2017b/Member/yuu/Mission1
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#contents
*³µÍ× [#p90637e5]
[[²ÝÂê:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMission1]]¤Ï½ñÆ»¥í¥Ü¥Ã¥È¤Ç¤¢¤ê¡¢½ñ¤¯Ê¸»ú¤Ïº£¤Þ¤Ç¤Ë½»¤ó¤À¤³¤È¤Î¤¢¤ë¾ì½ê¤Î̾Á°¤ò½ñ¤¯¤³¤È¤À¤Ã¤¿¡£¼«Ê¬¤Ï¾®¤µ¤¤º¢¤Ë½»¤ó¤Ç¤¤¤¿´ôÉ츩¤ÎÂç³À»Ô¤Ë¤·¤¿¡£
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**²þÎɤ¹¤Ù¤¤À¤Ã¤¿ÅÀ [#we1ae93b]
¡¥í¥Ü¥Ã¥È¤ÎËÜÂÎÉôʬ¤Î¥ì¡¼¥ë¤Î·Ñ¤®Ìܤò¤·¤Ã¤«¤ê¤È¸ÇÄꤷ¡¢·¹¤«¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¡£¤Þ¤¿¡¢ÊÒÊý¤Î¼ÖÎØ¤ò¾®¤µ¤¤Êª¤Ç¤Ê¤¯Â礤¤Êª¤Ë¤¹¤ë¡£&br;
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*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#c88839a3]
**ÄêµÁ [#idecb5bd]
sub pen_down() //¥Ú¥ó¤ò²¼¤²¤ë¡£
{
RotateMotor(OUT_B,10,20); //°ÂÄê²½¤Î¤¿¤á®Å٤ϣ±£°¤Ë¤·¤Æ¤¤¤ë¡£
Off(OUT_B);
Wait(3000); //¤¹¤°¤Ëư¤«¤¹¤È¥Ú¥ó¤¬¤º¤ì¤ë¤«¤â¤·¤ì¤Ê¤¤¤Î¤Ç£³ÉôÖÄä»ß¡£
}
sub pen_up() //¥Ú¥ó¤ò¾å¤²¤ë¡£
{
RotateMotor(OUT_B,-10,20); //°ÂÄê²½¤Î¤¿¤á®Å٤ϡݣ±£°¤Ë¤·¤Æ¤¤¤ë¡£
Off(OUT_B);
Wait(3000); //¤¹¤°¤Ëư¤«¤¹¤È¥Ú¥ó¤¬¤º¤ì¤ë¤«¤â¤·¤ì¤Ê¤¤¤Î¤Ç£³ÉôÖÄä»ß¡£
}
sub C_back(int time) //¥Ú¥ó¤òº¸Êý¸þ¡Ê+£Ø¼´Êý¸þ¡Ë¤Ë°Üư¡£»þ´Ö¤Ï³Æ¡¹ÀßÄê½ÐÍè¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£¤³¤ì¤Ï°Ê²¼¤âƱÍͤˤ·¤Æ¤¤¤ë¡£
{
OnFwd(OUT_C,-25);
Wait(time);
Off(OUT_C);
}
sub C_front(int time) //¥Ú¥ó¤ò±¦Êý¸þ¡Ê-£Ø¼´Êý¸þ¡Ë¤Ë°Üư¡£
{
OnFwd(OUT_C,25);
Wait(time);
Off(OUT_C);
}
sub A_back(int time) //¥Ú¥ó¤ò²¼Êý¸þ¡Ê-£Ù¼´Êý¸þ¡Ë¤Ë°Üư¡£
{
OnFwd(OUT_A,-30);
Wait(time);
Off(OUT_A);
}
sub A_front(int time) //¥Ú¥ó¤ò¾åÊý¸þ¡Ê+£Ù¼´Êý¸þ¡Ë¤Ë°Üư¡£
{
OnFwd(OUT_A,30);
Wait(time);
Off(OUT_A);
}
sub Right_diagonal_NW(int time) //¥Ú¥ó¤ò¼Ð¤á±¦²¼Êý¸þ¤Ë°Üư¡£
{
OnFwd(OUT_A,-30);
OnFwd(OUT_C,-25);
Wait(time);
Off(OUT_AC);
}
sub Right_diagonal_W(int time) //¥Ú¥ó¤ò¼Ð¤áº¸¾åÊý¸þ¤Ë°Üư¡£±Ñ¸ì¤Ç¤Ï¼Ð¤á±¦¤È¤·¤Æ¤¤¤ë¤¬¾å¤Îsub¤È¥»¥Ã¥È¤Ç»È¤¦¤¿¤áʬ¤«¤ê¤ä¤¹¤¤¤è¤¦¤ËƱ¤¸¤è¤¦¤Ê̾Á°¤Ë¤·¤Æ¤¤¤ë¡£
{
OnFwd(OUT_A,30);
OnFwd(OUT_C,25);
Wait(time);
Off(OUT_AC);
}
sub Left_diagonal_NW(int time) //¥Ú¥ó¤ò¼Ð¤áº¸²¼Êý¸þ¤Ë°Üư¡£
{
OnFwd(OUT_A,-30);
OnFwd(OUT_C,23);
Wait(time);
Off(OUT_AC);
}
sub Left_diagonal_W(int time) //¥Ú¥ó¤ò¼Ð¤á±¦¾åÊý¸þ¤Ë°Üư¡£¤³¤ì¤âƱÍͤ˾å¤Îsub¤È¥»¥Ã¥È¤Ç»È¤¦¤¿¤áʬ¤«¤ê¤ä¤¹¤¤¤è¤¦¤ËƱ¤¸¤è¤¦¤Ê̾Á°¤Ë¤·¤Æ¤¤¤ë¡£
{
OnFwd(OUT_A,30);
OnFwd(OUT_C,-29);
Wait(time);
Off(OUT_AC);
}
**°ìʸ»úÌÜ¡ÖÂç¡× [#i792c35b]
C_back(1200); //°ì²èÌÜ¡£
pen_up();
C_front(600); //Æó²èÌܤξì½ê¤Þ¤Ç°Üư¡£
A_front(100); //Æó²èÌÜ¡£Âç¤Î¾å¤ÎÆÍ¤½Ð¤¿Éôʬ¤ò½ñ¤¯¡£
pen_down();
A_back(100); //»°²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£
pen_up();
Right_diagonal_NW(500); //»°²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
Right_diagonal_W(600); //»°²èÌÜ¡£
pen_up();
Left_diagonal_NW(500); //»Í²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
Left_diagonal_W(550); //»Í²èÌÜ¡£Æó²èÌܤ¬¾å¼ê¤¯¤¤¤«¤Ê¤¤¾ì¹ç¤â¤¢¤Ã¤¿¤Î¤ÇͽËɺö¤È¤·¤Æ¾¯¤·Èô¤Ó½Ð¤¹¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
pen_up();
**Æóʸ»úÌÜ¤Ø°ÜÆ° [#r5de2996]
C_back(1010); //Æóʸ»úÌܤ¬²£¤ËÂ礤¯¤Ê¤ë¤Î¤ÇÂ礤á¤Ë°Üư¡£
A_back(900); //ƱÍͤË;͵¤ò»ý¤¿¤»¤ë¤¿¤á¤ËÂ礤á¤Ë°Üư¡£
**Æóʸ»úÌܡֳÀ¡× [#y0eefa38]
pen_down();
C_front(500); //°ì²èÌÜ¡£³À¤ÎÅڤξå¤Î²£ËÀÉôʬ¡£
pen_up();
C_front(400); //Æó²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
C_front(600); //Æó²èÌÜ¡£³À¤Î±¦Éôʬ¤Î¾å¤Î²£ËÀÉôʬ¡£
pen_up();
C_back(1250); //»°²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£°ì²èÌܤο¿¤óÃæ¤Ë¤¹¤ë¤¿¤á£±£²£µ£°¤À¤±°Üư¡£
A_front(200); //»°²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
A_back(800); //»°²èÌÜ¡£³À¤ÎÅڤνÄËÀÉôʬ¡£
pen_up();
C_back(300); //»Í²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
C_front(600); //»Í²èÌÜ¡£³À¤ÎÅڤβ¼¤Î²£ËÀÉôʬ¡£
pen_up();
A_front(300); //¸Þ²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£
C_front(500); //¸Þ²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
A_back(400); //¸Þ²èÌÜ¡£³À¤Î±¦¤ÎÆü¤ÎÉôʬ¡£
C_front(800);
A_front(600); //¥Ú¥ó¤¬»æ¤ËÉÕ¤¤¤¿¤È¤¾¯¤·Èô¤Ó½Ð¤ë¤¿¤á¾¯¤·Â礤¯½ñ¤¯¡£
C_back(800);
pen_up();
A_back(350); //Ï»²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£¥Ú¥ó¤¬µ©¤ËÃæ¿´ÉÕ¶á¤Þ¤Ç°Üư¤·¤Ê¤¤¤¿¤á¾¯¤·Â礤á¤Ë°Üư¡£¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
C_front(100); //ËÜÍè¾Ã¤¹¤Ù¤¤Ï¤º¤Ç¤¢¤Ã¤¿¤Î¤¬»Ä¤Ã¤Æ¤¤¤Æ¤·¤Þ¤Ã¤Æ¤¤¤¿¤Î¤ÇËÜÅö¤ÏÍפé¤Ê¤¤¡£
pen_down();
C_front(700); //Ï»²èÌÜ¡£¾å¤Î¥×¥í¥°¥é¥à¤ò¾Ãµî¤¹¤ë¤Î¤ò˺¤ì¤Æ¤¤¤¿¤¿¤á¡¢ËÜÍè¤Ê¤é¤Ð£·£°£°¤Ç¤Ï¤Ê¤¯£¸£°£°¡£
pen_up();
C_back(600); //¼·²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£
A_back(430); //¼·²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
C_front(1000); //¼·²èÌÜ¡£
pen_up();
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#contents
*³µÍ× [#p90637e5]
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**²þÎɤ¹¤Ù¤¤À¤Ã¤¿ÅÀ [#we1ae93b]
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*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#c88839a3]
**ÄêµÁ [#idecb5bd]
sub pen_down() //¥Ú¥ó¤ò²¼¤²¤ë¡£
{
RotateMotor(OUT_B,10,20); //°ÂÄê²½¤Î¤¿¤á®Å٤ϣ±£°¤Ë¤·¤Æ¤¤¤ë¡£
Off(OUT_B);
Wait(3000); //¤¹¤°¤Ëư¤«¤¹¤È¥Ú¥ó¤¬¤º¤ì¤ë¤«¤â¤·¤ì¤Ê¤¤¤Î¤Ç£³ÉôÖÄä»ß¡£
}
sub pen_up() //¥Ú¥ó¤ò¾å¤²¤ë¡£
{
RotateMotor(OUT_B,-10,20); //°ÂÄê²½¤Î¤¿¤á®Å٤ϡݣ±£°¤Ë¤·¤Æ¤¤¤ë¡£
Off(OUT_B);
Wait(3000); //¤¹¤°¤Ëư¤«¤¹¤È¥Ú¥ó¤¬¤º¤ì¤ë¤«¤â¤·¤ì¤Ê¤¤¤Î¤Ç£³ÉôÖÄä»ß¡£
}
sub C_back(int time) //¥Ú¥ó¤òº¸Êý¸þ¡Ê+£Ø¼´Êý¸þ¡Ë¤Ë°Üư¡£»þ´Ö¤Ï³Æ¡¹ÀßÄê½ÐÍè¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£¤³¤ì¤Ï°Ê²¼¤âƱÍͤˤ·¤Æ¤¤¤ë¡£
{
OnFwd(OUT_C,-25);
Wait(time);
Off(OUT_C);
}
sub C_front(int time) //¥Ú¥ó¤ò±¦Êý¸þ¡Ê-£Ø¼´Êý¸þ¡Ë¤Ë°Üư¡£
{
OnFwd(OUT_C,25);
Wait(time);
Off(OUT_C);
}
sub A_back(int time) //¥Ú¥ó¤ò²¼Êý¸þ¡Ê-£Ù¼´Êý¸þ¡Ë¤Ë°Üư¡£
{
OnFwd(OUT_A,-30);
Wait(time);
Off(OUT_A);
}
sub A_front(int time) //¥Ú¥ó¤ò¾åÊý¸þ¡Ê+£Ù¼´Êý¸þ¡Ë¤Ë°Üư¡£
{
OnFwd(OUT_A,30);
Wait(time);
Off(OUT_A);
}
sub Right_diagonal_NW(int time) //¥Ú¥ó¤ò¼Ð¤á±¦²¼Êý¸þ¤Ë°Üư¡£
{
OnFwd(OUT_A,-30);
OnFwd(OUT_C,-25);
Wait(time);
Off(OUT_AC);
}
sub Right_diagonal_W(int time) //¥Ú¥ó¤ò¼Ð¤áº¸¾åÊý¸þ¤Ë°Üư¡£±Ñ¸ì¤Ç¤Ï¼Ð¤á±¦¤È¤·¤Æ¤¤¤ë¤¬¾å¤Îsub¤È¥»¥Ã¥È¤Ç»È¤¦¤¿¤áʬ¤«¤ê¤ä¤¹¤¤¤è¤¦¤ËƱ¤¸¤è¤¦¤Ê̾Á°¤Ë¤·¤Æ¤¤¤ë¡£
{
OnFwd(OUT_A,30);
OnFwd(OUT_C,25);
Wait(time);
Off(OUT_AC);
}
sub Left_diagonal_NW(int time) //¥Ú¥ó¤ò¼Ð¤áº¸²¼Êý¸þ¤Ë°Üư¡£
{
OnFwd(OUT_A,-30);
OnFwd(OUT_C,23);
Wait(time);
Off(OUT_AC);
}
sub Left_diagonal_W(int time) //¥Ú¥ó¤ò¼Ð¤á±¦¾åÊý¸þ¤Ë°Üư¡£¤³¤ì¤âƱÍͤ˾å¤Îsub¤È¥»¥Ã¥È¤Ç»È¤¦¤¿¤áʬ¤«¤ê¤ä¤¹¤¤¤è¤¦¤ËƱ¤¸¤è¤¦¤Ê̾Á°¤Ë¤·¤Æ¤¤¤ë¡£
{
OnFwd(OUT_A,30);
OnFwd(OUT_C,-29);
Wait(time);
Off(OUT_AC);
}
**°ìʸ»úÌÜ¡ÖÂç¡× [#i792c35b]
C_back(1200); //°ì²èÌÜ¡£
pen_up();
C_front(600); //Æó²èÌܤξì½ê¤Þ¤Ç°Üư¡£
A_front(100); //Æó²èÌÜ¡£Âç¤Î¾å¤ÎÆÍ¤½Ð¤¿Éôʬ¤ò½ñ¤¯¡£
pen_down();
A_back(100); //»°²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£
pen_up();
Right_diagonal_NW(500); //»°²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
Right_diagonal_W(600); //»°²èÌÜ¡£
pen_up();
Left_diagonal_NW(500); //»Í²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
Left_diagonal_W(550); //»Í²èÌÜ¡£Æó²èÌܤ¬¾å¼ê¤¯¤¤¤«¤Ê¤¤¾ì¹ç¤â¤¢¤Ã¤¿¤Î¤ÇͽËɺö¤È¤·¤Æ¾¯¤·Èô¤Ó½Ð¤¹¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
pen_up();
**Æóʸ»úÌÜ¤Ø°ÜÆ° [#r5de2996]
C_back(1010); //Æóʸ»úÌܤ¬²£¤ËÂ礤¯¤Ê¤ë¤Î¤ÇÂ礤á¤Ë°Üư¡£
A_back(900); //ƱÍͤË;͵¤ò»ý¤¿¤»¤ë¤¿¤á¤ËÂ礤á¤Ë°Üư¡£
**Æóʸ»úÌܡֳÀ¡× [#y0eefa38]
pen_down();
C_front(500); //°ì²èÌÜ¡£³À¤ÎÅڤξå¤Î²£ËÀÉôʬ¡£
pen_up();
C_front(400); //Æó²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
C_front(600); //Æó²èÌÜ¡£³À¤Î±¦Éôʬ¤Î¾å¤Î²£ËÀÉôʬ¡£
pen_up();
C_back(1250); //»°²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£°ì²èÌܤο¿¤óÃæ¤Ë¤¹¤ë¤¿¤á£±£²£µ£°¤À¤±°Üư¡£
A_front(200); //»°²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
A_back(800); //»°²èÌÜ¡£³À¤ÎÅڤνÄËÀÉôʬ¡£
pen_up();
C_back(300); //»Í²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
C_front(600); //»Í²èÌÜ¡£³À¤ÎÅڤβ¼¤Î²£ËÀÉôʬ¡£
pen_up();
A_front(300); //¸Þ²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£
C_front(500); //¸Þ²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
A_back(400); //¸Þ²èÌÜ¡£³À¤Î±¦¤ÎÆü¤ÎÉôʬ¡£
C_front(800);
A_front(600); //¥Ú¥ó¤¬»æ¤ËÉÕ¤¤¤¿¤È¤¾¯¤·Èô¤Ó½Ð¤ë¤¿¤á¾¯¤·Â礤¯½ñ¤¯¡£
C_back(800);
pen_up();
A_back(350); //Ï»²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£¥Ú¥ó¤¬µ©¤ËÃæ¿´ÉÕ¶á¤Þ¤Ç°Üư¤·¤Ê¤¤¤¿¤á¾¯¤·Â礤á¤Ë°Üư¡£¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
C_front(100); //ËÜÍè¾Ã¤¹¤Ù¤¤Ï¤º¤Ç¤¢¤Ã¤¿¤Î¤¬»Ä¤Ã¤Æ¤¤¤Æ¤·¤Þ¤Ã¤Æ¤¤¤¿¤Î¤ÇËÜÅö¤ÏÍפé¤Ê¤¤¡£
pen_down();
C_front(700); //Ï»²èÌÜ¡£¾å¤Î¥×¥í¥°¥é¥à¤ò¾Ãµî¤¹¤ë¤Î¤ò˺¤ì¤Æ¤¤¤¿¤¿¤á¡¢ËÜÍè¤Ê¤é¤Ð£·£°£°¤Ç¤Ï¤Ê¤¯£¸£°£°¡£
pen_up();
C_back(600); //¼·²èÌܤξì½ê¤ÎÅÓÃæ¤Þ¤Ç°Üư¡£
A_back(430); //¼·²èÌܤξì½ê¤Þ¤Ç°Üư¡£
pen_down();
C_front(1000); //¼·²èÌÜ¡£
pen_up();
*·ë²Ì¤ÈÈ¿¾ÊÅÀ [#w9c9817e]
·ë²Ì¤È¤·¤Æ¤ÏÎý½¬¤Ç¤Ï¾å¼ê¤¯¤¤¤Ã¤Æ¤¤¤¿¤¬¡¢ËÜÈ֤Ͼå¼ê¤¯¤¤¤«¤ºÁ´¤¯ÆÉ¤á¤Ê¤¤Êª¤ò¤«¤¤¤Æ¤·¤Þ¤Ã¤¿¡£¸¶°ø¤È¤·¤Æ¤Ï¥í¥Ü¥Ã¥È¤Î¾Ò²ð¤Ç¤âÀâÌÀ¤·¤¿Ä̤ê¥ì¡¼¥ëÉôʬ¤Î¤·¤Ã¤«¤ê¤È¤·¤¿¸ÇÄê¡¢¥Ú¥ó¤Î¼è¤êÉÕ¤±°ÌÃÖ¤¬¤¤Á¤ó¤È¹Ô¤ï¤ì¤Æ¤¤¤Ê¤«¤Ã¤¿¤¿¤á¤Ç¤¢¤ë¤È¹Í¤¨¤é¤ì¤ë¡£¤Þ¤¿¡¢¤³¤ì¤é¤ò¤·¤Ã¤«¤ê¤È¤·¤Æ¤¤¤ë¤È¡¢¥×¥í¥°¥é¥ß¥ó¥°¤¬¤â¤¦¾¯¤·´Êñ¤Ë¤Ê¤ê¡¢¾Ãµî¤¹¤ë¤Ï¤º¤Î¥×¥í¥°¥é¥à¤¬¾Ãµî¤µ¤ì¤Æ¤¤¤Ê¤¤¤È¤¤¤¦¥ß¥¹¤¬Ìµ¤¯¤Ê¤ë¡£½¾¤Ã¤Æ¡¢º£²ó¤Î²ÝÂ꣱¤Ï²ÝÂê¤Î»Ä¤ëʪ¤È¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤¬º£¸å¤Î²ÝÂê¤ËÌòΩ¤Æ¤¿¤¤¡£
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