• p 1. ET 2. 3. 4. 5. • • • • • 67140390 (H26/11/10) 1 67140390 2 (H26/11/10) white black, gray • white black gray white,black, gray 600 800 680 ON/OFF • 67140390 3 (H26/11/10) (W+B)/2=700 white=600 black=800 gray=680 W=600 G=680 calibrater() • 67140390 3 4 (H26/11/10) -40 20mm • B=800 10ms -30 W+B)/2=700 700 700 YES 20mm • NO 680 67140390 (H26/11/10) 5 67140390 (H26/11/10) 6 floatr_kyori,r_soukyori=0.0,l_kyori,l_soukyori=0.0,r_kyori0=0.0 • 10ms 10ms staticint r_angle,l_angle,r_angle0,l_angle0; r_angle=r_angle0- nxt_motor_get_count(NXT_PORT_B); if(r_angle<0)r_angle=-r_angle; r_kyori=2*3.141592*75*((double)r_angle/360); r_soukyori+=r_kyori; • l_angle=l_angle0- nxt_motor_get_count(NXT_PORT_C); if(l_angle<0)l_angle=-l_angle; l_kyori=2*3.141592*75*((double)l_angle/360); l_soukyori+=l_kyori; mm “ 1” -[ET r_angle0=nxt_motor_get_count(NXT_PORT_B); l_angle0=nxt_motor_get_count(NXT_PORT_C); ] 67140390 • 50ms (H26/11/10) 7 : ) 67140390 (H26/11/10) 8 • http://gihyo.jp/dev/serial/01/etrobo/0002 ET • http://embedded0engineer.blog.fc2.com/blog-entry-21.html • • • • 67140390 (H26/11/10) 9 67140390 (H26/11/10) 10
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