÊÖ¤¹(»æ¥Ñ¥Ã¥¯¤ò£³²ó±¿¤Ö)
Clear_Sensor();
arm_open(); //¥¢¡¼¥à¤ò³«¤¯
turn_right; until(SE_R == 1); //¥¿¥Ã¥Á¥»¥ó¥µ¤¬Êɤˤ¢¤¿¤ë¤Þ¤Ç±¦²óž
Clear_Sensor();
if(i == 1){ //1¼þÌܤϥé¥ó¥¿¥ó²¡¤·¤Æ¤«¤éÌá¤ë
while(SE_L <= 450){ ¡¡¡¡//¥é¥ó¥¿¥ó¤ò²¡¤·ÀÚ¤ë¤Þ¤Ç¡¢{}Æâ¤ò·«¤êÊÖ¤¹
go; //Á°¿Ê
if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢
Off(OUT_C); ¡¡¡¡//º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ
until(SE_R == 0); ¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë
}
}
Clear_Sensor();
while(SE_L <= 95){ ¡¡ ¡¡//»æ¥Ñ¥Ã¥¯¤Î°ÌÃÖ¤ËÌá¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹
back; //¸åÂà
if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢
Off(OUT_A); ¡¡¡¡//±¦¥¿¥¤¥ä¤ò»ß¤á¤Æ
until(SE_R == 0); ¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë
}
}
}else{ ¡¡//2¼þÌܰʹߤϻæ¥Ñ¥Ã¥¯¤Þ¤ÇÁ°¿Ê
while(SE_L <= 300){ ¡¡¡¡//»æ¥Ñ¥Ã¥¯¤Þ¤Ç°ÜÆ°¤¹¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹
go; ¡¡¡¡//Á°¿Ê
if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬°Ê²¼Î¬
Off(OUT_C); //º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ
until(SE_R == 0); //Êɤ«¤éÎ¥¤ì¤ë
}
}
}
Clear_Sensor();
turn_left; until(SE_L >= TURN_2); //º¸¤Ë90¡î²óž
Clear_Sensor();
if(i == 1){ //¼þ²ó¤´¤È¤Ë»æ¥Ñ¥Ã¥¯¤Þ¤Ç¤Îµ÷Î¥¤¬°ã¤¦¤¿¤á¡¢¤½¤ì¤¾¤ì¿Ê¤àµ÷Î¥¤òÊÑ¿ô¤ÇÄêµÁ
line = 115;
}else if(i == 2){
line = 160;
}else{
line = 205;
}
go; until(SE_L >= line); //Á°¿Ê
Off(OUT_AC);
OnFwd(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤ÇÊÝ»ýÎ϶¯²½)
Clear_Sensor();
back; until(SE_L >= 55); //¼ã´³¸åÂà
Clear_Sensor();
turn_left; until(SE_L >= TURN_3); //µ°Æ»½¤Àµ¤Î¤¿¤á¤ï¤º¤«¤Ëº¸²óž
Clear_Sensor();
back; until(SE_L >= line); //ÊɤޤǸåÂष¤Æ¡¢³ÑÅÙ¤òÀ°¤¨¤ë
//»æ¥Ñ¥Ã¥¯¤ò±¿¤Ö¥×¥í¥°¥é¥à//
Clear_Sensor();
go; until(SE_L >= TURN_1); //Á°¿Ê
Clear_Sensor();
turn_left; until(SE_L >= WAIT_TIME); //º¸²óž
if(i == 1){ //£±¼þÌܤȣ²¼þÌܰʹߤǤϻæ¥Ñ¥Ã¥¯¤òÃÖ¤¯°ÌÃÖ¤¬°ã¤¦¤¿¤á¡¢¾ò·ïʬ´ô
line = 170; k = 4; ¡¡¡¡//Á°¿ÊÃæ¤Ëµ°Æ»½¤Àµ¤òÆþ¤ì¤ë¤¿¤á¡¢¢¨£±¤Îforʸ¤Î·«¤êÊÖ¤·²ó¿ôk¤òÀßÄê
}else{
line = 240; k = 5; ¡¡¡¡//¤Ä¤¤¤Ç¤Ë¡¢¤Î¤Á¤Î°ÜÆ°µ÷Î¥¢¨£²¤âÀßÄꤷ¤Æ¤¤¤ë
}
for(j = 1;j <= k;j++){ //j¤¬£±¤«¤ék¤Ë¤Ê¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤·(¢¨£±)
Clear_Sensor();
go; until(SE_L >= 80); ¡¡¡¡//¾¯¤·Á°¿Ê
Clear_Sensor();
turn_left; until(SE_L >= TURN_3); ¡¡ ¡¡¡¡//¤ï¤º¤«¤Ëº¸²óž
}
go; until(SE_L >= 80); //ºÇ¸å¤Ë¤â¤¦¾¯¤·Á°¿Ê
Clear_Sensor();
turn_right; //±¦ÀÞ(³ÑÅ٤ϣ±¼þÌܤȤ½¤ì°Ê³°¤Ç°Û¤Ê¤Ã¤Æ¤¤¤ë)
if(i == 1){
until(SE_L >= TURN_2); ¡¡¡¡//£±¼þÌܤÏ90¡î
}else{
until(SE_L >= TURN_1); ¡¡¡¡//£²¼þÌܰʹߤÏ90¡î¤è¤ê¤ä¤äÀõ¤¯
}
Clear_Sensor();
go; //Á°¿Ê(Á°¿Ê¤â»þ´Ö¤¬°Û¤Ê¤ë)
if(i == 1){
Wait(WAIT_TIME_1); ¡¡¡¡//£±¼þÌܤÏÂÔ¤Á»þ´Ö¡¤À¤±ÂԤ俸塢
until(SE_C <= TH);until(SE_C > TH); ¡¡¡¡//¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç
}else{
until(SE_L >= 110); ¡¡¡¡//£²¼þÌܰʹߤϤ¢¤ëÄøÅٿʤ᤿¤é¡¢
for(j = 1;j <= 2;j++){ ¡¡¡¡//°ÌÃÖÄ´À°¤Î¤¿¤á{}Æâ¤ò£²²ó·«¤êÊÖ¤¹
turn_right; Wait(WAIT_TIME_2); //¤ï¤º¤«¤Ë±¦²óž
go; Wait(WAIT_TIME_2); //¤ï¤º¤«¤ËÁ°¿Ê
}
}
Off(OUT_AC);
OnRev(OUT_B); //¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯)
if(i == 1){
Wait(WAIT_TIME);
}else{
Wait(WAIT_TIME_2); ¡¡¡¡//£²¼þÌܰʹߤϤ¹¤Ç¤Ë¤¢¤ë»æ¥Ñ¥Ã¥¯¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¡¢¾¯¤·¤À¤±³«¤¯
}
Off(OUT_B);
Clear_Sensor();
go; until(SE_L >= 20); //¤¤ì¤¤¤ËÃÖ¤¯¤¿¤á»æ¥Ñ¥Ã¥¯¤ò¾¯¤·²¡¤¹
Off(OUT_AC);
//»æ¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¥×¥í¥°¥é¥à//
OnRev(OUT_C);until(SE_L >= WAIT_TIME_2); //»æ¥Ñ¥Ã¥¯¤ò°ú¤¤º¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ë¡¢¤ï¤º¤«¤Ëº¸¥¿¥¤¥ä¤ò¸åÂà
Off(OUT_C);
back; until(SE_C <= TH);until(SE_C > TH); //¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà
until(SE_L >= 70); //¹¹¤Ë¾¯¤·¸åÂà
if(i != 1){ //£±¼þÌܰʳ°¤Ï¡¢
until(SE_L >= 20); ¡¡¡¡//¤Þ¤¿¹¹¤Ë¸åÂà(£±¼þÌܤȳÑÅÙ¤¬°ã¤¦¤¿¤á¡¢¢¨£³¤Ç»æ¥Ñ¥Ã¥¯¤ËÅö¤¿¤é¤Ê¤¤°ÌÃ֤ޤDz¼¤²¤ë)
}
Clear_Sensor();
OnFwd(OUT_B); Wait(WAIT_TIME);Off(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë
turn_right; until(SE_L >= TURN_2); //±¦²óž
Clear_Sensor();
go; //ÀѤ߾夲¥í¥Ü¥Ã¥È¤ÎÁ°¤Þ¤ÇÁ°¿Ê(¢¨£²)
until(SE_L >= line);
Clear_Sensor();
turn_right; //±¦²óž¤·¤ÆÄÌ¿®Éô¤ò¹ç¤ï¤»¤ë
if(i == 1){ //£±¼þÌܤȣ²¼þÌܰʹߤdzÑÅÙ¤¬°ã¤¦¤¿¤á¡¢²óžµ÷Î¥¤¬°Û¤Ê¤ë
until(SE_L >= TURN_2);
}else{
until(SE_L >= TURN_1);
}
Clear_Sensor();
turn_right; //ÄÌ¿®Ãæ¤Ï±¦²óž(¢¨£³)
while(SE_L <= 100){ //£±²óžȾ¤¹¤ë´Ö¡¢{}Æâ¤ò·«¤êÊÖ¤¹
SendMessage(11); ¡¡¡¡//ÄÌ¿®¤òÁ÷¤ê³¤±¤ë
}
Clear_Sensor();
back; until(SE_C <= TH);until(SE_C > TH);Wait(20); //¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà
} //£±¼þ½ª¤ï¤ê
Off(OUT_AC); ¡¡¡¡//¤¹¤Ù¤Æ½ª¤ï¤Ã¤¿¤é»ß¤Þ¤ë
}
**Æó¹æµ¡ [#b23d3a26]
°ì¹æµ¡¤«¤éÄÌ¿®¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¡¢¤Þ¤º1²óÌܤϽêÄê¤Î°ÌÃ֤˥ѥ寤¬ÃÖ¤±¤ë¤è¤¦¤ËÄ´À°¤¹¤ë¡£~
£²²óÌܰʹߤϡ¢1¹æµ¡¤«¤éÄÌ¿®¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¡¢³°Â¦¤ËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤ò»ý¤Á¾å¤²¡¢¥Ñ¥Ã¥¯¤ò1²óÌܤËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤Î¾åÃʤËÃÖ¤¯¡£~
~
¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û
#define BLACK 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê
#define SIGNALON 11 //ÄÌ¿®»þ¤ËÁ÷¿®¤¹¤ë¿ôÃͤòÀßÄê
#define WAIT_TIME 100 //ÂÔ¤Á»þ´Ö¤Ë»È¤¦¿ôÃͤòÀßÄê
int black =0; //¹õÀþ¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ
int step =1; //¼þ²ó¿ô¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ
¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û
task main()
{SetSensor(SENSOR_1,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_2,SENSOR_LIGHT); //¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_3,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
//ÂÔµ¡°ÌÃ֤˰ÜÆ°¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
while(black!=2){ //¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥×
if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//ÇòÀþ¤Î¾å¤Ê¤é¹õÀþ¤Þ¤Ç¿Ê¤á¤ë
if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;} ¡¡¡¡//¹õÀþ¤Î¾å¤Ê¤éÇòÀþ¤Þ¤Ç¿Ê¤á¤Æ¡¢black¤ò+1
}
Wait(WAIT_TIME); //»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯¤È¤¤Ë¤Ë¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤°ÌÃ֤ޤǰÜÆ°
Off(OUT_A); //»ß¤Þ¤ë
black =0; //black¤ÎÃͤò¥ê¥»¥Ã¥È
//£±ÃÊÌܤòÀ°¤¨¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
ClearMessage(); //ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È
until ((Message() == SIGNALON)||(SENSOR_3 == 1)); //ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä
PlaySound(SOUND_CLICK); //ÄÌ¿®À®¸ù¤Î¹ç¿Þ¡¡¥Ô¥í¥ê¥í¥ê¡Á
OnRev(OUT_B); //¥¢¡¼¥à¤ò²¼¤²»Ï¤á¤ë
OnFwd(OUT_A);until(SENSOR_2 <= BLACK);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK); //¸½ºß¤ÎÇò¤«¤é¡¢¹õ¢ªÇò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤòÌ᤹
Off(OUT_A);
until(SENSOR_3 == 1); //²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤¬²¼¤¬¤ë¤Þ¤ÇÂÔ¤Ä
Off(OUT_B);
OnFwd(OUT_C);Wait(50); //¥¢¡¼¥à¤òÊĤ¸¤ë(»æ¥Ñ¥Ã¥¯¤òÀ°¤¨¤ë)
OnRev(OUT_C);Wait(10); //³«¤¯
Off(OUT_C);
OnFwd(OUT_B);until(SENSOR_1 == 1); //¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤ò¾å¤²¤ë
Off(OUT_B);
OnRev(OUT_A);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK); //¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
Off(OUT_A);
step++; //¼þ²ó¿ô¤ò£±¤Ä¾å¤²¤ë
//ÀѤ߾夲¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
while(step<=3) //£²ÃÊÌܤȣ³ÃÊÌܤϡ¢Æ±¤¸¥×¥í¥°¥é¥à¤ò¥ë¡¼¥×¤µ¤»¤ë
{
ClearMessage(); //ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È
until ((Message() == SIGNALON)||(SENSOR_3 == 1)); //ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä
PlaySound(SOUND_CLICK); //¥Ô¥í¥ê¥í¥ê¡Á¢ö
while(black!=2) //¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥×
{
if(SENSOR_2 > BLACK){OnFwd(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//º£Å٤Ͻé´ü°ÌÃÖ¤ÎÊý¸þ¤ËÌ᤹
if(SENSOR_2 <= BLACK){OnFwd(OUT_A);until(SENSOR_2 > BLACK);black++;}
}
until(SENSOR_2 <= BLACK); //¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
Off(OUT_A);
black =0; //black¤ÎÃͤò¥ê¥»¥Ã¥È
OnRev(OUT_B);until(SENSOR_3 == 1); //¥¢¡¼¥à¤ò²¼¤²¤ë
Off(OUT_B);
OnFwd(OUT_C);Wait(10); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤Ç¡¢ÊÝ»ýÎ϶¯²½)
OnFwd(OUT_B);until(SENSOR_1 == 1); //¥¢¡¼¥à¤ò¾å¤²¤ë
Off(OUT_B);
while(black!=2) //¹õÀþ¤ò£²²ó°Ê²¼Î¬
{
if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//ÂÔµ¡°ÌÃÖ¤ÎÊý¸þ¤Ë¿Ê¤á¤ë
if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;}
}
OnFwd(OUT_A);until(SENSOR_2 <= BLACK); //¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
Off(OUT_A);
black =0;
if(step==2) //£²ÃÊÌܤÀ¤±¡¢¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
{
OnRev(OUT_B);
Wait(400); ¡¡¡¡//£´Éô֤λþ´ÖÂÔ¤Á
Off(OUT_B);
}
OnRev(OUT_C);Wait(10); //¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÎ¥¤¹)
Off(OUT_C);
if(step==2) //£²¼þÌܤξì¹ç¤Ï¡¢¥¢¡¼¥à¤òºÆ¤Ó¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¾å¤²¤ë
{OnFwd(OUT_B);until(SENSOR_1 == 1);Off(OUT_B);}
OnRev(OUT_A);until(SENSOR_2 >= BLACK);until(SENSOR_2 < BLACK); //¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¿Ê¤á¤ë
Off(OUT_A);
step++; //¼þ²ó¿ô¤ò£±¾å¤²¤ë
}
OnRev(OUT_A); //ºÇ¸å¤Ë¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë
Wait(WAIT_TIME);
Off(OUT_A);
}
*´¶ÁÛ [#o3f93cd4]
-¤À¤¤~
¡¡¥×¥í¥°¥é¥à¤Ï¥¢¥¤¥Ç¥¢Ä̤ê¤Ë´°À®¤·¤¿¤¬¡¢¥í¥Ü¥³¥óËÜÈ֤ǤÏ1¹æµ¡¤¬£²¤ÄƱ»þ¤ËµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤á¤Ê¤«¤Ã¤¿¤¿¤á¡¢1¹æµ¡¤Ë1¤Ä¤Ç¤â¤Ä¤«¤á¤ë¤è¤¦¤Ê¹½Â¤¤Ë¤·¤¿¤«¤Ã¤¿¡£¥í¥Ü¥Ã¥È´ØÏ¢¤Ë¤Ä¤¤¤ÆÂô»³³Ø¤Ö¤³¤È¤¬¤Ç¤¤¿¤Î¤Ç¡¢À§Èó¥í¥Ü¥Ã¥È´ØÏ¢¤Ë¤Ä¤¤¤Æ¸¦µæ¤·¤Æ¤¤¤¤¿¤¤¡£
-¤°¤ÃP~
¡¡¥í¥Ü¥³¥ó¤Þ¤Ç¤Ë¤Ï¿¤¯¤Î»þ´Ö¤¬¤¢¤Ã¤¿¤Ë¤â´Ø¤ï¤é¤º¡¢¥í¥Ü¥Ã¥ÈËÜÂΤ˻þ´Ö¤ò¤«¤±¤¹¤®¤Æ¤·¤Þ¤¤¡¢¥×¥í¥°¥é¥à¤ÎÈùÄ´À°¤Ê¤É¤Ë¤«¤±¤ë»þ´Ö¤¬¾¯¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤Î¤Þ¤ÞËÜÈÖ¤ËÄ©¤à¤³¤È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢»×¤¤Ä̤ê¤Î·ë²Ì¤ò»Ä¤»¤Ê¤«¤Ã¤¿¤³¤È¤Ë¤Ï²ù¤¤¤¬»Ä¤ë¤·¡¢¥Á¡¼¥à¤ÎÃç´Ö¤Ë¤â¿½¤·Ìõ¤Ê¤¤¤È»×¤Ã¤¿¡£¤¹¤ß¤Þ¤»¤ó¡¨¤À¤±¤É¡¢°ì½ï¤Ë¥í¥Ü¥Ã¥È¤òºî¤ë¤Î¤Ï¤È¤Æ¤â³Ú¤·¤«¤Ã¤¿¡£¤¢¤ê¤¬¤È¤¦¡ª~
¡¡ºÇ¸å¤Ë¤³¤Î¡Ö¥í¥Ü¥Æ¥£¥¯¥¹ÆþÌ祼¥ß¡×¤òÄ̤·¤Æ¡¢¥Á¡¼¥à¤Ç¤Îºî¶È¤Î¶¨ÎϤÎÂçÀÚ¤µ¤ä³Ú¤·¤µ¡¢»ÄÇ°¤Ê¤¬¤é°ì½ï¤Ë¤Ê¤é¤Ê¤«¤Ã¤¿¿Í¤È¤â¡¢È¯É½¤äÂзè¤òÄ̤·¤ÆÍÍ¡¹¤Ê¥¢¥¤¥Ç¥¢¤Ë´¶¿´¤·¤¿¤ê¡¢¶¥¤¤¹ç¤¦³Ú¤·¤µ¤â¼Â´¶¤Ç¤¤Þ¤·¤¿¡£¤³¤Î¤è¤¦¤Êµ¡²ñ¤òÍ¿¤¨¤Æ¤¯¤ì¤¿¾¾ËÜÀèÀ¸¤Ë¤Ï¤È¤Æ¤â´¶¼Õ¤·¤Æ¤¤¤Þ¤¹¡ª%%¤È¡¢¥´¥Þ¤ò¤¹¤Ã¤Æ¤ß¤¿¤ê¡Ä%%
-ÆóµÜ~
¡¡ºÇ½ª²ÝÂê¤È¤¤¤¦¤³¤È¤Ç¡¢¤³¤ì¤Þ¤Ç¤ÎÈ¿¾ÊÅÀ¤ò¸ʬ¤ËÀ¸¤«¤¹¤Î¤¬¸Ä¿ÍŪ¤ÊÌÜɸ¤È¤Ê¤ê¤Þ¤·¤¿¡£¤Þ¤º¡¢¸«¹þ¤ß¤Î¤Ê¤¤ÌÜɸ¤Ë¸þ¤«¤ï¤Ê¤¤Íͤ˥³¥ó¥»¥×¥È¤ò³Î¤«¤Ê¤â¤Î¤Ë¡£¶¨µÄ¤ò½Å¤Í¡¢ÊýË¡¤È¤·¤Æ¤Ï¤«¤Ê¤ê¾åÅù¤Ê¤â¤Î¤ËÀ®¤Ã¤¿¤È»×¤¨¤Þ¤¹¡£¤·¤Æ¡¢Æ°ºî¤â³Î¼Â¤Ë¤¹¤ë¤È¤Ï¤Ã¤¤ê¤·¤Æ¤¤¤ì¤Ð¥×¥í¥°¥é¥à¤â½ñ¤°×¤«¤í¤¦¡¢¤È¥Þ¥·¥ó¼«ÂΤˡ¡¤«¡¡¤Ê¡¡¤ê¡¡¤Î»þ´Ö¤ò³ä¾ù¡£¥¹¥¿¡¼¥È¥À¥Ã¥·¥å¤âÁ᤯2½µÌܤˤϤۤܳÎÄꤷ¤¿¹½Áۤ˸þ¤±¤ÆÀ©ºî¤¬¿Ê¤ß¤Þ¤·¤¿¡£¤³¤³¤Þ¤Ç¤Ï¸ʬ¤Ë³Ø½¬¸ú²Ì¤òȯ´ø¡£¤â¤¦¤³¤³¤Þ¤Ç¤ÇÉáÄ̤μø¶È¤Ê¤éñ°Ì¤¬Ì㤨¤½¤¦¤Ê¤â¤Î¤Ç¤¢¤ë¡ª(¸ØÄ¥)¡¡¤½¤ì¤Ç¤âµ¯¤³¤ëÌäÂê¤Ï²ÝÂê¤Î¥¹¥±¡¼¥ë¤Ëȼ¤¦¡¢µ¡ÂΤε¬ÌϤˤè¤ë¤â¤Î¤Ð¤«¤ê¡Ä¤·¤«¤·ÅٽŤʤë¥È¥é¥Ö¥ë¤Ë¤â3¿Í¤¤¤ì¤Ð¤Ê¤ó¤È¤ä¤é¡£°ì¿Í¤Ç¤Ï¨ºÂ¤Ë¤Ï²ò·è½ÐÍè¤Ê¤«¤Ã¤¿¤À¤í¤¦ÌäÂê¤â¸³°Á᤯Âнè¤Ç¤¤Þ¤·¤¿¡£¤³¤Î¥¼¥ß¡¢³ÛḬ̀ʾå¤Ë¶µºà¤ÏÆ»¶ñ¤Ç¡¡³Ë¤ÏÊ̤ˤ¢¤ë¤Ê¤¡¤È¤·¤ß¤¸¤ß»×¤¨¤Þ¤·¤¿¡£
*¥³¥á¥ó¥È [#q6641aae]
¤´°Õ¸«¡¢¤´´¶ÁÛ¤¬¤¢¤ì¤ÐÀ§Èó¥³¥á¥ó¥È¤ò¤É¤¦¤¾¢
#comment
¤³¤Î¥Ú¡¼¥¸¤ËÍè¤Æ¤¯¤ì¤¿¿Í¡¡&counter;¡¡¿Í
½ªÎ»¹Ô:
[[2011b]]
&ref(2011b/A1/¥í¥Ü¥³¥ó/title.gif,200%,);
#contents
*¥á¥ó¥Ð¡¼ [#ce47b351]
-¤°¤ÃP¡¡¡Ö¥í¥Ü¥³¥ó¡×¤Ã¤Æ¶Á¤¡¢¤¤¤¤¤è¤Í¡ª
-¤À¤¤¡¡Á´ÎϤò½Ð¤·Àڤäơ¢¤¤¤¤¥í¥Ü¥Ã¥È¤È¥×¥í¥°¥é¥à¤ò´°À®¤µ¤»¤¿¤¤¡£
-ÆóµÜ(Å·¥Ñ)¡¡²Î¤ÏÆÀ°Õ¤À¤¬¡¢¥×¥í¥°¥é¥à¤Ï¶ì¼ê¡£¤Ê¤Î¤ÇÁȤßΩ¤Æ´èÄ¥¡Ä¤Ã¤¿(?)
*²ÝÂêÆâÍÆ [#s5846a49]
#ref(2011b/A1/¥í¥Ü¥³¥ó/robocon2011b.png,100%,¶¥µ»¾ì)
-ľÊýÂΤλæ¥Ñ¥Ã¥¯¤ò¼«¿Ø¤Ø±¿¤Ö(¿Þ»²¾È)
-ÀѤ߾夲¤ÆÅÀ¿ô¤ò²Ô¤°¤³¤È¤¬¤Ç¤¤ë
-RCX¤ÏÆóÂæ»ÈÍѤ¹¤ë
-¹çÂΤǰìÂæ¤Ç¤â¡¢ÊÌ¡¹¤ËÆÈΩ¤µ¤»¤Æ¤â¤è¤¤
-½ªÎ»»þ¤Ë¥í¥Ü¥Ã¥È¤Ï¡¢»æ¥Ñ¥Ã¥¯¤Ë¿¨¤ì¤Æ¤¤¤Ê¤¤¤³¤È
¾ÜºÙ¤Ï[[¤³¤Î¥Ú¡¼¥¸:http://yakushi.shinshu-u.ac.jp/robotics/?2011b%2F%A5%ED%A5%DC%A5%B3%A5%F3]]¤Ë¤Æ
*¥í¥Ü¥Ã¥È [#ece073d5]
¡Ö¥¥â¤ÏÀѤ߾夲¤À¡×~
¤Ê¤é¤Ð´Êñ¤½¤¦¤Ê±¿È¤˿ô¤ò¤³¤Ê¤µ¤»¡¢ÀѤ߾夲¤È¤ÏʬΥ¤µ¤»¤è¤¦¡£~
¤È¡¢¤³¤ÎÈɤǤÏÆóÂæ¤òÆÈΩ¤µ¤»¤ëÊý¿Ë¡£~
¥é¥ó¥¿¥ó¤Ê¤ë¸÷¸»¤Î¥µ¥¤¥º¡¢°ÌÃÖ¤¬¤Ï¤Ã¤¤ê¤·¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¥é¥ó¥¿¥ó¤¬¤É¤Î¤è¤¦¤Ë±Æ¶Á¤òµÚ¤Ü¤¹¤«Ê¬¤«¤é¤Ê¤«¤Ã¤¿¤¿¤á½øÈפϰì¹æµ¡¤ÎµóÆ°¤¬ÉÔ³ÎÄê¤À¤Ã¤¿¡£~
¤·¤«¤·È¢ÄíÆâ¤Ë¤ÏÊѤï¤ê¤¢¤ë¤Þ¤¤¤È¡¢²ÚÎï¤Ë¥¹¥¿¡¼¥È¤òÀڤ롣½Ð¤ϽçÄ´¤È¤Ê¤Ã¤¿¡£~
~
¤Á¤Ê¤ß¤ËºîÀï¤Ï¤³¤ó¤Ê´¶¤¸~
¥é¥ó¥¿¥ó¤Ï·ë¶É²¡¤·¤Î¤±¤ÆÆ»¤ò³ÎÊݤ¹¤ë¤³¤È¤Ë¤Ê¤ê¤Þ¤·¤¿¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/tactics.gif,80%,¹ÔÆ°¿Þ);~
ÅÓÃæ¤Ç¤°¤ë¤°¤ë²ó¤ë¤Î¤Ï¡¢ÄÌ¿®¤ò³Î¼Â¤Ë¹Ô¤¦¤¿¤á¡£²ó¤Ã¤Æ¤¤¤ë´Ö¤ÏÄÌ¿®¤òÁ÷¤ê¤Ã¤Ñ¤Ê¤·¤Ç¤¢¤ë(¥×¥í¥°¥é¥à»²¾È)¡£
**°ì¹æµ¡¡¡±¿È [#i9a879e4]
¥í¥Ü¥Ã¥È̾¡Ö¤¤¤Á¤´¤¦·¯¡×~
ºÇ½é¤ÏÈ¢£´¥Ä¤ò°ìµ¤¤Ë±¿¤ÖºîÀï¤À¤Ã¤¿¡£È¼¤Ã¤ÆÂç·¿¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¾ã³²Êª¤È¤Î·ó¤Í¹ç¤¤¤¬Æñ¤·¤¤¡£~
¶¯¤¯¡¢³Î¼Â¤ÊÆ°ºî¤ò1ȯÌܤ«¤é¼Â¸½¤·¤¿¡£¤·¤«¤·Éý¤ò¤È¤ë¤Î¤¬¸å¤ËÌäÂê¤Ë¡£~
¤½¤ì¤Ë¤è¤ê¡¢£²¤Ä»ý¤Á¤Ø¤ÈºîÀï¤òÊѹ¹¤·¤¿¡£È¢¤ò±¿¤ÖÆ°ºî¤ò£³²ó·«¤êÊÖ¤¹¤³¤È¤Ë¤Ê¤ë¤¬¡¢¤½¤³¤Ï¥×¥í¥°¥é¥à¤Ç¥«¥Ð¡¼¤·¤¿¤¤¤È¤³¤í¡£
***Á´ÂÎ [#f45145b0]
Á´ÂÎŪ¤Ë¾®ÊÁ¤Ê¥í¥Ü¥Ã¥È¤Ë¤Ç¤¤¿¤Î¤Ç¡¢¤É¤ó¤Ê·ä´Ö¤â¤ª¼ê¤Îʪ¡£~
£³¼ï¤Î¥»¥ó¥µ¡¼¤ò£±¤Ä¤º¤ÄÅëºÜ¤·¡¢¥Õ¥£¡¼¥ë¥ÉÆâ¤ò¶î¤±½ä¤ë¡ª~
&ref(2011b/A1/¥í¥Ü¥³¥ó/carrier_1.jpg,70%,ËÜÂÎ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/carrier_2.jpg,70%,¼Ì¿¿º¸¤Ë¥¿¥Ã¥Á¥»¥ó¥µ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/carrier_3.jpg,70%,¼Ì¿¿Ãæ±û¤Ï²óž¥»¥ó¥µ¡¢º¸¤Ï¸÷¥»¥ó¥µ);
¥¿¥Ã¥Á¥»¥ó¥µ¤Ï¡¢¹õ¤¤ËÀ¾õ¤Î¥Ñ¡¼¥Ä¤¬¼ã´³²ÔƯ¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Æ¡¢¤½¤ì¤¬ÊɤËÅö¤¿¤ë¤È¥¿¥Ã¥Á¥»¥ó¥µ¤ò²¡¤¹¤È¤¤¤¦»ÅÁȤߤǤ¹¡£~
²óž¥»¥ó¥µ¤Ï¡¢¥¿¥¤¥ä¤è¤ê¤â¤µ¤é¤Ë¥®¥äÈæ¤òÍî¤È¤·¤ÆÀµ³ÎÀ¤ò¤¢¤²¤Æ¤¤¤Þ¤¹¡£
***¥Ù¡¼¥¹ [#n80ac434]
¥·¥ó¥×¥ë¤Ê¥Ù¡¼¥¹¡£Æ⦤˲󞥻¥ó¥µ¤¬¼è¤êÉÕ¤±¤Æ¤¢¤ë¡£~
¥Ý¥¤¥ó¥È¤ÏÄÌ¿®Éô¤Ë¤Ä¤±¤¿ÄÌ¿®Êä½õÁõÃÖ¡£¤³¤ì¤Ë¤è¤êÄÌ¿®À©ÅÙ¤¬200%UP¡ª(Åö¼ÒÈæ)~
&ref(2011b/A1/¥í¥Ü¥³¥ó/1base.JPG,90%,);
***¥¢¡¼¥à [#dc9ff3b7]
£²¸Ä¼è¤ê¤Ë¤·¤¿¤³¤È¤Ë¤è¤ê¡¢Ã»¤¯¤Ê¤Ã¤¿¥¢¡¼¥à¡£~
º¸±¦¤Î¥¿¥¤¥ä¤ÏÉý³ÎÊݤȥ´¥à¤Ë¤è¤ë¥°¥ê¥Ã¥×¤ÎÌò³ä¤ò¤·¤Æ¤¤¤ë¡£ËÜÅö¤Ï¼Ì¿¿±¦±ü¦¤âÂ礤ʥ¿¥¤¥ä¤ò»ÈÍѤ·¤¿¤«¤Ã¤¿¤¬¡¢²«¿§¥Ñ¡¼¥Ä¤Ë¤¢¤¿¤Ã¤Æ¤·¤Þ¤Ã¤Æ̵Íý¤Ç¤·¤¿¡¨~
¥¢¡¼¥à¤Î³«ÊÄÆ°ºî¤Ë¤Ï¥¿¥¤¥ä¤òÍøÍÑ¡£¤³¤Î¤¦¤ÁÆ°ÎϤòÅÁ¤¨¤ë¥¿¥¤¥ä¤òÊÒÊý(¼Ì¿¿¤Ç¤Ï±¦Â¦)¤À¤±¤Ë¤¹¤ë¤³¤È¤Ç¡¢¥®¥ä¤òÀáÌó¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/1arm.png,90%,);
***¤ª¤Þ¤±¡(ËÜÂε췿) [#baa17f57]
Á°²ó¤ÎÌ̱Ƥò»Ä¤·¤¿¼ÖÂΡ£¾®²ó¤ê¤Ï¸ú¤¯¤¬»æ¥Ñ¥Ã¥¯¤ò±¿¤Ö¤è¤¦¤ÊÎϻŻö¤Ë¤Ï¸þ¤¤¤Æ¤¤¤Ê¤«¤Ã¤¿¤¿¤áÊѹ¹¡£~
¿¿¤óÃæ¤Î¼Ì¿¿¤ÎÀÖ¤¤¸÷¤Ï¸÷¥»¥ó¥µ¤Ë¤è¤ë¤â¤Î¡£Åö½é¤ÏÁ°Êý¤Ë¸÷¥»¥ó¥µ¤ò¸þ¤±¤Æ¡¢¥é¥ó¥¿¥ó¤ä»æ¥Ñ¥Ã¥¯¤òȽÊ̤¹¤ë¤³¤È¤â¹Í¤¨¤Æ¤¤¤Þ¤·¤¿¡£
&ref(2011b/A1/¥í¥Ü¥³¥ó/old1.jpg,50%,ËÜÂÎ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/old2.jpg,50%,ÀµÌÌ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/old3.jpg,50%,΢ÌÌ);
***¤ª¤Þ¤±¢(¥¢¡¼¥àµì·¿) [#e794074f]
#ref(2011b/A1/¥í¥Ü¥³¥ó/old4.jpg,50%,¥¢¡¼¥à);
£´¤Ä¼è¤ê¤òÌܻؤ·¤Æ¤¤¤¿»þÂå¤ÎĶ¥í¥ó¥°¥¢¡¼¥à¡£Ì´¤È´õ˾¤ËËþ¤Á°î¤ì¤Æ¤¤¤ë¡£~
¤¢¤é¤æ¤ë¾ã³²¤Ë¥®¥ê¥®¥ê¤ÇÂбþ¤Ç¤¤ë¤è¤¦¤ËÀ߷פ·¤¿¤Ä¤â¤ê¤À¤¬¡¢¤¤¤¯¤Ä¤«¤Î¾ì½ê¤Ç¤Ï¥®¥ê¥®¥ê¥¢¥¦¥È¤Ç¤¢¤Ã¤¿¤¿¤á¡¢ÃÇÇ°¡£~
Ì´¤È´õ˾¤òȾʬ¤Ë¤·¡¢»Ä¤ê¤Î50%¤Ë³Î¼ÂÀ¤ò¤¢¤Æ¤¿¸½ºß¤Î¥¢¡¼¥à¤Ø¤È»Ñ¤òÊѤ¨¤ë¡Ä
**Æó¹æµ¡¡¡ÀѾå [#s713099b]
¥í¥Ü¥Ã¥È̾¡Ö¤Ë¤´¤¦¤Á¤ã¤ó¡×¡¦¡¦¡¦///~
±¿È¤µ¤ì¤¿È¢¤ò¹â¤¯ÀѤ߾夲¤ëÌò³ä¡£~
ËÜÍè¡¢¥Ö¥í¥Ã¥¯¤Ï4¤Äʤó¤ÇÆϤ¯Í½Äê¤À¤Ã¤¿¡£~
¤Ê¤Î¤Ç¡¢4¤Ä¤¤¤Ã¤Ú¤ó¤Ë¤Ä¤«¤Þ¤Ê¤¤¸Â¤ê²£¤«¤é»ý¤Á¾å¤²¤ë¤Î¤ÏÆñ¤·¤¯¡¢°ìÅÙ¤ËÀѤ߾夲¤ëµ¡Ç½¤âº¤Æñ¤ÈȽÃÇ¡£~
Âкö°Æ¤È¤·¤Æ2¤Ä¤ò¾å¤«¤é¤Ä¤«¤ß¡¢»ý¤Á¾å¤²¤ëÊýË¡¤òºÎ¤ë»ö¤Ë¡£¤½¤³¤«¤é¤¬ÂçÊÑ»þ´Ö¤ò¿©¤Ã¤¿¡£~
¼õ¤±¼è¤ë¥¢¡¼¥à¤Ï¾å²¼¤ËÂ礤¯Æ°¤¯É¬Íפ¬¤¢¤ë¤¬¡¢Ä¹¤µ¤Î¤¢¤ëÉôÉʤòºî¤ë¤È¤¿¤ï¤à¡¢¥Ð¥é¥ó¥¹¤¬°¤¯¤Ê¤ë¤Ê¤ÉÍÍ¡¹¤ËÌäÂ꤬½Ð¤Æ¤¤¿¡Ê¤ª¤Þ¤±»²¾È)~
¿ô¡¹¤Î¸¡¾Ú¤ÎËö¡¢¾å²¼°ÜÆ°¤Î¼´¤È¡¢¤½¤ì¤ò»Ù¤¨¤ë´Ê°×¤Î¼´¤¬É¬ÍפǤϤʤ¤¤«¤ÈÃåÁۤ˻ê¤ë¡£~
¤·¤«¤·¤½¤ì¤â¤Þ¤¿¿·¤¿¤ÊÌäÂê¤Î¼ï¤È¤Ê¤Ã¤Æ¤¤¤Æ¡¢»×¤¤¤Ã¤¤êÉôÉʤ¬Â¤é¤Ê¡¦¡¦¡¦¤¤¡¦¡¦¡¦¡£~
¹¹¤Ë¥Ð¥é¥ó¥¹¡¢¥Ñ¡¼¥Ä¤ÎÌäÂ꤬ɹ²ò¤·¤¿¸å¤âȯ¸«¤µ¤ì¤ë¤Î¤ÏÄÌ¿®¤ÎÌäÂê¡£RCX¡¢¤³¤ä¤Ä¤é°Õ³°¤ÈÀ¼¤¬¾®¤µ¤¤¤é¤·¤¯ÆϤ«¤Ê¤¤¡¦¡¦¡¦¡ª~
¤Ç¤Ï°ÌÃÖ¤òÊѤ¨¤ì¤Ð¡¢¥Ð¥é¥ó¥¹¤¬¤Ã¡ª¶ìÏ«¤¬À䤨¤Þ¤»¤ó¡£
¿ô¡¹¤ÎÌäÂê¤ò3¿Í¤Ç¾è¤ê±Û¤¨¤Æ¡¢·Á¤Ë¤Ê¤Ã¤¿ ¤Ë¤´¤¦¤Á¤ã¤ó¡£ºÇ½ªÅª¤Ë¤Ï¡¢ÄÌ¿®¡¦¥Ð¥é¥ó¥¹¡¦¶¯ÅÙÁ´¤Æ¤òƧ¤ß±Û¤¨¤ëÄøΩÇɤˤʤê¤Þ¤·¤¿¡ÊŽÎŽÛŽØ
***Á´ÂÎ [#hfa6a942]
#ref(2011b/A1/¥í¥Ü¥³¥ó/´°À®¿Þ.JPG,70%);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2all.JPG,50%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2ue.JPG,50%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2sita.JPG,50%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2usiro.JPG,50%,);~
¥¢¡¼¥à¤ÇµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤ó¤Ç¡¢¥¨¥ì¥Ù¡¼¥¿¡¼¤Î¤è¤¦¤Ë»ý¤Á¾å¤²¤ë¹½Â¤¡£½Å¿´¤¬¿¿¤óÃæ¤Ç¤Ï¤Ê¤¤¤¿¤á¡¢¼ÖÂÎÉôʬ¤ò°ÂÄꤵ¤»¤ë¤Î¤¬ºÇÂç¤Î²ÝÂê¤À¤Ã¤¿¡£~
¤Þ¤Ã¤¹¤°¤ËÁö¤é¤»¤è¤¦¤È¤·¤¿¤È¤³¤í¡£¥¢¡¼¥à¤Î½Å¤µ¤Ë¤è¤ê¡¢´°àú¤Êľ¿Ê¤¬¤Ç¤¤Ê¤¤¡£¤º¤ì¤¬½Å¤Ê¤ê¡¢ÆóÅÙÌܰʹߤαýÉüºî¶È¤Ç¤Ï¸÷¥»¥ó¥µ¤¬¹õÀþ¤«¤é°ï¤ì¤Æ¤·¤Þ¤¦¡£¤â¤È¤â¤È¡¢¥Ö¥í¥Ã¥¯¤ÎÊÝ»ý¤ò³Î¼Â¤Ê¤â¤Î¤Ë¤¹¤ë¤¿¤á¤ÎÀ߷פÀ¤Ã¤¿¤Î¤Ç¡¢°ìÊýÊý¸þ¤Ë¤·¤«Áö¤ì¤Ê¤¤£²¤´¤¦¤Á¤ã¤ó¡£¹õÀþ¤ò¥È¥ì¡¼¥¹½ÐÍè¤Æ¤â¥ª¥ó¥é¥¤¥ó¤ËÉüµ¢¤¹¤ë»ö¤Ï½ÐÍè¤Ê¤¤¡£
¤³¤ÎÌäÂê¤ÏÁêÅö¤Ë¿¼¹ï¤Ç¡¢Áö¹ÔÍѤΥ¿¥¤¥ä¤òÁȤßÂؤ¨¤¿¤ê¡¢¥Ù¡¼¥¹¤òÉýÁý¤·¤·¤¿¤ê»î¹Ôºø¸í¤ÏÁêÅö¤Ê¿ô¤Ë¤Ê¤ê¡¦¡¦¡¦¥¿¥¤¥ä¾è¤»¤Á¤ã¤¨¡ù¡¡¤È¡¢RCX¾å¤ËºÇÂ祵¥¤¥º¤Î¥¿¥¤¥ä¤òÁ´¸Ä¿ôÇÛÃÖ¤¹¤ë¤³¤È¤ÇÌäÂê²ò·è¡£¤Ê¤ó¤È¤³¤Î¾éÃ̤Τ褦¤ÊÂкö¤¬ÂçÊѸú²ÌŪ¡£¥³¡¼¥É¤Î¥ê¡¼¥ëŪ¤ÊÌò³ä¤â»ý¤¿¤»¤ë¤³¤È¤ÇÀâÆÀÎϤâÁý¤·¤¿¡£ÀѤ߾夲¤ËÆò½¤ÏÀ®¸ù¡¢ºÇÁáËÜÈÖ¤òÂԤĤФ«¤ê¤È¤Ê¤Ã¤¿¡¦¡¦¡¦
***¥Ù¡¼¥¹ [#zb65dd3b]
&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æbase.JPG,90%,);
&ref(2011b/A1/¥í¥Ü¥³¥ó/2base.JPG,90%,);
***Ãì [#j2811f91]
¤¿¤Ó½Å¤Ê¤ë¸ºÎ̤ˤơ¢³ÍÆÀ¤·¤¿¶Ã°Û¤ÎÇö¤µ¡õ·øÏ´¤µ¡£~
¤½¤·¤Æ¡¢¶Ë¤á¤Ä¤±¤Ï²¿½è¤Ëʸ¶ç¤ò¤Ä¤±¤è¤¦¤«¤È¤¤¤¦´°àú¤òÂ轤¹¤ëÆ°ÎÏÉôʬ¡£~
¥â¡¼¥¿¡¼¤«¤é¤ÎÆ°ÎϤÎÅÁ¤ï¤êÊý¤Ï¼Ì¿¿¤ÎÄ̤ê¤Ç¡¢¸«¤¨¤Ë¤¯¤¤¤¬Æ⦤ˤ¢¤ë£²Ëç¤Î¥®¥ä¤¬¥¢¡¼¥à¤ËÀܤ·¡¢¾å²¼¤µ¤»¤Æ¤¤¤ë¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æÃì.JPG,90%,);&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æÃìÀèü.jpg,90%,);&ref(2011b/A1/¥í¥Ü¥³¥ó/arm_ue.jpg,85%,ÀµÌÌ¿Þ(90¡ë²óž));
¤Ê¤ªÃì¤Î²¼Éô¤Ë¤Ï¡¢¥¢¡¼¥à²¼¹ß»þ¤ÎÌܰ¤Ȥʤ륿¥Ã¥Á¥»¥ó¥µ¤¬¤Ä¤¤¤Æ¤¤¤Þ¤¹¡£
***¥¢¡¼¥à [#hd895971]
½é´ü¤«¤é¤¢¤Þ¤êÊѤï¤é¤Ê¤«¤Ã¤¿Éôʬ¡£¥¿¥¤¥ä¤ÇÆ°¤¯¡£¤Þ¤º¡¢¤«¤Í¤Æ¤«¤é¸À¤¦¥Ð¥é¥ó¥¹¤ÎÌäÂê¡£¥â¡¼¥¿¡¼¤ò¼´¤Ë¶áÉÕ¤±¤Æ°ÂÄê¤òµá¤á¤¿¡£~
¥¢¡¼¥àÀèü ¥Ö¥í¥Ã¥¯¤Ë¿¨¤ì¤ëÉôʬ¤Ï¤¤¤í¤¤¤í»î¤·¤¿Ëö¡Ö¥´¥à¤µ¤¨´¬¤±¤Ð¡¢°Æ³°¤Ê¤ó¤Ç¤â»ý¤Æ¤ë¡×¤È¤¤¤¦Å·¥Ñ¤Î·ëÏÀ¤Ë´ð¤Å¤Í¾¤Ã¤¿ºàÎÁ¤Ç½ÐÍè¤Æ¤¤¤ë¡£~
¤È¤¤¤Ã¤Æ¤â¤ª¤¶¤Ê¤ê¤Ç¤Ï¤Ê¤¯¡¢Æó¸Äʬ¤Î¥Ö¥í¥Ã¥¯Ãæ¿´¤ò¤æ¤¦¤Ë¶´¤á¤ë¥µ¥¤¥º¤È¡¢¼«²õ¤·¤Ê¤¤ÄøÅ٤ζ¯ÅÙ¤ò»ý¤Á¹ç¤ï¤»¤ë¡£~
£¹£°ÅÙ¤ÎÀܹç¤Ï¼Â¤Ï¤½¤ì¤Û¤É¶¯¤¯¤Ê¤¤¡£¤·¤«¤·¥Ö¥í¥Ã¥¯¤òÍÞ¤¨¤ë¤Î¤Ë¤«¤«¤ëÎϤȤÏÊý¸þ¤¬°ã¤¦¤Î¤Ç¡¢»Ù¾ã¤¬¤Ê¤¤¡£¶ËÎÏ·Ú¤¯¡¢²õ¤ì¤Ê¤¤¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/2arm2.JPG,90%,);
¥¿¥Ã¥Á¥»¥ó¥µ¤À¤¬¡¢Åö½é¤ÏÃì¤Ë¤Ä¤¤¤Æ¤¤¤¿¤Î¤À¤¬È¿±þ¤·¤Ê¤¤,¤È¤ì¤ë¤È¤¤¤Ã¤¿¤³¤È¤¬¤¢¤Ã¤¿¤¿¤á¡¢¤¤¤Ã¤½¥¢¡¼¥à¤Î¤Û¤¦¤Ë¤Ä¤±¤Æ¤·¤Þ¤ª¤¦¤È¤¤¤¦¤³¤È¤Ë¤Ê¤ê°ú¤Ã±Û¤·¤Æ¤¤Þ¤·¤¿¡£~
¤®¤ê¤®¤ê¤ÎÊѹ¹¤À¤Ã¤¿¤¿¤á¡¢Ãì¾åÉô¤Ë¤Ä¤¤¤Æ¤¤¤ë¼Ì¿¿¤â¤¢¤ë¤±¤ì¤É¤³¤ì¤¬ºÇ½ªÈǤǤ¹¡£
***¤ª¤Þ¤±¡(½é´ü¹½ÁÛ) [#qe8cc6c9]
#ref(2011b/A1/¥í¥Ü¥³¥ó/¥¯¥ì¡¼¥óͽÁÛ¿Þ.jpg,26%)
»Ï¤á¤Ï¥¯¥ì¡¼¥ó¥²¡¼¥à¤ò¥Ò¥ó¥È¤Ë¤·¤Æ¡¢¤³¤Î¤è¤¦¤Ê¹½Â¤¤Ë¤·¤è¤¦¤È»×¤Ã¤¿¤¬¡¢¥¯¥ì¡¼¥ó¤Î»Ù¤¨¤ëËÀ¤¬ÉÔ°ÂÄê¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¦¤¿¤á¡¢ÃÇÇ°¡£
***¤ª¤Þ¤±¢(ËÜÂε췿) [#rc744f40]
¡ÚÆó¹æµ¡¥Ù¡¼¥¹½é´ü¡Û~
Ãì¤òÁ°¸å¤Î£²Ãʹ½¤¨¤È¤·¡¢°ÂÄêÀ¤ò¿Þ¤Ã¤¿¡Ä
¤Ä¤â¤ê¤¬¡¢¥Ð¥é¥ó¥¹¤â°¤¯¥Ñ¡¼¥Ä¤ò¾ÃÈñ¤·¤¹¤®¤¿¤¿¤áÊѹ¹¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/old5.jpg,50%,ËÜÂÎ);¡¡&ref(2011b/A1/¥í¥Ü¥³¥ó/old6.jpg,50%,΢ÌÌ);~
~
~
~
ÊÑÁ«¤ò½Å¤Í¤¿¡¢²þÎÉ·¿¡£~
¼´¤ò°ìËܤˤ·¤Æ¡¢Í¾¤Ã¤¿¥Ñ¡¼¥Ä¤ò¤Ä¤Ê¤®¹ç¤ï¤»¤Æ°ú¤ÃÄ¥¤ë¡£¤Ê¤ó¤È¤³¤ì¤Ï¥Ð¥é¥ó¥¹Ì̤ÇÂçÉý¤Ê¿ÊÊâ¤ò¸«¤»¤ë¡£~
¤·¤«¤·¹âµé¥Ñ¡¼¥Ä¤Î»È¤¤¤É¤³¤í¤¬¤â¤Ã¤¿¤¤¤Ê¤«¤Ã¤¿¡õ¼´¤«¤é¤Þ¤À¥Ñ¡¼¥Ä¤ò¸º¤é¤»¤½¤¦¤À¤Ã¤¿¤¿¤á¤Ëʬ²ò¡£Êý¿Ë¤È¤·¤Æ¤Ï¼ê±þ¤¨¤ò´¶¤¸¤¿¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æµ¡½é´ü.JPG); &ref(2011b/A1/¥í¥Ü¥³¥ó/Æó¹æµ¡½é´ü£².JPG);~
¡ÚÆó¹æµ¡¥¢¡¼¥à½é´ü¡Û~
È¢¤ò¤Ä¤«¤à¤Ë¤Ï¡©¤È¹Í¤¨Å·¥Ñ¤¬ºÇ½é¤Ë¥µ¥¯¤Ã¤Èºî¤Ã¤¿Êª¡£~
·ë¶É¼ÂÍѤˤÏÀ®¤é¤Ê¤«¤Ã¤¿¤¬´ðËÜŪ¤ÊÉôʬ¤ÏÊѤï¤é¤º¡£~
Ä¥ÎϤÀ¤±¤òµá¤á¤ÆÎØ¥´¥à¤òÍøÍѤ·¤¿¤ï¤±¤Ç¤Ï¤Ê¤¤¡¢¤Î¤¬¥Ý¥¤¥ó¥È¤«¡£~
&ref(2011b/A1/¥í¥Ü¥³¥ó/ºÇ½é´ü¥¢¡¼¥à.JPG);
*¥×¥í¥°¥é¥à [#pf042337]
**°ì¹æµ¡ [#ke5f40e4]
»æ¥Ñ¥Ã¥¯¤ò±¿¤ó¤Ç¤¯¤ë¥×¥í¥°¥é¥à¤À¤¬¡¢£±¼þÌܤȣ²¼þÌܰʹߤǤÏÆ°ºî¤¬°ã¤¦¤¿¤á¤ä¤ä¤³¤·¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£~
¤µ¤é¤Ë¡¢´Ø¿ô¤ÇÂÔ¤Á»þ´ÖÀßÄꤷ¤¿¤â¤Î¤ò²óž¤Ë»È¤Ã¤¿¤ê¡¢¤½¤ÎµÕ¤ò¤·¤¿¤ê¤·¤Æ¤¤¤¿¤Î¤Ç¤´¤Á¤ã¤´¤Á¤ã¤·¤Æ¤¤¤ë¡£~
»þ´Ö¤¬¤¢¤ì¤Ð¤â¤Ã¤È¸«¤ä¤¹¤¯¤Þ¤È¤á¤¿¤«¤Ã¤¿¤Ê¤È»×¤¤¤Þ¤¹¡£~
~
¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û
#define SE_R SENSOR_1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SENSOR_1¤òSE_R(±¦¥»¥ó¥µ¤Î°Õ)¤È¾Êά
#define SE_C SENSOR_2¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾å»²¾È
#define SE_L abs(SENSOR_3)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //SENSOR_3(²óž¥»¥ó¥µ)¤ÎÃͤÎÀäÂÐÃͤòSE_L¤È¾Êά
#define WAIT_TIME 50¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê¡
#define WAIT_TIME_1 75¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÂÔ¤Á»þ´ÖÀßÄê¢
#define WAIT_TIME_2 7¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔ¤Á»þ´ÖÀßÄê£
#define TURN_1 41¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê¡
#define TURN_2 45¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¿ôÀßÄê¢
#define TURN_3 3¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¿ôÀßÄê£
#define TH 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê
#define go OnFwd(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê¤ògo¤ÈÄêµÁ
#define back OnRev(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂà¤òback¤ÈÄêµÁ
#define turn_right OnFwd(OUT_C);OnRev(OUT_A);¡¡¡¡//±¦ÀÞ¤òturn_right¤ÈÄêµÁ
#define turn_left OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡ //º¸ÀÞ¤òturn_left¤ÈÄêµÁ
int i=1,j,k,line;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÍÍ¡¹¤Ê¾ìÌ̤ǻȤ¦ÊÑ¿ô¤òÄêµÁ
void Clear_Sensor()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤Î¥ê¥»¥Ã¥È
{
ClearSensor(SENSOR_3);
PlaySound(SOUND_FAST_UP);
Off(OUT_AC);Wait(WAIT_TIME);
}
void arm_open()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò³«¤¯
{
OnRev(OUT_B);
Wait(WAIT_TIME);
Off(OUT_B);
}
¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û
task main()
{
SetSensor(SENSOR_1,SENSOR_TOUCH); ¡¡¡¡//¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_2,SENSOR_LIGHT); ¡¡¡¡//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_3,SENSOR_ROTATION); ¡¡¡¡//¥»¥ó¥µ¡¼£³¤ò²óž¥»¥ó¥µ¤ÈÄêµÁ
Clear_Sensor(); ¡¡¡¡//¥»¥ó¥µ¡¼¤ÈÆ°ºî¤ò¥ê¥»¥Ã¥È
back; until(SE_L >= 175); ¡¡¡¡//¸åÂà
//»æ¥Ñ¥Ã¥¯³ÎÊÝ¤Þ¤Ç¤Î¥×¥í¥°¥é¥à//
for(i = 1;i <= 3;i++){ ¡¡¡¡//{}Æâ¤ò£³²ó·«¤êÊÖ¤¹(»æ¥Ñ¥Ã¥¯¤ò£³²ó±¿¤Ö)
Clear_Sensor();
arm_open(); //¥¢¡¼¥à¤ò³«¤¯
turn_right; until(SE_R == 1); //¥¿¥Ã¥Á¥»¥ó¥µ¤¬Êɤˤ¢¤¿¤ë¤Þ¤Ç±¦²óž
Clear_Sensor();
if(i == 1){ //1¼þÌܤϥé¥ó¥¿¥ó²¡¤·¤Æ¤«¤éÌá¤ë
while(SE_L <= 450){ ¡¡¡¡//¥é¥ó¥¿¥ó¤ò²¡¤·ÀÚ¤ë¤Þ¤Ç¡¢{}Æâ¤ò·«¤êÊÖ¤¹
go; //Á°¿Ê
if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢
Off(OUT_C); ¡¡¡¡//º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ
until(SE_R == 0); ¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë
}
}
Clear_Sensor();
while(SE_L <= 95){ ¡¡ ¡¡//»æ¥Ñ¥Ã¥¯¤Î°ÌÃÖ¤ËÌá¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹
back; //¸åÂà
if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬ÊɤËÅö¤¿¤Ã¤Æ¤¤¤¿¤é¡¢
Off(OUT_A); ¡¡¡¡//±¦¥¿¥¤¥ä¤ò»ß¤á¤Æ
until(SE_R == 0); ¡¡¡¡//Êɤ«¤éÎ¥¤ì¤ë
}
}
}else{ ¡¡//2¼þÌܰʹߤϻæ¥Ñ¥Ã¥¯¤Þ¤ÇÁ°¿Ê
while(SE_L <= 300){ ¡¡¡¡//»æ¥Ñ¥Ã¥¯¤Þ¤Ç°ÜÆ°¤¹¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤¹
go; ¡¡¡¡//Á°¿Ê
if(SE_R == 1){ //¤â¤·¥¿¥Ã¥Á¥»¥ó¥µ¤¬°Ê²¼Î¬
Off(OUT_C); //º¸¥¿¥¤¥ä¤ò»ß¤á¤Æ
until(SE_R == 0); //Êɤ«¤éÎ¥¤ì¤ë
}
}
}
Clear_Sensor();
turn_left; until(SE_L >= TURN_2); //º¸¤Ë90¡î²óž
Clear_Sensor();
if(i == 1){ //¼þ²ó¤´¤È¤Ë»æ¥Ñ¥Ã¥¯¤Þ¤Ç¤Îµ÷Î¥¤¬°ã¤¦¤¿¤á¡¢¤½¤ì¤¾¤ì¿Ê¤àµ÷Î¥¤òÊÑ¿ô¤ÇÄêµÁ
line = 115;
}else if(i == 2){
line = 160;
}else{
line = 205;
}
go; until(SE_L >= line); //Á°¿Ê
Off(OUT_AC);
OnFwd(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤ÇÊÝ»ýÎ϶¯²½)
Clear_Sensor();
back; until(SE_L >= 55); //¼ã´³¸åÂà
Clear_Sensor();
turn_left; until(SE_L >= TURN_3); //µ°Æ»½¤Àµ¤Î¤¿¤á¤ï¤º¤«¤Ëº¸²óž
Clear_Sensor();
back; until(SE_L >= line); //ÊɤޤǸåÂष¤Æ¡¢³ÑÅÙ¤òÀ°¤¨¤ë
//»æ¥Ñ¥Ã¥¯¤ò±¿¤Ö¥×¥í¥°¥é¥à//
Clear_Sensor();
go; until(SE_L >= TURN_1); //Á°¿Ê
Clear_Sensor();
turn_left; until(SE_L >= WAIT_TIME); //º¸²óž
if(i == 1){ //£±¼þÌܤȣ²¼þÌܰʹߤǤϻæ¥Ñ¥Ã¥¯¤òÃÖ¤¯°ÌÃÖ¤¬°ã¤¦¤¿¤á¡¢¾ò·ïʬ´ô
line = 170; k = 4; ¡¡¡¡//Á°¿ÊÃæ¤Ëµ°Æ»½¤Àµ¤òÆþ¤ì¤ë¤¿¤á¡¢¢¨£±¤Îforʸ¤Î·«¤êÊÖ¤·²ó¿ôk¤òÀßÄê
}else{
line = 240; k = 5; ¡¡¡¡//¤Ä¤¤¤Ç¤Ë¡¢¤Î¤Á¤Î°ÜÆ°µ÷Î¥¢¨£²¤âÀßÄꤷ¤Æ¤¤¤ë
}
for(j = 1;j <= k;j++){ //j¤¬£±¤«¤ék¤Ë¤Ê¤ë¤Þ¤Ç{}Æâ¤ò·«¤êÊÖ¤·(¢¨£±)
Clear_Sensor();
go; until(SE_L >= 80); ¡¡¡¡//¾¯¤·Á°¿Ê
Clear_Sensor();
turn_left; until(SE_L >= TURN_3); ¡¡ ¡¡¡¡//¤ï¤º¤«¤Ëº¸²óž
}
go; until(SE_L >= 80); //ºÇ¸å¤Ë¤â¤¦¾¯¤·Á°¿Ê
Clear_Sensor();
turn_right; //±¦ÀÞ(³ÑÅ٤ϣ±¼þÌܤȤ½¤ì°Ê³°¤Ç°Û¤Ê¤Ã¤Æ¤¤¤ë)
if(i == 1){
until(SE_L >= TURN_2); ¡¡¡¡//£±¼þÌܤÏ90¡î
}else{
until(SE_L >= TURN_1); ¡¡¡¡//£²¼þÌܰʹߤÏ90¡î¤è¤ê¤ä¤äÀõ¤¯
}
Clear_Sensor();
go; //Á°¿Ê(Á°¿Ê¤â»þ´Ö¤¬°Û¤Ê¤ë)
if(i == 1){
Wait(WAIT_TIME_1); ¡¡¡¡//£±¼þÌܤÏÂÔ¤Á»þ´Ö¡¤À¤±ÂԤ俸塢
until(SE_C <= TH);until(SE_C > TH); ¡¡¡¡//¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç
}else{
until(SE_L >= 110); ¡¡¡¡//£²¼þÌܰʹߤϤ¢¤ëÄøÅٿʤ᤿¤é¡¢
for(j = 1;j <= 2;j++){ ¡¡¡¡//°ÌÃÖÄ´À°¤Î¤¿¤á{}Æâ¤ò£²²ó·«¤êÊÖ¤¹
turn_right; Wait(WAIT_TIME_2); //¤ï¤º¤«¤Ë±¦²óž
go; Wait(WAIT_TIME_2); //¤ï¤º¤«¤ËÁ°¿Ê
}
}
Off(OUT_AC);
OnRev(OUT_B); //¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯)
if(i == 1){
Wait(WAIT_TIME);
}else{
Wait(WAIT_TIME_2); ¡¡¡¡//£²¼þÌܰʹߤϤ¹¤Ç¤Ë¤¢¤ë»æ¥Ñ¥Ã¥¯¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¡¢¾¯¤·¤À¤±³«¤¯
}
Off(OUT_B);
Clear_Sensor();
go; until(SE_L >= 20); //¤¤ì¤¤¤ËÃÖ¤¯¤¿¤á»æ¥Ñ¥Ã¥¯¤ò¾¯¤·²¡¤¹
Off(OUT_AC);
//»æ¥Ñ¥Ã¥¯¤«¤éÎ¥¤ì¤ë¥×¥í¥°¥é¥à//
OnRev(OUT_C);until(SE_L >= WAIT_TIME_2); //»æ¥Ñ¥Ã¥¯¤ò°ú¤¤º¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ë¡¢¤ï¤º¤«¤Ëº¸¥¿¥¤¥ä¤ò¸åÂà
Off(OUT_C);
back; until(SE_C <= TH);until(SE_C > TH); //¥¹¥¿¡¼¥È¥¨¥ê¥¢¤Î¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà
until(SE_L >= 70); //¹¹¤Ë¾¯¤·¸åÂà
if(i != 1){ //£±¼þÌܰʳ°¤Ï¡¢
until(SE_L >= 20); ¡¡¡¡//¤Þ¤¿¹¹¤Ë¸åÂà(£±¼þÌܤȳÑÅÙ¤¬°ã¤¦¤¿¤á¡¢¢¨£³¤Ç»æ¥Ñ¥Ã¥¯¤ËÅö¤¿¤é¤Ê¤¤°ÌÃ֤ޤDz¼¤²¤ë)
}
Clear_Sensor();
OnFwd(OUT_B); Wait(WAIT_TIME);Off(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë
turn_right; until(SE_L >= TURN_2); //±¦²óž
Clear_Sensor();
go; //ÀѤ߾夲¥í¥Ü¥Ã¥È¤ÎÁ°¤Þ¤ÇÁ°¿Ê(¢¨£²)
until(SE_L >= line);
Clear_Sensor();
turn_right; //±¦²óž¤·¤ÆÄÌ¿®Éô¤ò¹ç¤ï¤»¤ë
if(i == 1){ //£±¼þÌܤȣ²¼þÌܰʹߤdzÑÅÙ¤¬°ã¤¦¤¿¤á¡¢²óžµ÷Î¥¤¬°Û¤Ê¤ë
until(SE_L >= TURN_2);
}else{
until(SE_L >= TURN_1);
}
Clear_Sensor();
turn_right; //ÄÌ¿®Ãæ¤Ï±¦²óž(¢¨£³)
while(SE_L <= 100){ //£±²óžȾ¤¹¤ë´Ö¡¢{}Æâ¤ò·«¤êÊÖ¤¹
SendMessage(11); ¡¡¡¡//ÄÌ¿®¤òÁ÷¤ê³¤±¤ë
}
Clear_Sensor();
back; until(SE_C <= TH);until(SE_C > TH);Wait(20); //¹õÀþ¤ò±Û¤¨¤ë¤Þ¤Ç¸åÂà
} //£±¼þ½ª¤ï¤ê
Off(OUT_AC); ¡¡¡¡//¤¹¤Ù¤Æ½ª¤ï¤Ã¤¿¤é»ß¤Þ¤ë
}
**Æó¹æµ¡ [#b23d3a26]
°ì¹æµ¡¤«¤éÄÌ¿®¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¡¢¤Þ¤º1²óÌܤϽêÄê¤Î°ÌÃ֤˥ѥ寤¬ÃÖ¤±¤ë¤è¤¦¤ËÄ´À°¤¹¤ë¡£~
£²²óÌܰʹߤϡ¢1¹æµ¡¤«¤éÄÌ¿®¤¬Á÷¤é¤ì¤Æ¤¤¿¤é¡¢³°Â¦¤ËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤ò»ý¤Á¾å¤²¡¢¥Ñ¥Ã¥¯¤ò1²óÌܤËÃÖ¤¤¤¿¥Ñ¥Ã¥¯¤Î¾åÃʤËÃÖ¤¯¡£~
~
¡Ú´Ø¿ô¥Ñ¡¼¥È¡Û
#define BLACK 43¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¤ÎïçÃͤòÀßÄê
#define SIGNALON 11 //ÄÌ¿®»þ¤ËÁ÷¿®¤¹¤ë¿ôÃͤòÀßÄê
#define WAIT_TIME 100 //ÂÔ¤Á»þ´Ö¤Ë»È¤¦¿ôÃͤòÀßÄê
int black =0; //¹õÀþ¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ
int step =1; //¼þ²ó¿ô¤ò¿ô¤¨¤ë»þ¤Ë»ÈÍѤ¹¤ëÊÑ¿ô¤òÄêµÁ
¡Ú¥á¥¤¥ó¥Ñ¡¼¥È¡Û
task main()
{SetSensor(SENSOR_1,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£±¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_2,SENSOR_LIGHT); //¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ¤ÈÄêµÁ
SetSensor(SENSOR_3,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£³¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤ÈÄêµÁ
//ÂÔµ¡°ÌÃ֤˰ÜÆ°¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
while(black!=2){ //¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥×
if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//ÇòÀþ¤Î¾å¤Ê¤é¹õÀþ¤Þ¤Ç¿Ê¤á¤ë
if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;} ¡¡¡¡//¹õÀþ¤Î¾å¤Ê¤éÇòÀþ¤Þ¤Ç¿Ê¤á¤Æ¡¢black¤ò+1
}
Wait(WAIT_TIME); //»æ¥Ñ¥Ã¥¯¤òÃÖ¤¯¤È¤¤Ë¤Ë¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤°ÌÃ֤ޤǰÜÆ°
Off(OUT_A); //»ß¤Þ¤ë
black =0; //black¤ÎÃͤò¥ê¥»¥Ã¥È
//£±ÃÊÌܤòÀ°¤¨¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
ClearMessage(); //ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È
until ((Message() == SIGNALON)||(SENSOR_3 == 1)); //ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä
PlaySound(SOUND_CLICK); //ÄÌ¿®À®¸ù¤Î¹ç¿Þ¡¡¥Ô¥í¥ê¥í¥ê¡Á
OnRev(OUT_B); //¥¢¡¼¥à¤ò²¼¤²»Ï¤á¤ë
OnFwd(OUT_A);until(SENSOR_2 <= BLACK);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK); //¸½ºß¤ÎÇò¤«¤é¡¢¹õ¢ªÇò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤòÌ᤹
Off(OUT_A);
until(SENSOR_3 == 1); //²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤¬²¼¤¬¤ë¤Þ¤ÇÂÔ¤Ä
Off(OUT_B);
OnFwd(OUT_C);Wait(50); //¥¢¡¼¥à¤òÊĤ¸¤ë(»æ¥Ñ¥Ã¥¯¤òÀ°¤¨¤ë)
OnRev(OUT_C);Wait(10); //³«¤¯
Off(OUT_C);
OnFwd(OUT_B);until(SENSOR_1 == 1); //¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¥¢¡¼¥à¤ò¾å¤²¤ë
Off(OUT_B);
OnRev(OUT_A);until(SENSOR_2 > BLACK);until(SENSOR_2 <= BLACK); //¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
Off(OUT_A);
step++; //¼þ²ó¿ô¤ò£±¤Ä¾å¤²¤ë
//ÀѤ߾夲¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à//
while(step<=3) //£²ÃÊÌܤȣ³ÃÊÌܤϡ¢Æ±¤¸¥×¥í¥°¥é¥à¤ò¥ë¡¼¥×¤µ¤»¤ë
{
ClearMessage(); //ÄÌ¿®¤Ç¼õ¿®¤µ¤ì¤Æ¤¤¤ë¿ôÃͤò¥ê¥»¥Ã¥È
until ((Message() == SIGNALON)||(SENSOR_3 == 1)); //ÄÌ¿®¤¬½ª¤ï¤ë¤«¡¢²¼¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤¬£±¤Ë¤Ê¤ë(Æ°ºî³ÎǧÍÑ)¤Þ¤ÇÂÔ¤Ä
PlaySound(SOUND_CLICK); //¥Ô¥í¥ê¥í¥ê¡Á¢ö
while(black!=2) //¹õÀþ¤ò£²²ó²£ÀÚ¤ë¤Þ¤Ç{}Æâ¤ò¥ë¡¼¥×
{
if(SENSOR_2 > BLACK){OnFwd(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//º£Å٤Ͻé´ü°ÌÃÖ¤ÎÊý¸þ¤ËÌ᤹
if(SENSOR_2 <= BLACK){OnFwd(OUT_A);until(SENSOR_2 > BLACK);black++;}
}
until(SENSOR_2 <= BLACK); //¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
Off(OUT_A);
black =0; //black¤ÎÃͤò¥ê¥»¥Ã¥È
OnRev(OUT_B);until(SENSOR_3 == 1); //¥¢¡¼¥à¤ò²¼¤²¤ë
Off(OUT_B);
OnFwd(OUT_C);Wait(10); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿¡¼¤ò»ß¤á¤Ê¤¤¤Ç¡¢ÊÝ»ýÎ϶¯²½)
OnFwd(OUT_B);until(SENSOR_1 == 1); //¥¢¡¼¥à¤ò¾å¤²¤ë
Off(OUT_B);
while(black!=2) //¹õÀþ¤ò£²²ó°Ê²¼Î¬
{
if(SENSOR_2 > BLACK){OnRev(OUT_A);until(SENSOR_2 <= BLACK);} ¡¡¡¡//ÂÔµ¡°ÌÃÖ¤ÎÊý¸þ¤Ë¿Ê¤á¤ë
if(SENSOR_2 <= BLACK){OnRev(OUT_A);until(SENSOR_2 > BLACK);black++;}
}
OnFwd(OUT_A);until(SENSOR_2 <= BLACK); //¹¹¤Ë¹õ¤Ë¤Ê¤ë¤Þ¤ÇËÜÂΤò¿Ê¤á¤ë
Off(OUT_A);
black =0;
if(step==2) //£²ÃÊÌܤÀ¤±¡¢¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
{
OnRev(OUT_B);
Wait(400); ¡¡¡¡//£´Éô֤λþ´ÖÂÔ¤Á
Off(OUT_B);
}
OnRev(OUT_C);Wait(10); //¥¢¡¼¥à¤ò³«¤¯(»æ¥Ñ¥Ã¥¯¤òÎ¥¤¹)
Off(OUT_C);
if(step==2) //£²¼þÌܤξì¹ç¤Ï¡¢¥¢¡¼¥à¤òºÆ¤Ó¾å¤Î¥¿¥Ã¥Á¥»¥ó¥µ¤Þ¤Ç¾å¤²¤ë
{OnFwd(OUT_B);until(SENSOR_1 == 1);Off(OUT_B);}
OnRev(OUT_A);until(SENSOR_2 >= BLACK);until(SENSOR_2 < BLACK); //¸½ºß¤Î¹õ¤«¤é¡¢Çò¢ª¹õ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¿Ê¤á¤ë
Off(OUT_A);
step++; //¼þ²ó¿ô¤ò£±¾å¤²¤ë
}
OnRev(OUT_A); //ºÇ¸å¤Ë¥Ö¥í¥Ã¥¯¤«¤éÎ¥¤ì¤ë
Wait(WAIT_TIME);
Off(OUT_A);
}
*´¶ÁÛ [#o3f93cd4]
-¤À¤¤~
¡¡¥×¥í¥°¥é¥à¤Ï¥¢¥¤¥Ç¥¢Ä̤ê¤Ë´°À®¤·¤¿¤¬¡¢¥í¥Ü¥³¥óËÜÈ֤ǤÏ1¹æµ¡¤¬£²¤ÄƱ»þ¤ËµíÆý¥Ñ¥Ã¥¯¤ò¤Ä¤«¤á¤Ê¤«¤Ã¤¿¤¿¤á¡¢1¹æµ¡¤Ë1¤Ä¤Ç¤â¤Ä¤«¤á¤ë¤è¤¦¤Ê¹½Â¤¤Ë¤·¤¿¤«¤Ã¤¿¡£¥í¥Ü¥Ã¥È´ØÏ¢¤Ë¤Ä¤¤¤ÆÂô»³³Ø¤Ö¤³¤È¤¬¤Ç¤¤¿¤Î¤Ç¡¢À§Èó¥í¥Ü¥Ã¥È´ØÏ¢¤Ë¤Ä¤¤¤Æ¸¦µæ¤·¤Æ¤¤¤¤¿¤¤¡£
-¤°¤ÃP~
¡¡¥í¥Ü¥³¥ó¤Þ¤Ç¤Ë¤Ï¿¤¯¤Î»þ´Ö¤¬¤¢¤Ã¤¿¤Ë¤â´Ø¤ï¤é¤º¡¢¥í¥Ü¥Ã¥ÈËÜÂΤ˻þ´Ö¤ò¤«¤±¤¹¤®¤Æ¤·¤Þ¤¤¡¢¥×¥í¥°¥é¥à¤ÎÈùÄ´À°¤Ê¤É¤Ë¤«¤±¤ë»þ´Ö¤¬¾¯¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤Î¤Þ¤ÞËÜÈÖ¤ËÄ©¤à¤³¤È¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¡¢»×¤¤Ä̤ê¤Î·ë²Ì¤ò»Ä¤»¤Ê¤«¤Ã¤¿¤³¤È¤Ë¤Ï²ù¤¤¤¬»Ä¤ë¤·¡¢¥Á¡¼¥à¤ÎÃç´Ö¤Ë¤â¿½¤·Ìõ¤Ê¤¤¤È»×¤Ã¤¿¡£¤¹¤ß¤Þ¤»¤ó¡¨¤À¤±¤É¡¢°ì½ï¤Ë¥í¥Ü¥Ã¥È¤òºî¤ë¤Î¤Ï¤È¤Æ¤â³Ú¤·¤«¤Ã¤¿¡£¤¢¤ê¤¬¤È¤¦¡ª~
¡¡ºÇ¸å¤Ë¤³¤Î¡Ö¥í¥Ü¥Æ¥£¥¯¥¹ÆþÌ祼¥ß¡×¤òÄ̤·¤Æ¡¢¥Á¡¼¥à¤Ç¤Îºî¶È¤Î¶¨ÎϤÎÂçÀÚ¤µ¤ä³Ú¤·¤µ¡¢»ÄÇ°¤Ê¤¬¤é°ì½ï¤Ë¤Ê¤é¤Ê¤«¤Ã¤¿¿Í¤È¤â¡¢È¯É½¤äÂзè¤òÄ̤·¤ÆÍÍ¡¹¤Ê¥¢¥¤¥Ç¥¢¤Ë´¶¿´¤·¤¿¤ê¡¢¶¥¤¤¹ç¤¦³Ú¤·¤µ¤â¼Â´¶¤Ç¤¤Þ¤·¤¿¡£¤³¤Î¤è¤¦¤Êµ¡²ñ¤òÍ¿¤¨¤Æ¤¯¤ì¤¿¾¾ËÜÀèÀ¸¤Ë¤Ï¤È¤Æ¤â´¶¼Õ¤·¤Æ¤¤¤Þ¤¹¡ª%%¤È¡¢¥´¥Þ¤ò¤¹¤Ã¤Æ¤ß¤¿¤ê¡Ä%%
-ÆóµÜ~
¡¡ºÇ½ª²ÝÂê¤È¤¤¤¦¤³¤È¤Ç¡¢¤³¤ì¤Þ¤Ç¤ÎÈ¿¾ÊÅÀ¤ò¸ʬ¤ËÀ¸¤«¤¹¤Î¤¬¸Ä¿ÍŪ¤ÊÌÜɸ¤È¤Ê¤ê¤Þ¤·¤¿¡£¤Þ¤º¡¢¸«¹þ¤ß¤Î¤Ê¤¤ÌÜɸ¤Ë¸þ¤«¤ï¤Ê¤¤Íͤ˥³¥ó¥»¥×¥È¤ò³Î¤«¤Ê¤â¤Î¤Ë¡£¶¨µÄ¤ò½Å¤Í¡¢ÊýË¡¤È¤·¤Æ¤Ï¤«¤Ê¤ê¾åÅù¤Ê¤â¤Î¤ËÀ®¤Ã¤¿¤È»×¤¨¤Þ¤¹¡£¤·¤Æ¡¢Æ°ºî¤â³Î¼Â¤Ë¤¹¤ë¤È¤Ï¤Ã¤¤ê¤·¤Æ¤¤¤ì¤Ð¥×¥í¥°¥é¥à¤â½ñ¤°×¤«¤í¤¦¡¢¤È¥Þ¥·¥ó¼«ÂΤˡ¡¤«¡¡¤Ê¡¡¤ê¡¡¤Î»þ´Ö¤ò³ä¾ù¡£¥¹¥¿¡¼¥È¥À¥Ã¥·¥å¤âÁ᤯2½µÌܤˤϤۤܳÎÄꤷ¤¿¹½Áۤ˸þ¤±¤ÆÀ©ºî¤¬¿Ê¤ß¤Þ¤·¤¿¡£¤³¤³¤Þ¤Ç¤Ï¸ʬ¤Ë³Ø½¬¸ú²Ì¤òȯ´ø¡£¤â¤¦¤³¤³¤Þ¤Ç¤ÇÉáÄ̤μø¶È¤Ê¤éñ°Ì¤¬Ì㤨¤½¤¦¤Ê¤â¤Î¤Ç¤¢¤ë¡ª(¸ØÄ¥)¡¡¤½¤ì¤Ç¤âµ¯¤³¤ëÌäÂê¤Ï²ÝÂê¤Î¥¹¥±¡¼¥ë¤Ëȼ¤¦¡¢µ¡ÂΤε¬ÌϤˤè¤ë¤â¤Î¤Ð¤«¤ê¡Ä¤·¤«¤·ÅٽŤʤë¥È¥é¥Ö¥ë¤Ë¤â3¿Í¤¤¤ì¤Ð¤Ê¤ó¤È¤ä¤é¡£°ì¿Í¤Ç¤Ï¨ºÂ¤Ë¤Ï²ò·è½ÐÍè¤Ê¤«¤Ã¤¿¤À¤í¤¦ÌäÂê¤â¸³°Á᤯Âнè¤Ç¤¤Þ¤·¤¿¡£¤³¤Î¥¼¥ß¡¢³ÛḬ̀ʾå¤Ë¶µºà¤ÏÆ»¶ñ¤Ç¡¡³Ë¤ÏÊ̤ˤ¢¤ë¤Ê¤¡¤È¤·¤ß¤¸¤ß»×¤¨¤Þ¤·¤¿¡£
*¥³¥á¥ó¥È [#q6641aae]
¤´°Õ¸«¡¢¤´´¶ÁÛ¤¬¤¢¤ì¤ÐÀ§Èó¥³¥á¥ó¥È¤ò¤É¤¦¤¾¢
#comment
¤³¤Î¥Ú¡¼¥¸¤ËÍè¤Æ¤¯¤ì¤¿¿Í¡¡&counter;¡¡¿Í
¥Ú¡¼¥¸Ì¾: