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LEGO Mindstorms EV3
CU-Robocon
WEBhttp://robot-programming.jp/ [email protected]
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LEGO Mindstorms
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RIS NXT EV3
1998 2006 2013
CPU H88 bit ARM732 bit ARM932 bit
16MHz 48MHz 300MHz
RAM 32KB 64KB 64MB
256KB 16MB
USB/Bluetooth U/B + WiFi
:3 :3 :4 :3 :4 :4
RCXNXTEV3
6
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LEGOEV3
LM
M
L
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EV3
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1. PC(EV3-SW)
2. USB/Bluetooth
3.
USB
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EV3
1. EV3
2.
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EV3
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(PAD)
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EV3
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1
2
3
PAD
PAD(Problem Analysis Diagram)
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0100()
3
3
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1. sound
2. : :
3.
4.
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&
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USB
Bluetooth
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323
3
()
()
3 ///
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(PAD)
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True
False
&
&
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USB
1
2 3
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() (2)
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()
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EV3
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B C
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PAD
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(B+C)32
B+C
3
1
2B+C
2
}}
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(
28
(B+C)32
1 2
50
3
ON
2
-
(
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(B+C)32
1 2
C50
3
ON
2
B50
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L
30
745:12
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31
B C
BC
: 50 : 40
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B: 50C: 50 B: 50C: 40 B: 50C: 30
: 0 : 10 : 20
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(2)
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()
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B C
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PAD
BC
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3
B+C
B C
2
B
C
1
2
}
}
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BC
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1 2
B 50
C -50
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90
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90
1.
2.
()
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90
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()
1.
1.5
2.
180
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39
1 390
3 390
2 390
4 390
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3904
()
40
1 390
3 390
2 390
4 390
100800
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3904
41
1
2
3
4
3 90
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PAD
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4
3
B+C
B C
90
2
3
}
}
1 1
3904
PAD
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44
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1801440
50cm
45
[] [cm]1cm
180 9.0 20.0
360 17.5 20.6
720 34.5 20.8
1080 52.5 20.5
1440 69.5 20.4
1cm [] / [cm]
= 1cm
20.5
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50cm
46
50cm
cm20.5
ab= ab=()
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47
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48
1 10cm 90
2 20cm 90
3 30cm 90
4 40cm 90
5 50cm 90
6 60cm 90
7 70cm 90
8 80cm 90
9 90cm 90
10cm
-
49
1 10cm 90
2 20cm 90
3 30cm 90
4 40cm 90
5 50cm 90
6 60cm 90
7 70cm 90
8 80cm 90
9 90cm 90
10
= 10cm
+1
1
-
50
+11
cnt
1
cnt
1+1
cnt
1
1
cnt
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PAD
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cnt10cm20.5
90
4}2
cnt
cnt1 1
cntcnt+1 6
5
3
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cnt
12
3 4 5 6
cntcnt+1cnt1
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() ()
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()
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012
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EV3
1
EV3156
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1.
2.
1.
1.
}3.
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PAD
2 1
4
45
35
True
False
PAD
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1
2 3
4 5
60
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()
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30cm
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EV34
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EV3464
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1.
2.
30cm()1.
30cm()1.
}3.
65
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PAD
30cm
2 1
4
45
3
True
False
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-
1
2 3
4
< 30cm
(cm)
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LED(R, G, B)
LED
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RGB
RGB
R
G
B
R
G
B
LED
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(R)(G)(B)3
R G B
1: 0 0 0
2: 0 0
3: 0 0
4: 0
5: 0 0
6:
R
G B
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LED
LED R:
G:
B:
72
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LED
LED R:
G:
B:
73
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LED
LED R:
G:
B:
11,000R,G,B
1[ms]
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EV33
3
EV3375
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()()
76
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PAD
()()
> 40 13
2
True
False4
B
C (0)
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()()
1
2
3
4
--> 50
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79
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(PAD)
1
3
6
4
5
1
2
80
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1
2
3
4
5
6
1
81
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--
1
2
3
4
5
6
1
82
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83
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[degree/s]
(InvenSense)
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85
EV3/
[degree] [degree/sec]
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(PAD)
90
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2 390
4
1
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87
90
90
()
1
2
3 4
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90
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0 177
127
x
y
0 21
12
|x|
y||
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0 177
127
x
y
0 21
12
|x|
MINDSTORMS
HELLO!
y||
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0 177
127
x
y
0 177
127
x
y
(50,20)
(50,20)
40
80
80
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96
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(PAD)
2 1
3
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1
2 3
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(PAD)
12
1 2 1
1 3
2 4
1 5
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12
1
2 4
1 1
3 5
100
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0 177
127
x
y (89,64)r
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PAD
> 40 35
4
True
False6
1
2
1
30cm
7
10
45
9
True
False
2
104
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1
24
35
6
7
8
9
105
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AB
A
BC
B
BC
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(Hironobu Fujiyoshi)
1997 19972000 Postdoctoral Fellow 2000 2004 2006 2010 2014
(2005)(2009)(2009)(2011,2013)ISS(2013)
E-mail: [email protected] WEB: http://www.vision.cs.chubu.ac.jp/ Facebook: facebook.com/hironobu.fujiyoshi Twitter: @hf149
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[WEB]
http://www.robot-programming.jp/
[] LEGO Mindstorms NXT! ISBN-13: 978-4764903784
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[iBook] NXT-SW https://itunes.apple.com/jp/book/id902846245
[iBook] NXC https://itunes.apple.com/jp/book/id902356211