2018a/Member/Kondou/Mission2
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1.A¤ò¥¹¥¿¡¼¥È
2.B¤òľ¿Ê
3.C¤Ç°ì»þÄä»ß¤Î¸å¡¢Ä¾¿Ê
4.D¤Ç°ì»þÄä»ß¤Î¸å¡¢X¤Î¶õ¤´Ì¤ò¥¥ã¥Ã¥Á¤·¤ÆDÃÏÅÀ¤ËÌá¤ë
5.D¤«¤éE¤Ë¸þ¤«¤¤¡¢E¤òľ¿Ê
6.F¤òº¸ÀÞ
7.G¤Ç°ì»þÄä»ß¤Î¸å¡¢º¸ÀÞ
8.H¤Ç°ì»þÄä»ß¤Î¸å¡¢±¦ÀÞ
9.I¤Ç°ì»þÄä»ß¤Î¸å¡¢±¦ÀÞ
10.L¤òľ¿Ê
11.K¤òľ¿Ê
12.J¤Ç°ì»þÄä»ß¤Î¸å¡¢¶õ¤´Ì¤òY¤ËÃÖ¤¤ÆJ¤ËÌá¤êB¤Ë¸þ¤«¤¦
13.B¤Ç°ì»þÄä»ß¤Î¸å¡¢º¸ÀÞ
14.A¤ÇÄä»ß
**¥×¥í¥°¥é¥ß¥ó¥° [#jacb52b4]
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*¥é¥¤¥ó¥È¥ì¡¼¥¹ [#o04ee9f2]
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cs.value ¢«¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤò¼¨¤¹¡££³£°°Ê²¼¤Ê¤é¹õ¡¢£³£°¤è¤êÂ礤±¤ì¤ÐÇò¤È¤³¤³¤Ç¤ÏÄêµÁ¤¹¤ë
º¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¡Êt¤¬¶³¦¤Ëµï³¤±¤ë»þ´Ö¡¢s¤¬tÉðʹߡ¢sÉðʾåƱ¤¸¿§¤ÎÎΰè¤Ë¤¤¤ë¤È»ß¤Þ¤ë¡£¡Ë
def sharpstop_line(t,s):
t0 = time.time()
t1 = time.time()
while t0 - t1 < t:¡¡//³«»Ï¤«¤é£ôÉðʲ¼¤Î»þ
t0 = time.time()
if cs.value() <=30: //¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬£³£°°Ê²¼¤Ç¤¢¤ë¤«È½Äꤹ¤ë
while cs.value() <=30:
ml.run_forever(speed_sp= -25) //£³£°°Ê²¼¤Ç¤¢¤ë¤È¤º¸ÀÞ
mr.run_forever(speed_sp= 100)
elif cs.value() >30:¡¡//¥«¥é¡¼¥»¥ó¥µ¡¼¤¬£³£°¤è¤êÂ礤¤¤«È½Äê
while cs.value() >30:
ml.run_forever(speed_sp= 100)¡¡//¤½¤Î»þ¡¢±¦ÀÞ¤¹¤ë
mr.run_forever(speed_sp= -25)
ml.stop()¡¡//³«»Ï¤«¤é£ôÉðʾå¤Î»þ°ìÅÙÄä»ß
mr.stop()
s0 = time.time()¡¡¡¡
s1 = time.time()
while s0 - s1 < s: //Ʊ¤¸¿§¤Ë¤¤¤ë»þ´Ö¤¬sÉðʲ¼¤Î¤È¤
s1 = time.time()¡¡
if cs.value() <=30:
while cs.value() <=30:
ml.run_forever(speed_sp= 100)
mr.run_forever(speed_sp= -25)
s0=time.time()
elif cs.value() >30:
while cs.value() >30:
ml.run_forever(speed_sp= -25)
mr.run_forever(speed_sp= 100)
s0=time.time()
ml.reset()¡¡//£óÉðʾåƱ¤¸Îΰè¤Ë¤¤¤ë¤È¤Ää»ß¤¹¤ë
mr.reset()
sleep(1)
±¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¡Êt¤¬¶³¦¤Ëµï³¤±¤ë»þ´Ö¡¢s¤¬tÉðʹߡ¢sÉðʾåƱ¤¸¿§¤ÎÎΰè¤Ë¤¤¤ë¤È»ß¤Þ¤ë¡£¡Ë
def rev_sharpstop_line(t,s):
t0 = time.time()
t1 = time.time()
while t0 - t1 < t:
t0 = time.time()
if cs.value() <=30:
while cs.value() <=30:
ml.run_forever(speed_sp= 100)
mr.run_forever(speed_sp= -25)
elif cs.value() >30:
while cs.value() >30:
ml.run_forever(speed_sp= -25)
mr.run_forever(speed_sp= 100)
ml.stop()
mr.stop()
s0 = time.time()
s1 = time.time()
while s0 - s1 < s:¡¡
s1 = time.time()
if cs.value() <=30:
while cs.value() <=30:
ml.run_forever(speed_sp= -25)
mr.run_forever(speed_sp= 100)
s0=time.time()
elif cs.value() >30:
while cs.value() >30:
ml.run_forever(speed_sp= 100)
mr.run_forever(speed_sp= -25)
s0=time.time()
ml.reset()
mr.reset()
sleep(1)
**¸òº¹ÅÀ¤Ç¤ÎÆ°ºî [#o098497e]
¡¡¾åµ¤Î¥È¥ì¡¼¥¹¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ï¡¢¸òº¹ÅÀ¤ËÆþ¤ê¹õ¤ò°ìÄê»þ´Ö°Ê¾å¸¡ÃΤ¹¤ë¤ÈÄä»ß¤¹¤ë¡£¤½¤³¤«¤é¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¤ËÆþ¤ê¡¢º¸Àû²ó¡¢¤Þ¤¿¤Ï±¦Àû²ó¤·¤¿¸å¤Ëľ¿Ê¤·¡¢¤½¤Î¸å¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤ËÆþ¤ë¤³¤È¤Ç¸òº¹ÅÀ¤Î¼±Ê̤ò¹Ô¤¦¡£Àû²ó¤Î®ÅÙ¤ä°ÌÃ֤ˤè¤Ã¤Æ¼ºÇÔ¤¹¤ë¤³¤È¤â¤¢¤Ã¤¿¤¬¡¢»î¹Ôºø¸í¤ò·«¤êÊÖ¤¹¤¦¤Á¤Ë°ÂÄꤷ¤¿¡£
def right():#±¦ÀÞ
ml.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
mr.run_timed(time_sp = 500,speed_sp =-100,stop_action ='brake')
sleep(1)
def left():#º¸ÀÞ
ml.run_timed(time_sp = 500,speed_sp =-100,stop_action ='brake')
mr.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
sleep(1)
def forward():#ľ¿Ê
ml.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
mr.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
sleep(1)
**»æ¥³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî [#m9b5e47a]
def cop_catch():#¥³¥Ã¥×¤òÄϤà
ml.stop()
mr.stop()
ma.reset()
ma.run_timed(time_sp=2000,speed_sp=-100,stop_action='hold')
sleep(3)
def cop_throw():#¥³¥Ã¥×¤òÊü¤¹
ml.stop()
mr.stop()
ma.reset()
ma.run_timed(time_sp=2000,speed_sp=100,stop_action='brake')
sleep(3)
**Á´ÂÎ [#z2201f13]
sharpstop_line(0,0.7)#¥³¡¼¥¹¤ÎÃæ¤Î1¤Ç¤ÎÆ°ºî
sleep(1)
right()
right()
sharpstop_line(34,0.6)#2.3¤ÎÆ°ºî
cop_catch()#4¤ÎÆ°ºî
left()#5¤ÎÆ°ºî
left()
sharpstop_line(2.5,0.7)
right()#6¤ÎÆ°ºî
sharpstop_line(9,0.7)
left()#7¤ÎÆ°ºî
sharpstop_line(1.5,0.65)
sleep(1)
left()#8¤ÎÆ°ºî
sharpstop_line(38,0)
sleep(1)
right()
right()
rev_sharpstop_line(2,0.75)
sleep(1)
rev_sharpstop_line(3,0.75)#9¤ÎÆ°ºî
sleep(1)
right()
rev_sharpstop_line(2,0.75)#10¤ÎÆ°ºî
left()
left()
rev_sharpstop_line(2,0.75)#11¤ÎÆ°ºî
left()
left()
rev_sharpstop_line(2,0.75)#12¤ÎÆ°ºî
sleep(1)
left()
left()
left()
left()
left()
left()
cop_throw()
left()#13.14¤ÎÆ°ºî
left()
left()
left()
left()
left()
rev_sharpstop_line(4,0.75)
sleep(1)
left()
left()
left()
forward()
rev_sharpstop_line(3,0.75)
right()¡¢left()¡¢forward()¤Î¼ÖÂΤÎÆ°¤¯Â礤µ¤òÂ礤á¤ËÀßÄꤷ¡¢¤Þ¤¿ÎΰèÆâ¤Ë¤¤¤ë»þ´Ö¤âŤ¯¤·¤¿¡£¤½¤Î·ë²Ì¡¢¥³¡¼¥¹¤ÎÅÓÃæ¤Ç»ß¤Þ¤ë¤³¤È¤¬³ÊÃʤ˸º¤Ã¤¿¤¬¡¢¤½¤Îʬ¼ÖÂΤ¬¥³¡¼¥¹¤ËÂФ·¤Æ°Û¤Ê¤ëÊý¸þ¤ò¤à¤¯¤è¤¦¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£right()¤Ê¤É¤ÎÃͤ¬Â礤¯ÀßÄꤹ¤ë¤³¤È¤Ç¡¢¿ÊÏ©¤Î½¤Àµ¤¬ÍѰդˤʤä¿¡£
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**¥í¥Ü¥Ã¥ÈËÜÂÎ [#ued17a89]
#ref(./IMG_6807.JPG,50%,)
¡¡¡¡¡¡¢¬Á´ÂοÞ
#ref(./IMG_6811.jpg,50%,)
¡µ¡ÂθåÊý¤Ë±¦¥¿¥¤¥ä¢«¥×¥í¥°¥é¥àÆâ¤Ç¤Ïmr~
¢¡¡¡¡¡¡¡¡¡¡º¸¥¿¥¤¥ä¢«ml~
£µ¡ÂÎÃæ±û¤ËÃÏÌ̤˸þ¤±¤Æ¥«¥é¡¼¥»¥ó¥µ¡¼¤òÀßÃÖ¢«cs~
¤µ¡ÂÎÁ°ÊýÉôʬ¤Ë¥¢¡¼¥à¤òÀßÃÖ¢« ma~
*¥¢¡¼¥à¤Îµ¡¹½¤Ë¤Ä¤¤¤Æ [#s74434b5]
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**¥³¡¼¥¹ [#jdb5b2d2]
#ref(./2018a-mission2.png,50%)
1.A¤ò¥¹¥¿¡¼¥È
2.B¤òľ¿Ê
3.C¤Ç°ì»þÄä»ß¤Î¸å¡¢Ä¾¿Ê
4.D¤Ç°ì»þÄä»ß¤Î¸å¡¢X¤Î¶õ¤´Ì¤ò¥¥ã¥Ã¥Á¤·¤ÆDÃÏÅÀ¤ËÌá¤ë
5.D¤«¤éE¤Ë¸þ¤«¤¤¡¢E¤òľ¿Ê
6.F¤òº¸ÀÞ
7.G¤Ç°ì»þÄä»ß¤Î¸å¡¢º¸ÀÞ
8.H¤Ç°ì»þÄä»ß¤Î¸å¡¢±¦ÀÞ
9.I¤Ç°ì»þÄä»ß¤Î¸å¡¢±¦ÀÞ
10.L¤òľ¿Ê
11.K¤òľ¿Ê
12.J¤Ç°ì»þÄä»ß¤Î¸å¡¢¶õ¤´Ì¤òY¤ËÃÖ¤¤ÆJ¤ËÌá¤êB¤Ë¸þ¤«¤¦
13.B¤Ç°ì»þÄä»ß¤Î¸å¡¢º¸ÀÞ
14.A¤ÇÄä»ß
**¥×¥í¥°¥é¥ß¥ó¥° [#jacb52b4]
Â礤¯Ê¬¤±¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¡¢¸òº¹ÅÀ¤Ç¤ÎÆ°¤¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤ó¤Ç¥ë¡¼¥È¤ËÌá¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£
*¥é¥¤¥ó¥È¥ì¡¼¥¹ [#o04ee9f2]
¡¡¤Ï¤¸¤á¤Ï¹õ¤ÎÀþ¤ËÂФ·¤Æº¸Â¦¤Îü¤ò¥¸¥°¥¶¥°¤Ë»ØÄꤷ¤¿»þ´ÖÆ°¤¡¢¤½¤Î¸å¹õ¤Î¾å¤Ë°ìÄê»þ´Ö¤¤¤ë¤È¤¤ËÄä»ß¤¹¤ë¤è¤¦¤Ë¤·¤¿¤â¤Î¤òºîÀ®¤·¤¿¡£¤·¤«¤·¡¢ÆÃÄê¤Î¥¨¥ê¥¢¤ÇÆ»¤ò¸«¼º¤¦³ÎΨ¤¬Èó¾ï¤Ë¹â¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤½¤³¤Ç¡¢±¦Â¦¤Îü¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤·¡¢¤³¤Î£²¤Ä¤ò»È¤¤Ê¬¤±¤ë¤³¤È¤ÇÀ®¸ùΨ¤¬ÈôÌöŪ¤Ë¾å¤¬¤Ã¤¿¡£
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cs.value ¢«¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤò¼¨¤¹¡££³£°°Ê²¼¤Ê¤é¹õ¡¢£³£°¤è¤êÂ礤±¤ì¤ÐÇò¤È¤³¤³¤Ç¤ÏÄêµÁ¤¹¤ë
º¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¡Êt¤¬¶³¦¤Ëµï³¤±¤ë»þ´Ö¡¢s¤¬tÉðʹߡ¢sÉðʾåƱ¤¸¿§¤ÎÎΰè¤Ë¤¤¤ë¤È»ß¤Þ¤ë¡£¡Ë
def sharpstop_line(t,s):
t0 = time.time()
t1 = time.time()
while t0 - t1 < t:¡¡//³«»Ï¤«¤é£ôÉðʲ¼¤Î»þ
t0 = time.time()
if cs.value() <=30: //¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬£³£°°Ê²¼¤Ç¤¢¤ë¤«È½Äꤹ¤ë
while cs.value() <=30:
ml.run_forever(speed_sp= -25) //£³£°°Ê²¼¤Ç¤¢¤ë¤È¤º¸ÀÞ
mr.run_forever(speed_sp= 100)
elif cs.value() >30:¡¡//¥«¥é¡¼¥»¥ó¥µ¡¼¤¬£³£°¤è¤êÂ礤¤¤«È½Äê
while cs.value() >30:
ml.run_forever(speed_sp= 100)¡¡//¤½¤Î»þ¡¢±¦ÀÞ¤¹¤ë
mr.run_forever(speed_sp= -25)
ml.stop()¡¡//³«»Ï¤«¤é£ôÉðʾå¤Î»þ°ìÅÙÄä»ß
mr.stop()
s0 = time.time()¡¡¡¡
s1 = time.time()
while s0 - s1 < s: //Ʊ¤¸¿§¤Ë¤¤¤ë»þ´Ö¤¬sÉðʲ¼¤Î¤È¤
s1 = time.time()¡¡
if cs.value() <=30:
while cs.value() <=30:
ml.run_forever(speed_sp= 100)
mr.run_forever(speed_sp= -25)
s0=time.time()
elif cs.value() >30:
while cs.value() >30:
ml.run_forever(speed_sp= -25)
mr.run_forever(speed_sp= 100)
s0=time.time()
ml.reset()¡¡//£óÉðʾåƱ¤¸Îΰè¤Ë¤¤¤ë¤È¤Ää»ß¤¹¤ë
mr.reset()
sleep(1)
±¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¡Êt¤¬¶³¦¤Ëµï³¤±¤ë»þ´Ö¡¢s¤¬tÉðʹߡ¢sÉðʾåƱ¤¸¿§¤ÎÎΰè¤Ë¤¤¤ë¤È»ß¤Þ¤ë¡£¡Ë
def rev_sharpstop_line(t,s):
t0 = time.time()
t1 = time.time()
while t0 - t1 < t:
t0 = time.time()
if cs.value() <=30:
while cs.value() <=30:
ml.run_forever(speed_sp= 100)
mr.run_forever(speed_sp= -25)
elif cs.value() >30:
while cs.value() >30:
ml.run_forever(speed_sp= -25)
mr.run_forever(speed_sp= 100)
ml.stop()
mr.stop()
s0 = time.time()
s1 = time.time()
while s0 - s1 < s:¡¡
s1 = time.time()
if cs.value() <=30:
while cs.value() <=30:
ml.run_forever(speed_sp= -25)
mr.run_forever(speed_sp= 100)
s0=time.time()
elif cs.value() >30:
while cs.value() >30:
ml.run_forever(speed_sp= 100)
mr.run_forever(speed_sp= -25)
s0=time.time()
ml.reset()
mr.reset()
sleep(1)
**¸òº¹ÅÀ¤Ç¤ÎÆ°ºî [#o098497e]
¡¡¾åµ¤Î¥È¥ì¡¼¥¹¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ï¡¢¸òº¹ÅÀ¤ËÆþ¤ê¹õ¤ò°ìÄê»þ´Ö°Ê¾å¸¡ÃΤ¹¤ë¤ÈÄä»ß¤¹¤ë¡£¤½¤³¤«¤é¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¤ËÆþ¤ê¡¢º¸Àû²ó¡¢¤Þ¤¿¤Ï±¦Àû²ó¤·¤¿¸å¤Ëľ¿Ê¤·¡¢¤½¤Î¸å¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤ËÆþ¤ë¤³¤È¤Ç¸òº¹ÅÀ¤Î¼±Ê̤ò¹Ô¤¦¡£Àû²ó¤Î®ÅÙ¤ä°ÌÃ֤ˤè¤Ã¤Æ¼ºÇÔ¤¹¤ë¤³¤È¤â¤¢¤Ã¤¿¤¬¡¢»î¹Ôºø¸í¤ò·«¤êÊÖ¤¹¤¦¤Á¤Ë°ÂÄꤷ¤¿¡£
def right():#±¦ÀÞ
ml.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
mr.run_timed(time_sp = 500,speed_sp =-100,stop_action ='brake')
sleep(1)
def left():#º¸ÀÞ
ml.run_timed(time_sp = 500,speed_sp =-100,stop_action ='brake')
mr.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
sleep(1)
def forward():#ľ¿Ê
ml.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
mr.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake')
sleep(1)
**»æ¥³¥Ã¥×¤ò¤Ä¤«¤àÆ°ºî [#m9b5e47a]
def cop_catch():#¥³¥Ã¥×¤òÄϤà
ml.stop()
mr.stop()
ma.reset()
ma.run_timed(time_sp=2000,speed_sp=-100,stop_action='hold')
sleep(3)
def cop_throw():#¥³¥Ã¥×¤òÊü¤¹
ml.stop()
mr.stop()
ma.reset()
ma.run_timed(time_sp=2000,speed_sp=100,stop_action='brake')
sleep(3)
**Á´ÂÎ [#z2201f13]
sharpstop_line(0,0.7)#¥³¡¼¥¹¤ÎÃæ¤Î1¤Ç¤ÎÆ°ºî
sleep(1)
right()
right()
sharpstop_line(34,0.6)#2.3¤ÎÆ°ºî
cop_catch()#4¤ÎÆ°ºî
left()#5¤ÎÆ°ºî
left()
sharpstop_line(2.5,0.7)
right()#6¤ÎÆ°ºî
sharpstop_line(9,0.7)
left()#7¤ÎÆ°ºî
sharpstop_line(1.5,0.65)
sleep(1)
left()#8¤ÎÆ°ºî
sharpstop_line(38,0)
sleep(1)
right()
right()
rev_sharpstop_line(2,0.75)
sleep(1)
rev_sharpstop_line(3,0.75)#9¤ÎÆ°ºî
sleep(1)
right()
rev_sharpstop_line(2,0.75)#10¤ÎÆ°ºî
left()
left()
rev_sharpstop_line(2,0.75)#11¤ÎÆ°ºî
left()
left()
rev_sharpstop_line(2,0.75)#12¤ÎÆ°ºî
sleep(1)
left()
left()
left()
left()
left()
left()
cop_throw()
left()#13.14¤ÎÆ°ºî
left()
left()
left()
left()
left()
rev_sharpstop_line(4,0.75)
sleep(1)
left()
left()
left()
forward()
rev_sharpstop_line(3,0.75)
right()¡¢left()¡¢forward()¤Î¼ÖÂΤÎÆ°¤¯Â礤µ¤òÂ礤á¤ËÀßÄꤷ¡¢¤Þ¤¿ÎΰèÆâ¤Ë¤¤¤ë»þ´Ö¤âŤ¯¤·¤¿¡£¤½¤Î·ë²Ì¡¢¥³¡¼¥¹¤ÎÅÓÃæ¤Ç»ß¤Þ¤ë¤³¤È¤¬³ÊÃʤ˸º¤Ã¤¿¤¬¡¢¤½¤Îʬ¼ÖÂΤ¬¥³¡¼¥¹¤ËÂФ·¤Æ°Û¤Ê¤ëÊý¸þ¤ò¤à¤¯¤è¤¦¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£right()¤Ê¤É¤ÎÃͤ¬Â礤¯ÀßÄꤹ¤ë¤³¤È¤Ç¡¢¿ÊÏ©¤Î½¤Àµ¤¬ÍѰդˤʤä¿¡£
*Áí³ç [#h0481704]
¡¡Èæ³ÓŪ¥·¥ó¥×¥ë¤Ê¥×¥í¥°¥é¥à¤ÇÌÜɸ¤òãÀ®¤Ç¤¤¿¤È»×¤¦¡£ºÇ½é¤Ï£³³ä¤Û¤É¤ÎÀ®¸ùΨ¤À¤Ã¤¿¤¬¡¢Ä´À°¤ò·«¤êÊÖ¤¹Æâ¤Ë£¹³ä¤Û¤É¤Ë¶á¤Å¤±¤¿¡£Á´ÂΤκ٤«¤Ê¿ôÃͤÎÄ´À°¤ÇÀ®¸ùΨ¤¬¾å¤¬¤ë¤³¤È¤â¤¢¤Ã¤¿¤¬¡¢À®¸ùΨ¤òÂ礤¯¾å¤²¤ë¤Ë¤Ïº¬ËÜŪ¤ÊÉôʬ¤Î¸¶°ø¤ò¸«¤Ä¤±²ò·è¤¹¤ë¤³¤È¤¬É¬¿Ü¤À¤È´¶¤¸¤¿¡£
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