2015b/Member/Ryu/Mission1
¤ò¥Æ¥ó¥×¥ì¡¼¥È¤Ë¤·¤ÆºîÀ®
[
¥È¥Ã¥×
] [
¿·µ¬
|
°ìÍ÷
|
¸¡º÷
|
ºÇ½ª¹¹¿·
|
¥Ø¥ë¥×
|
¥í¥°¥¤¥ó
]
³«»Ï¹Ô:
[[2015b/Member]]
*¼Ö·¿½ñÆ»¥í¥Ü¥Ã¥È [#tf0cb166]
¡¡¡¡º£²ó»ä¤¿¤Á¤Î¥Á¡¼¥à¤Ç¤Ï¡¢ºÇ½é¤Ëºî¤Ã¤¿¼Ö·¿¥í¥Ü¥Ã¥È¤ÎÁ°¤ËÉ®¥Ú¥ó¤ò¤Ä¤±¤¿¡¢¤¤ï¤á¤Æñ½ã¤Ê¹½Â¤¤Î½ñÆ»¥í¥Ü¤òºî¤ê¤Þ¤·¤¿¡£
**Á´ÂÎ¿Þ [#n6834452]
¡¡»£±Æ¸å¡¢¥µ¥¤¥ó¥Ú¥ó¤«¤é½ñ¤¤ä¤¹¤¤É®¥Ú¥ó¤ËÊѤ¨¤Þ¤·¤¿
#ref(2015b/Member/Ryu/Mission1/IMG_3188.JPG,20%,¼Ö·¿½ñÆ»¥í¥Ü¥Ã¥È)
¡¡¡¡¸ÇÄêÊýË¡¤Ï¥´¥àÆóËܤȰʲ¼¤Î¼Ì¿¿¤Ë¼Ì¤Ã¤Æ¤¤¤ë¸ÇÄê´ï¶ñ¡£É®¥Ú¥ó¤¬»×¤Ã¤Æ¤¤¤¿¤è¤êÂÀ¤¯¡¢¥â¡¼¥¿¡¼¤Î²óž¤¹¤ëÉôʬ¤Ë¤Ä¤±¤ë¥¸¥ç¥¤¥ó¥È¤¬¤¦¤Þ¤¯¤Ï¤Þ¤é¤º¡¢´Ë¤ß¤«¤±¤Æ¤¤¤¿¤ê¤·¤¿¤Î¤Ç¡¢¤³¤ì¤Ï¤¢¤Þ¤ê˾¤Þ¤·¤¯¤Ê¤¯´¶¤¸¤Þ¤·¤¿¡£
*º£²ó¤Î»ú [#ab9ce888]
¡¡¡¡¼«Ê¬¤Î½»¤ó¤Ç¤¿Ä®¤Î̾Á°¤Ç¤¢¤ë¡ØÀ¶Åġ٤ΡØÀ¶¡Ù¤ò½ñ¤³¤¦¤È»×¤¤Î©¤Á¤Þ¤·¤¿¡£
#ref(2015b/Member/Ryu/Mission1/40547.png,80%,¡ÖÀ¶¡×¤Î½ñ¤½ç)
**»ú¤ò½ñ¤¯¤Ë¤¢¤¿¤Ã¤Æ [#f4b3d08b]
¡¡¡¡¤µ¤ó¤º¤¤¤Î¼ÐÀþ¤È¡¢¡Ø¤Ä¤¯¤ê¡Ù¤Î½ÄÀþ¤¬Â礤ʲÝÂê¤Ç¤·¤¿¡£¤½¤Î¤¿¤á¤Ë¤Ï¡¢45ÅÙ¤ª¤è¤Ó90ÅÙ¤ÎÊý¸þž´¹¤Î¥×¥í¥°¥é¥à¤ò¹½ÃÛ¤¹¤ëɬÍפ¬¤¢¤ê¤Þ¤·¤¿¡£¤·¤«¤·¤½¤ì¤À¤±¤Ç¤Ï¤Ê¤¯¡¢½ñ¤½ç¤É¤ª¤ê¤Ë½Ä¤ÎÀþ¤òÉÁ¤¯¤¿¤á¤Ë¡¢¥í¥Ü¥Ã¥È¤òľÀÜ¡¢½ñ¤»Ï¤á¤Î¤È¤³¤í¤Þ¤Ç¤â¤Ã¤Æ¤¤¤¯¤³¤È¤â¤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤Î¤Ç¡¢Æ°¤¯µ÷Î¥¤Î¸¡¾Ú¤âɬ¿Ü¤Ç¤·¤¿¡£
¤Ä¤Þ¤ê¡¢
¡¤Þ¤Ã¤¹¤°Á°¿Ê¤·¤Æ¡¢¤½¤·¤ÆƱ¤¸Ê¬¤À¤±¸åÂष¤ÆÌá¤Ã¤Æ¤¯¤ë
¢¥í¥Ü¥Ã¥È¤ò90ÅÙ¡¢45ÅÙ¤ËÊý¸þž´¹¤µ¤»¤ë
£°ÌÃÖ¤òÄ´À᤹¤ë¤¿¤á¤ËÁ°¿Ê¡¢¸åÂह¤ë¡Ê¤ï¤«¤ê¤ä¤¹¤¯¸À¤¦¤È¡¢»æ¤òºÂɸ¥°¥é¥Õ¤Î¤è¤¦¤Ë¤Ë¤È¤é¤¨¤Æ¡¢x¼´Êý¸þ¤Ë¡Á¡¢y¼´Êý¸þ¤Ë¡Á¤À¤±°ÜÆ°¤µ¤»¤ë¡¢¤È¤¤¤¦¤è¤¦¤Ê¤³¤È¤Ç¤¢¤ë¡£¡Ë
¤¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ë
¡¡¤È¤¤¤¦¤è¤¦¤Ë¤³¤ì¤é£´¤Ä¤ÎÆ°¤¤Ë¤è¤Ã¤Æ¡¢¼«Ê¬¤¿¤Á¤Î¥í¥Ü¥Ã¥È¤Ï»ú¤¬½ñ¤±¤ë¤Î¤Ç¤¢¤ë¡£
*¥×¥í¥°¥é¥à [#e79be712]
**ÄêµÁ [#of3b26d3]
#define do90_1 Off(OUT_AB);RotateMotor(OUT_A,40,190);Off(OUT_A);RotateMotor(OUT_B,40,-190);Off(OUT_B);Wait(300);//È¿»þ·×¼þ¤ê¤Ë£¹£°ÅÙ¤ÎÊý¸þž´¹
#define do90_2 Off(OUT_AB);RotateMotor(OUT_B,40,190);Off(OUT_B);RotateMotor(OUT_A,40,-190);Off(OUT_A);Wait(300);//»þ·×²ó¤ê¤Ë£¹£°ÅÙ¤ÎÊý¸þž´¹
#define do45_1 Off(OUT_AB);RotateMotor(OUT_A,40,90);Off(OUT_A);RotateMotor(OUT_B,40,-90);Off(OUT_B);Wait(300);//È¿»þ·×²ó¤ê¤Ë£´£µÅÙ¤ÎÊý¸þž´¹
#define do45_2 Off(OUT_AB);RotateMotor(OUT_B,40,90);Off(OUT_B);RotateMotor(OUT_A,40,-90);Off(OUT_A);Wait(300);//»þ·×²ó¤ê¤Ë£´£µÅÙ¤ÎÊý¸þž´¹
#define do135x_1 Off(OUT_AB);RotateMotor(OUT_A,40,320);Off(OUT_A);RotateMotor(OUT_B,40,-240);Off(OUT_B);Wait(300);//È¿»þ·×²ó¤ê¤ËÌó£±£³£µÅÙ¤ÎÊý¸þž´¹
#define do135x_2 Off(OUT_AB);RotateMotor(OUT_B,40,320);Off(OUT_B);RotateMotor(OUT_A,40,-240);Off(OUT_A);Wait(300);//»þ·×²ó¤ê¤ËÌó£±£³£µÅÙ¤ÎÊý¸þž´¹
#define pen_d Off(OUT_C);RotateMotor(OUT_C,20,-20);Off(OUT_C);Wait(300);//¥Ú¥ó¤ò²¼¤²¤ë
#define pen_u Off(OUT_C);RotateMotor(OUT_C,60,20);Off(OUT_C);Wait(300);//¥Ú¥ó¤ò¾å¤²¤ë
#define zen(t1)Off(OUT_AB);ResetTachoCount(OUT_AB);RotateMotorEx(OUT_AB,40,t1,0,true,true);Off(OUT_AB);Wait(300);//Á°¿Ê
#define kou(t2) Off(OUT_AB);ResetTachoCount(OUT_AB);RotateMotorEx(OUT_AB,40,-t2,0,true,true);Off(OUT_AB);Wait(300);//¸åÂà
#define kaku(t3) pen_d;zen(t3);pen_u;kou(t3);Wait(300);//¥Ú¥ó²¼¤²¡¢Á°¿Ê¡¢¥Ú¥ó¾å¤²¡¢¸µ¤Î°ÌÃ֤ޤǸåÂà
#define tate_1 kou(110);do90_1;zen(200);do90_2;kaku(80);do90_1;kou(200);do90_2;zen(110);//¸ÞÈÖÌܤνÄÀþ¤ò½ñ¤¤¤Æ¸µ¤Î°ÌÃÖ¤ËÌá¤ë
#define tate_2 kou(80);do90_1;zen(180);do90_2;kaku(140);do90_1;kou(180);do90_2;zen(80);//ȬÈÖÌܤνÄÀþ¤ò½ñ¤¤¤Æ¸µ¤Î°ÌÃÖ¤ËÌá¤ë
#define tate_3 kou(80);do90_1;zen(290);do90_2;kaku(140);do90_1;kou(290);do90_2;zen(80);//¶åÈÖÌܤνÄÀþ¤ò½ñ¤¤¤Æ¸µ¤Î°ÌÃÖ¤ËÌá¤ë
#define slash_1(t5) do45_1;kaku(t5);do45_2;//¤µ¤ó¤º¤¤¤Î£±¡¤£²ÈÖ¤á¤ÎÀþ¤ò½ñ¤¤¤ÆÌá¤ë
#define slash_2(t6) dox_1;kaku(t6);dox_2;//¤µ¤ó¤º¤¤¤Î£³ÈÖÌܤÎÀþ¤ò½ñ¤¤¤ÆÌá¤ë
¡¡
¡¡¥×¥í¥°¥é¥à¤ÎÎ٤˲¿¤Î¤¿¤á¤ÎÆ°ºî¤Ç¤¢¤ë¤«µºÜ¤·¤Æ¤ª¤ê¤Þ¤¹¡ÊºÇ½é¤Ë¡¢90do_1¤È½ñ¤¤¤¿¤Î¤Ç¡¢¥À¥¦¥ó¥í¡¼¥É¤Ç¤¤º¡¢µÞ¤¤ç¾åµ¤Î¤è¤¦¤Ë½çÈÖ¤òÊѤ¨¤¿¤À¤±¤Î̾Á°¤Ë¤·¤Þ¤·¤¿¡£¤ä¤ä¤³¤·¤¤¡¦¡¦¡¦¡Ë
**ÄêµÁ¤Ë»È¤Ã¤¿¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#c6abb26f]
¡¡½é¤á¤ÆÆ°¤«¤·¤¿¤È¤¡¢OnFwd()OnRev()¤Î¥×¥í¥°¥é¥à¤ò»È¤Ã¤Æ¤¤¤¿¤¿¤á¡¢»°Îؼ֤ǤϤ¦¤Þ¤¯Ä¾¿Ê¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤»¤ó¤Ç¤·¤¿¡£¤½¤³¤Ç¡¢²áµî¤ÎµÏ¿¤ò¤â¤È¤Ë¡¢³ÑÅÙ·×»»¤Ë¤è¤ë¥â¡¼¥¿¡¼²óž¤Î¥×¥í¥°¥é¥à¤òÍøÍѤ·¡¢¾¯¤·¤Ç¤âľ¿ÊÀ¤ò¹â¤á¤Þ¤·¤¿¡£¼¡¤Ë¡¢¥Ú¥ó¤Î¾å¤²²¼¤²¤ò¹Ô¤Ã¤Æ¤¤¤ë¤È¡¢²ó¿ô¤ò·Ð¤ë¤´¤È¤Ë¡¢¤À¤ó¤À¤ó¸µ¤Î°ÌÃÖ¤«¤é²¼¤¬¤Ã¤Æ¤·¤Þ¤¤¡¢¾ï¤ËÉ®¤¬»æ¤Ë¤Ä¤¯¾õÂ֤ˤʤäƤ·¤Þ¤¤¤Þ¤·¤¿¡£¼«Ê¬¤¿¤Á¤Ï¡¢¥Ú¥ó¤òÌ᤹»þ¤Î¥â¡¼¥¿¡¼¤ÎÎϤò¾¯¤·¶¯¤¯¤¹¤ë¤³¤È¤Ç¡¢¤³¤ÎÌäÂê¤ò²ò·è¤·¤Þ¤·¤¿¡£
**ËÜʸ [#f3d66bff]
task main()
{
slash_1(60);//1ÈÖÌÜ
zen(80);slash_1(60);//£²ÈÖÌÜ
zen(270);slash_2(60);//3ÈÖÌÜ
kou(290);do90_1;zen(60);kaku(100);kou(60);do90_2;//4ÈÖÌÜ
tate_1;//5ÈÖÌÜ
zen(20);do90_1;zen(80);kaku(40);kou(80);do90_2;//6ÈÖÌÜ
zen(20);do90_1;zen(50);kaku(130);kou(50);do90_2;//7ÈÖÌÜ
zen(40);tate_2;//8ÈÖÌÜ
do90_1;zen(80);kaku(90);kou(80);do90_2;//9¡Ý1ÈÖÌÜ
tate_3;//9¡Ý2ÈÖÌÜ
zen(30);do90_1;zen(80);kaku(90);kou(80);do90_2;//10ÈÖÌÜ
zen(30);do90_1;zen(80);kaku(90);kou(80);do90_2;//11ÈÖÌÜ
}
¡¡²£¤Ë¡ØÀ¶¡Ù¤Î½ñ½ç¤Ë¤¢¤¿¤ëÈÖ¹æ¤òµºÜ¤·¤Æ¤¤¤Þ¤¹¡£¡Ê¤Ê¤ª¡¢£¹ÈÖÌܤÏÆó²ó¤Ëʬ¤±¤Æ½ñ¤«¤»¤Æ¤ª¤ê¤Þ¤¹¡Ë¥×¥í¥°¥é¥à¤ÎÅÓÃæ¤Ë¤¢¤ëzen()kou()¤Ï¡¢É®¤ò½ñ¤»Ï¤á¤Î°ÌÃ֤ˤޤǤâ¤Ã¤Æ¤¤¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£
**½ñ¤¤¤¿·ë²Ì [#q88b4b75]
¡¡¡Ø·î¡Ù¤Î¾å¤ÎÉôʬ¤¬¾¯¤·¤º¤ì¤Æ¤·¤Þ¤Ã¤¿¡£ËÜÈ֤οôÆüÁ°¤«¤éÅÅÃÓ¤òÆþ¤ìÂؤ¨¤Æ¡¢ËÜÈ֤˶á¤Å¤±¤¿¸¡¾Ú¤ò¤¹¤Ù¤¤À¤Ã¤¿
#ref(2015b/Member/Ryu/Mission1/IMG_3197.JPG,20%,¤«¤±¤¿Ê¸»ú)
*È¿¾ÊÅÀ¡¢µÚ¤Ó¼¡¤Î²ÝÂê¤Ë¸þ¤±¤Æ¤Î²þÁ±ÅÀ [#e5d2cc31]
**¥Á¡¼¥à¥ï¡¼¥¯ [#p1d050ce]
¡¡¡¡¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë¤¿¤á¤Î½àÈ÷¤¬Ã٤줿¤³¤È¤¬¡¢²¿¤è¤ê¤ÎÈ¿¾ÊÅÀ¤Ç¤¢¤ë¤È¤ß¤Þ¤·¤¿¡£¤½¤Î·ë²Ì¡¢¤»¤Ã¤«¤¯¤ª¸ß¤¤¹Í¤¨¤Æ¤¤¤¿¥¢¥¤¥Ç¥¢¤òÀ¸¤«¤·¤¿¥í¥Ü¥Ã¥È¤ò¤Ä¤¯¤ë¤³¤È¤¬¤Ç¤¤Þ¤»¤ó¤Ç¤·¤¿¡£ÁêËÀ¤È¤Î°Õ»×ÁÂÄ̤â¤Ê¤ª¤¶¤ê¤Ç¡¢¥Á¡¼¥à¤È¤·¤ÆÏ¢·È¤ò¤¦¤Þ¤¯¤È¤ì¤Ê¤«¤Ã¤¿¤Î¤¬°ìÈ֤θ¶°ø¤Ç¤¢¤ë¤È»×¤¤¤Þ¤¹¡£¥Á¡¼¥à¤È¤·¤Æ¤Î¼«³Ð¤òǧ¼±¤·¤Æ¤¤¤¡¢ÁêËÀ¤È¶¦¤Ë¥í¥Ü¥Ã¥È¤òºî¤Ã¤Æ¤¤¤¯¤³¤È¤¬½ÅÍפǤ¢¤ë¡¢¤½¤Î¤³¤È¤ò˺¤ì¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤³¤È¤Ç²ò·è¤·¤Æ¤¤¤³¤¦¤È»×¤¤¤Þ¤·¤¿¡£
**µ»½ÑÌÌ [#q5202b1f]
¡¡¥ì¥´¤Î»õ¼Ö¤ÎÉôÉʤξå¼ê¤Ê»È¤¤Êý¤¬Ê¬¤«¤é¤º¡¢¥Ú¥ó¤Î¾å¤²²¼¤²¤ÎÆ°ºî¤¬»¨¤Ê¤â¤Î¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£º£²ó¡¢È¯É½²ñ¤Ë½Ð¤µ¤ì¤¿¥í¥Ü¥Ã¥È¤Î¿¤¯¤¬»õ¼Ö¤ò³èÍѤ·¤Æ¤¤¤Þ¤·¤¿¡£¤Þ¤¿¡¢»°Îؼ֤Ǥ·¤¿¤Î¤Ç¡¢OnFwd¡¢OnRev¤ÎÆ°ºî¤Ç¤Ï¡¢¤¢¤Þ¤ê¤Ë¤â¤º¤ì¤¬À¸¤¸¤Æ¡¢³ÑÅÙ·×»»¤Ë¤è¤Ã¤Æ¥¿¥¤¥ä¤òÆ°¤«¤¹¤³¤È¤Ë¤Ê¤ê¤Þ¤·¤¿¡£¤¢¤ë¥Á¡¼¥à¤Î¥í¥Ü¥Ã¥È¤Ï¡¢»ÍÎؤˤ·¤Æ¡¢°ì¤Ä¤Î¥â¡¼¥¿¡¼¤Ç¤½¤ì¤òÆ°¤«¤¹¤³¤È¤Ç¡¢OnFwd¤Ë¤è¤ë¡¢¤«¤Ê¤êÀµ³Î¤Êľ¿ÊÆ°ºî¤òÀ®¤·¤¨¤Æ¤¤¤Þ¤·¤¿¡£¤³¤¦¤·¤¿¤Á¤ç¤Ã¤È¤·¤¿¹©ÉפäȯÁÛ¤¬Ëͤé¤Î¥Á¡¼¥à¤Ë¤ê¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¼¡²ó¤Ï¾¤Î¿Í¤Î²áµî¤ÎºîÉʤʤɤò¤â¤Ã¤È»²¾È¤Ë¤·¤Æ¡¢¼«Ê¬¤¿¤Á¤À¤±¤Î¥ª¥ê¥¸¥Ê¥ë¤òµá¤á¤Æ¤¤¤¤¿¤¤¤È»×¤¤¤Þ¤·¤¿¡£
½ªÎ»¹Ô:
[[2015b/Member]]
*¼Ö·¿½ñÆ»¥í¥Ü¥Ã¥È [#tf0cb166]
¡¡¡¡º£²ó»ä¤¿¤Á¤Î¥Á¡¼¥à¤Ç¤Ï¡¢ºÇ½é¤Ëºî¤Ã¤¿¼Ö·¿¥í¥Ü¥Ã¥È¤ÎÁ°¤ËÉ®¥Ú¥ó¤ò¤Ä¤±¤¿¡¢¤¤ï¤á¤Æñ½ã¤Ê¹½Â¤¤Î½ñÆ»¥í¥Ü¤òºî¤ê¤Þ¤·¤¿¡£
**Á´ÂÎ¿Þ [#n6834452]
¡¡»£±Æ¸å¡¢¥µ¥¤¥ó¥Ú¥ó¤«¤é½ñ¤¤ä¤¹¤¤É®¥Ú¥ó¤ËÊѤ¨¤Þ¤·¤¿
#ref(2015b/Member/Ryu/Mission1/IMG_3188.JPG,20%,¼Ö·¿½ñÆ»¥í¥Ü¥Ã¥È)
¡¡¡¡¸ÇÄêÊýË¡¤Ï¥´¥àÆóËܤȰʲ¼¤Î¼Ì¿¿¤Ë¼Ì¤Ã¤Æ¤¤¤ë¸ÇÄê´ï¶ñ¡£É®¥Ú¥ó¤¬»×¤Ã¤Æ¤¤¤¿¤è¤êÂÀ¤¯¡¢¥â¡¼¥¿¡¼¤Î²óž¤¹¤ëÉôʬ¤Ë¤Ä¤±¤ë¥¸¥ç¥¤¥ó¥È¤¬¤¦¤Þ¤¯¤Ï¤Þ¤é¤º¡¢´Ë¤ß¤«¤±¤Æ¤¤¤¿¤ê¤·¤¿¤Î¤Ç¡¢¤³¤ì¤Ï¤¢¤Þ¤ê˾¤Þ¤·¤¯¤Ê¤¯´¶¤¸¤Þ¤·¤¿¡£
*º£²ó¤Î»ú [#ab9ce888]
¡¡¡¡¼«Ê¬¤Î½»¤ó¤Ç¤¿Ä®¤Î̾Á°¤Ç¤¢¤ë¡ØÀ¶Åġ٤ΡØÀ¶¡Ù¤ò½ñ¤³¤¦¤È»×¤¤Î©¤Á¤Þ¤·¤¿¡£
#ref(2015b/Member/Ryu/Mission1/40547.png,80%,¡ÖÀ¶¡×¤Î½ñ¤½ç)
**»ú¤ò½ñ¤¯¤Ë¤¢¤¿¤Ã¤Æ [#f4b3d08b]
¡¡¡¡¤µ¤ó¤º¤¤¤Î¼ÐÀþ¤È¡¢¡Ø¤Ä¤¯¤ê¡Ù¤Î½ÄÀþ¤¬Â礤ʲÝÂê¤Ç¤·¤¿¡£¤½¤Î¤¿¤á¤Ë¤Ï¡¢45ÅÙ¤ª¤è¤Ó90ÅÙ¤ÎÊý¸þž´¹¤Î¥×¥í¥°¥é¥à¤ò¹½ÃÛ¤¹¤ëɬÍפ¬¤¢¤ê¤Þ¤·¤¿¡£¤·¤«¤·¤½¤ì¤À¤±¤Ç¤Ï¤Ê¤¯¡¢½ñ¤½ç¤É¤ª¤ê¤Ë½Ä¤ÎÀþ¤òÉÁ¤¯¤¿¤á¤Ë¡¢¥í¥Ü¥Ã¥È¤òľÀÜ¡¢½ñ¤»Ï¤á¤Î¤È¤³¤í¤Þ¤Ç¤â¤Ã¤Æ¤¤¤¯¤³¤È¤â¤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¤Î¤Ç¡¢Æ°¤¯µ÷Î¥¤Î¸¡¾Ú¤âɬ¿Ü¤Ç¤·¤¿¡£
¤Ä¤Þ¤ê¡¢
¡¤Þ¤Ã¤¹¤°Á°¿Ê¤·¤Æ¡¢¤½¤·¤ÆƱ¤¸Ê¬¤À¤±¸åÂष¤ÆÌá¤Ã¤Æ¤¯¤ë
¢¥í¥Ü¥Ã¥È¤ò90ÅÙ¡¢45ÅÙ¤ËÊý¸þž´¹¤µ¤»¤ë
£°ÌÃÖ¤òÄ´À᤹¤ë¤¿¤á¤ËÁ°¿Ê¡¢¸åÂह¤ë¡Ê¤ï¤«¤ê¤ä¤¹¤¯¸À¤¦¤È¡¢»æ¤òºÂɸ¥°¥é¥Õ¤Î¤è¤¦¤Ë¤Ë¤È¤é¤¨¤Æ¡¢x¼´Êý¸þ¤Ë¡Á¡¢y¼´Êý¸þ¤Ë¡Á¤À¤±°ÜÆ°¤µ¤»¤ë¡¢¤È¤¤¤¦¤è¤¦¤Ê¤³¤È¤Ç¤¢¤ë¡£¡Ë
¤¥Ú¥ó¤ò¾å¤²²¼¤²¤¹¤ë
¡¡¤È¤¤¤¦¤è¤¦¤Ë¤³¤ì¤é£´¤Ä¤ÎÆ°¤¤Ë¤è¤Ã¤Æ¡¢¼«Ê¬¤¿¤Á¤Î¥í¥Ü¥Ã¥È¤Ï»ú¤¬½ñ¤±¤ë¤Î¤Ç¤¢¤ë¡£
*¥×¥í¥°¥é¥à [#e79be712]
**ÄêµÁ [#of3b26d3]
#define do90_1 Off(OUT_AB);RotateMotor(OUT_A,40,190);Off(OUT_A);RotateMotor(OUT_B,40,-190);Off(OUT_B);Wait(300);//È¿»þ·×¼þ¤ê¤Ë£¹£°ÅÙ¤ÎÊý¸þž´¹
#define do90_2 Off(OUT_AB);RotateMotor(OUT_B,40,190);Off(OUT_B);RotateMotor(OUT_A,40,-190);Off(OUT_A);Wait(300);//»þ·×²ó¤ê¤Ë£¹£°ÅÙ¤ÎÊý¸þž´¹
#define do45_1 Off(OUT_AB);RotateMotor(OUT_A,40,90);Off(OUT_A);RotateMotor(OUT_B,40,-90);Off(OUT_B);Wait(300);//È¿»þ·×²ó¤ê¤Ë£´£µÅÙ¤ÎÊý¸þž´¹
#define do45_2 Off(OUT_AB);RotateMotor(OUT_B,40,90);Off(OUT_B);RotateMotor(OUT_A,40,-90);Off(OUT_A);Wait(300);//»þ·×²ó¤ê¤Ë£´£µÅÙ¤ÎÊý¸þž´¹
#define do135x_1 Off(OUT_AB);RotateMotor(OUT_A,40,320);Off(OUT_A);RotateMotor(OUT_B,40,-240);Off(OUT_B);Wait(300);//È¿»þ·×²ó¤ê¤ËÌó£±£³£µÅÙ¤ÎÊý¸þž´¹
#define do135x_2 Off(OUT_AB);RotateMotor(OUT_B,40,320);Off(OUT_B);RotateMotor(OUT_A,40,-240);Off(OUT_A);Wait(300);//»þ·×²ó¤ê¤ËÌó£±£³£µÅÙ¤ÎÊý¸þž´¹
#define pen_d Off(OUT_C);RotateMotor(OUT_C,20,-20);Off(OUT_C);Wait(300);//¥Ú¥ó¤ò²¼¤²¤ë
#define pen_u Off(OUT_C);RotateMotor(OUT_C,60,20);Off(OUT_C);Wait(300);//¥Ú¥ó¤ò¾å¤²¤ë
#define zen(t1)Off(OUT_AB);ResetTachoCount(OUT_AB);RotateMotorEx(OUT_AB,40,t1,0,true,true);Off(OUT_AB);Wait(300);//Á°¿Ê
#define kou(t2) Off(OUT_AB);ResetTachoCount(OUT_AB);RotateMotorEx(OUT_AB,40,-t2,0,true,true);Off(OUT_AB);Wait(300);//¸åÂà
#define kaku(t3) pen_d;zen(t3);pen_u;kou(t3);Wait(300);//¥Ú¥ó²¼¤²¡¢Á°¿Ê¡¢¥Ú¥ó¾å¤²¡¢¸µ¤Î°ÌÃ֤ޤǸåÂà
#define tate_1 kou(110);do90_1;zen(200);do90_2;kaku(80);do90_1;kou(200);do90_2;zen(110);//¸ÞÈÖÌܤνÄÀþ¤ò½ñ¤¤¤Æ¸µ¤Î°ÌÃÖ¤ËÌá¤ë
#define tate_2 kou(80);do90_1;zen(180);do90_2;kaku(140);do90_1;kou(180);do90_2;zen(80);//ȬÈÖÌܤνÄÀþ¤ò½ñ¤¤¤Æ¸µ¤Î°ÌÃÖ¤ËÌá¤ë
#define tate_3 kou(80);do90_1;zen(290);do90_2;kaku(140);do90_1;kou(290);do90_2;zen(80);//¶åÈÖÌܤνÄÀþ¤ò½ñ¤¤¤Æ¸µ¤Î°ÌÃÖ¤ËÌá¤ë
#define slash_1(t5) do45_1;kaku(t5);do45_2;//¤µ¤ó¤º¤¤¤Î£±¡¤£²ÈÖ¤á¤ÎÀþ¤ò½ñ¤¤¤ÆÌá¤ë
#define slash_2(t6) dox_1;kaku(t6);dox_2;//¤µ¤ó¤º¤¤¤Î£³ÈÖÌܤÎÀþ¤ò½ñ¤¤¤ÆÌá¤ë
¡¡
¡¡¥×¥í¥°¥é¥à¤ÎÎ٤˲¿¤Î¤¿¤á¤ÎÆ°ºî¤Ç¤¢¤ë¤«µºÜ¤·¤Æ¤ª¤ê¤Þ¤¹¡ÊºÇ½é¤Ë¡¢90do_1¤È½ñ¤¤¤¿¤Î¤Ç¡¢¥À¥¦¥ó¥í¡¼¥É¤Ç¤¤º¡¢µÞ¤¤ç¾åµ¤Î¤è¤¦¤Ë½çÈÖ¤òÊѤ¨¤¿¤À¤±¤Î̾Á°¤Ë¤·¤Þ¤·¤¿¡£¤ä¤ä¤³¤·¤¤¡¦¡¦¡¦¡Ë
**ÄêµÁ¤Ë»È¤Ã¤¿¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#c6abb26f]
¡¡½é¤á¤ÆÆ°¤«¤·¤¿¤È¤¡¢OnFwd()OnRev()¤Î¥×¥í¥°¥é¥à¤ò»È¤Ã¤Æ¤¤¤¿¤¿¤á¡¢»°Îؼ֤ǤϤ¦¤Þ¤¯Ä¾¿Ê¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤»¤ó¤Ç¤·¤¿¡£¤½¤³¤Ç¡¢²áµî¤ÎµÏ¿¤ò¤â¤È¤Ë¡¢³ÑÅÙ·×»»¤Ë¤è¤ë¥â¡¼¥¿¡¼²óž¤Î¥×¥í¥°¥é¥à¤òÍøÍѤ·¡¢¾¯¤·¤Ç¤âľ¿ÊÀ¤ò¹â¤á¤Þ¤·¤¿¡£¼¡¤Ë¡¢¥Ú¥ó¤Î¾å¤²²¼¤²¤ò¹Ô¤Ã¤Æ¤¤¤ë¤È¡¢²ó¿ô¤ò·Ð¤ë¤´¤È¤Ë¡¢¤À¤ó¤À¤ó¸µ¤Î°ÌÃÖ¤«¤é²¼¤¬¤Ã¤Æ¤·¤Þ¤¤¡¢¾ï¤ËÉ®¤¬»æ¤Ë¤Ä¤¯¾õÂ֤ˤʤäƤ·¤Þ¤¤¤Þ¤·¤¿¡£¼«Ê¬¤¿¤Á¤Ï¡¢¥Ú¥ó¤òÌ᤹»þ¤Î¥â¡¼¥¿¡¼¤ÎÎϤò¾¯¤·¶¯¤¯¤¹¤ë¤³¤È¤Ç¡¢¤³¤ÎÌäÂê¤ò²ò·è¤·¤Þ¤·¤¿¡£
**ËÜʸ [#f3d66bff]
task main()
{
slash_1(60);//1ÈÖÌÜ
zen(80);slash_1(60);//£²ÈÖÌÜ
zen(270);slash_2(60);//3ÈÖÌÜ
kou(290);do90_1;zen(60);kaku(100);kou(60);do90_2;//4ÈÖÌÜ
tate_1;//5ÈÖÌÜ
zen(20);do90_1;zen(80);kaku(40);kou(80);do90_2;//6ÈÖÌÜ
zen(20);do90_1;zen(50);kaku(130);kou(50);do90_2;//7ÈÖÌÜ
zen(40);tate_2;//8ÈÖÌÜ
do90_1;zen(80);kaku(90);kou(80);do90_2;//9¡Ý1ÈÖÌÜ
tate_3;//9¡Ý2ÈÖÌÜ
zen(30);do90_1;zen(80);kaku(90);kou(80);do90_2;//10ÈÖÌÜ
zen(30);do90_1;zen(80);kaku(90);kou(80);do90_2;//11ÈÖÌÜ
}
¡¡²£¤Ë¡ØÀ¶¡Ù¤Î½ñ½ç¤Ë¤¢¤¿¤ëÈÖ¹æ¤òµºÜ¤·¤Æ¤¤¤Þ¤¹¡£¡Ê¤Ê¤ª¡¢£¹ÈÖÌܤÏÆó²ó¤Ëʬ¤±¤Æ½ñ¤«¤»¤Æ¤ª¤ê¤Þ¤¹¡Ë¥×¥í¥°¥é¥à¤ÎÅÓÃæ¤Ë¤¢¤ëzen()kou()¤Ï¡¢É®¤ò½ñ¤»Ï¤á¤Î°ÌÃ֤ˤޤǤâ¤Ã¤Æ¤¤¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ç¤¹¡£
**½ñ¤¤¤¿·ë²Ì [#q88b4b75]
¡¡¡Ø·î¡Ù¤Î¾å¤ÎÉôʬ¤¬¾¯¤·¤º¤ì¤Æ¤·¤Þ¤Ã¤¿¡£ËÜÈ֤οôÆüÁ°¤«¤éÅÅÃÓ¤òÆþ¤ìÂؤ¨¤Æ¡¢ËÜÈ֤˶á¤Å¤±¤¿¸¡¾Ú¤ò¤¹¤Ù¤¤À¤Ã¤¿
#ref(2015b/Member/Ryu/Mission1/IMG_3197.JPG,20%,¤«¤±¤¿Ê¸»ú)
*È¿¾ÊÅÀ¡¢µÚ¤Ó¼¡¤Î²ÝÂê¤Ë¸þ¤±¤Æ¤Î²þÁ±ÅÀ [#e5d2cc31]
**¥Á¡¼¥à¥ï¡¼¥¯ [#p1d050ce]
¡¡¡¡¥í¥Ü¥Ã¥È¤òºîÀ®¤¹¤ë¤¿¤á¤Î½àÈ÷¤¬Ã٤줿¤³¤È¤¬¡¢²¿¤è¤ê¤ÎÈ¿¾ÊÅÀ¤Ç¤¢¤ë¤È¤ß¤Þ¤·¤¿¡£¤½¤Î·ë²Ì¡¢¤»¤Ã¤«¤¯¤ª¸ß¤¤¹Í¤¨¤Æ¤¤¤¿¥¢¥¤¥Ç¥¢¤òÀ¸¤«¤·¤¿¥í¥Ü¥Ã¥È¤ò¤Ä¤¯¤ë¤³¤È¤¬¤Ç¤¤Þ¤»¤ó¤Ç¤·¤¿¡£ÁêËÀ¤È¤Î°Õ»×ÁÂÄ̤â¤Ê¤ª¤¶¤ê¤Ç¡¢¥Á¡¼¥à¤È¤·¤ÆÏ¢·È¤ò¤¦¤Þ¤¯¤È¤ì¤Ê¤«¤Ã¤¿¤Î¤¬°ìÈ֤θ¶°ø¤Ç¤¢¤ë¤È»×¤¤¤Þ¤¹¡£¥Á¡¼¥à¤È¤·¤Æ¤Î¼«³Ð¤òǧ¼±¤·¤Æ¤¤¤¡¢ÁêËÀ¤È¶¦¤Ë¥í¥Ü¥Ã¥È¤òºî¤Ã¤Æ¤¤¤¯¤³¤È¤¬½ÅÍפǤ¢¤ë¡¢¤½¤Î¤³¤È¤ò˺¤ì¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤³¤È¤Ç²ò·è¤·¤Æ¤¤¤³¤¦¤È»×¤¤¤Þ¤·¤¿¡£
**µ»½ÑÌÌ [#q5202b1f]
¡¡¥ì¥´¤Î»õ¼Ö¤ÎÉôÉʤξå¼ê¤Ê»È¤¤Êý¤¬Ê¬¤«¤é¤º¡¢¥Ú¥ó¤Î¾å¤²²¼¤²¤ÎÆ°ºî¤¬»¨¤Ê¤â¤Î¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£º£²ó¡¢È¯É½²ñ¤Ë½Ð¤µ¤ì¤¿¥í¥Ü¥Ã¥È¤Î¿¤¯¤¬»õ¼Ö¤ò³èÍѤ·¤Æ¤¤¤Þ¤·¤¿¡£¤Þ¤¿¡¢»°Îؼ֤Ǥ·¤¿¤Î¤Ç¡¢OnFwd¡¢OnRev¤ÎÆ°ºî¤Ç¤Ï¡¢¤¢¤Þ¤ê¤Ë¤â¤º¤ì¤¬À¸¤¸¤Æ¡¢³ÑÅÙ·×»»¤Ë¤è¤Ã¤Æ¥¿¥¤¥ä¤òÆ°¤«¤¹¤³¤È¤Ë¤Ê¤ê¤Þ¤·¤¿¡£¤¢¤ë¥Á¡¼¥à¤Î¥í¥Ü¥Ã¥È¤Ï¡¢»ÍÎؤˤ·¤Æ¡¢°ì¤Ä¤Î¥â¡¼¥¿¡¼¤Ç¤½¤ì¤òÆ°¤«¤¹¤³¤È¤Ç¡¢OnFwd¤Ë¤è¤ë¡¢¤«¤Ê¤êÀµ³Î¤Êľ¿ÊÆ°ºî¤òÀ®¤·¤¨¤Æ¤¤¤Þ¤·¤¿¡£¤³¤¦¤·¤¿¤Á¤ç¤Ã¤È¤·¤¿¹©ÉפäȯÁÛ¤¬Ëͤé¤Î¥Á¡¼¥à¤Ë¤ê¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¼¡²ó¤Ï¾¤Î¿Í¤Î²áµî¤ÎºîÉʤʤɤò¤â¤Ã¤È»²¾È¤Ë¤·¤Æ¡¢¼«Ê¬¤¿¤Á¤À¤±¤Î¥ª¥ê¥¸¥Ê¥ë¤òµá¤á¤Æ¤¤¤¤¿¤¤¤È»×¤¤¤Þ¤·¤¿¡£
¥Ú¡¼¥¸Ì¾: