ロボット制御：速度フィードバック制御 1 はじめに 2
Contents
1. 0 TO U TTT D U U UD U U 0 TOO U U UD 0 0 42 PHHHHHHHHHHHHHHHL TERE TRY BAB E E ARA RR EA BB Ee DANG NANA EEE e HDD hhi ph hihi aR HIHHHHHHHHHHHHHHHHLH HHHHHHHHHHHHHHL HHHUHHUHHUHHHHHHHLH HHHHHHHHHHHHHHHHHHHHHHIHHHHHHI HU wheel cnt right x2 1 120 RER 1 Oright HHHHHHHHHUHHHHHHPCHHHHHUHHHHHHUHHHHHHHUHHHHHHHHUHH OOOOOOOOON 3314Q00000 1000 220 000000000060 AAA AMAIA AAA Ricci RU ER ER RR IIHHHHHHHHHIHHHIL pragma section USR Vold user main void LOA E float theta r theta 1 U U U D U U U U U L wheel cnt right 0 wheel cnt left 0 while 1 1s U U A float wheel cnt right 120 0 x 2 04 3 14 theta 1 float wheel cnt left 120 0 x 2 0 3 14 UB OOO RS 23 2 ATH PEST E print Float t J PEINE string We y print float theta r lt 00000000 DO float UJU l print SEKING PAET print float theta Do e HON OLE Lost E Pent String Tan s 0 pragma section p200000000000000000000 U U DO D Gads UD UD 0 D 0 D 000000000000 LU U U ODO DO D D D tul H LLAND E U U U UD GOB ODO D D D D D D D U U cn U Oright k Sg Oright k 1 At 000000000000002. OxFFFF D D 11106436721 13 U CU U U U U U U L U U U L U LU DUDU TO CIEL UD UO OU CEU LI LU U LU while 1 1 0 while 00D while i 10 HIER A 1 U U 2 while 1 HHHHHHLH L L U U U ferc D 000 D UD D D UU whil L L U U break L U U U ULU U U U LU for 1 le 10 JO 1 0 for i LU U U U HEN gong esa U U 2 LU U L THIS NAHEN Z 1J000 0100000 1 0 10 10000 for U U 2 OG do D O 1 while 1 UU FL CIO EE AO ERE Jal LA SEVERI ANA NINA LE ET t i EIS E iD dii iI LEI AA P t BRE 000 i 0 do d EE EE CHE EE EIER LEIE 00000000009ct 00000000000000000000000000 eee KAN A E E ANAKAN E E gt Jada aa break HHHHHHHHHHHHHH UU break UU do for while switch ll HHH while 1 00 1 if value 0 break j U U value DU 00400 GEOOOOOO00000 0000000000000 WARANA NANA NAN continue 0000000000 UU continue UU do for while UU O D B 0 D EE EE U U DoD while 1 UU 10 if value 0 continue HE 2 U U value DU 00 D 0 0
3. U U U U U U U U U 00 U 0 0 U U U D 0 SU U U U UD U D U U UD E 80000000 LU U 50 0 U U 0 U TT TT TT U UD 0 i Lll U U DO D U UD U U D 0 0 U 0 0 u integ right u integ right K erignt At 7 u integ right 01000 2000000000000 D D l LU U 0 U gg 0 U D e9otrrt t 0 0 0 dti PLD U UU K 5 0 Wema 27 rad s 2 0 K p2000000000000 HHHHHHHHHHHHHHHUHHHHHHHHUHUHHHHHHHHHHHHHHHHHHHHHL SK 20J000G00000000000000000000000 GOD IHHHHHHHHH U 10 U U rad s 20 50 80 TT 0 0 DL UO POOD PIED 0307 UD U 0 Ai LI 0 U 0 U 0 PO D 0 D 0 0 0 0 D D 0 0 PD UD D U K gt 20000000
4. 0 D 0 0 U Td U U 0 0 D 0 l U U U 0 0 D D D D D U UD D Td 0 0 D U TT GT 0 TO D D D D D U L LU U UD DO DO D U U U D 0 D LU U U 0 0 0 0 0 00 UD Td U LU 0 0 0 U U U DO 0 D CLE 0 DEC LI U U TT 0 TOT TTT Td TT 0 UD Td TO UD 0 0 0 U U HII U LU U U ODO PLD 0 0 UU 0 TG 0 D 0 PDD U 0 UD U U 0 0 0 UD U 0 0 U UL U U D U D O10 FLD UD D D 0 0 gt U U UL right Ocmd Wright 5 HHHHUHHHHHUHHHUHHHHHHHHHHUHHUHHHUHHHHHHHHHsHHHHHHHL OOOO1 B00000000000000 right 6 Uright Kp eright Ki PIU IDO U U 0 D 0 TT IT TO 0 0 0 D 0 100 PD DU D 0 D 0 D 0 D 0 0 UD U U 2HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHL 0 20000000000000 ei 0000000000000000 0
5. D O0OO000000uvsermain0 O0OOOOOOOOOOOD Pete E pragma section USR void user main void float t 0 0 wheel cnt right 0 wheel cnt left 0 while 1 Wait 100 18 D 00 2200010 ELE RS 23268 D B E Pe dEi print float t print string print int wheel cnt right string print print int print string t t 1 0 pragma section 11121 JEE EE M Nn l ET wheel cnt left I NE Vp Li Li U U U D UD U Syshkkenexet 0000000000 RAMI HHHHHHHHHHHROMHHHHHHHHHHHHHHHHHHHHHHRAMHHHHHHHL HHHHHHH SysJikken exe U O UO 0 HH 0 D 0 0 D DO OD 0 D D D C 0 0 DT 0 LU U U L HHHHHHHHHHHHHHHH HHHHHHHHHHHHHHH U U D 00 D D D D D 0 D 0 LULU SysJikken exe HHHHHHHUHHHHHHUHHHHHHUHHHHHHHHI HHHHUHHHHHHHHHHHHHHHUHHHHHHHHHL HHHHUHHUHHHHHHHHHHHHHUHHHHHHUHHHHHUHHHHHHHHUHHHHHLH LU U U U D UD 0 D 0 0 0 D UD D UD T 0 0 UD 0 D 0 0 UD 0 D 0 0 UD 0 D 0 D UD UD UD D D 0 0 UD D D 0 0 0 U LU U U 0 U U LU U U 0 U UD 0 l LU U
6. L 0000000000 10 000031 000000 6 10 000031 BOLD UTD To HS HSR El EB 12000 000000 1 3 LU U L HEIE A osa AA E 000031 100010 1 Sek A Aa aaa da a 31 CO 31 E LILTLHT AE AAA AAA NANA MAMA KAMA p U DL ADO O OT a 20 0900 400 Q Q A HHHHHHHHHHHHHHH Act_Fwd int pljint p Act Bwd int pl int p2 Act Turn FR int pl int p Act Turn FL Int pl int p Act Turn BR int pl int p2 Act Turn BL int pl int p2 Act Rot R int pl int p2 Act Rot L int pl int p2 Act_Stop void BI D 0 0 0 D N Motor R int p Motor L int p Bill Wait int t wait for 10ms timer void 100000080 0 Ims LU U U L L L wait for 1ms timer void LET 0 0 0000 1 0 0 U 2 LU U U U int 0006 LU U U UU float O D U U 22 D U L U U U LU U U 0 0 U pG 0 U in IGT LU U U ADU U DH D 0 0 0 DO eh val get line sensor int ch print float float val I E AD U 0 UD get ad int ch H PC print_int int val
7. al 0x00ff 32 000 a3 al amp a2 a3 0x0000 I a4s al 822 77 a4 0xtttt Hg all 20000000 ANDUD 00 OKU 20000 1 0201 32 0361 0 a3 al 1 a3 0x02 J a4 a2 gt gt 1 a4 0x08 J Il 2 U UU U all azg U D U U U U 0 U U 0 D 0 IU L AA E E ER e EEE A EE E E rad 003276770 D DD DD DD DD D lsrand0 00000000000000 rand srand seed value UU LU D U U D seed value D E OO D D D D U D D D U 000 value rand 01 327670000000000 value 00000000000 randO OU UU HHHHHHHHHHHHHHHHHHHHHHHHHHH rando UU U srand L U LU U DO 0 0 UD 0 U U U 00 U U 20 srand time NULL value rand HEEL BE ED BE BOE GITTE Oo 071 Oo HO Oo HO NO LO Oo HO C C co print 00000000 PITIntf a print D D U D D U LI RGT aa aan aaa Add LU U 0 0 U printf Answer d An i U sap DUD 00000 iU 54 D 00000 LU U U U C L1 C L1 C L1 C L1 C L1 C L1 C L1 C L1 C L1 C L1 printf Answer f Mn value SL U DUD DU value UU s 0 0 0 U LO LDDEUL LL L Re value 0 1234 prin
8. BD 0 D D D UD D 0 0 UD uw ua U U U U D 0 D TT TO U U U W Uright E 2R Uy 12 EA AL LU U U gzHHHHHUHHHHUHHHHHHHHHHHHHUHHHHUHHHHHHHH Motor R int u right Motor L int u left DO D D 11000000000 TH 510 DD D gt NIX DIC DI 8 ZI RI I 1 ais uf al _ 1 K 4 A Js D Ond AA P i T 5 m KIRI O right M E U 11 U PIDE UL UU LU C HIH1HHHHHHHHHHHHHHHHHHHI LU GOT TO D 0 D TO U U U U M RobotJikken hwsl HU HEWAN 0 LU U
9. vd p2 000000000000000 U U 0 U U TO TT TT 0 0 D 0 0 OT UD U TO d 0 0 U ELO LI D U U U U 0 0 30400 0 0 TT UD U U TTT DH U 0 U U 0 U U U U LED D D U UD U 0 0 D UD U U 0 UD 0 0 0 0 0 0 U U U 0 0 U UD 0 0 D U U 0 U UD U U 0 0 0 0 U U U U U U 0 U U UD U 0 D U TO U U UD U TT nga U 0 U U 0 U HHHHHHHUHHHHHHHHHUHHHHHHHUHHHHHHUHHHHHHHHHUHHHHHHHL HHHHHHHUHHHHHHHHHHHHUHHHUHHHHLH Ew UL REEE 7 WES S LED8 2 A AA 7 A ELI HHHUHHHHUHHHHUHHHHHHHH 32 PHHHHHHUHHHHHHHL LU U U U U U 0 U U UD 0 0 U U U U UD U 0 U 0 0 UD U U 0 0 U U UD U 0 U U U 0 U U U 0 UD 0 0 U 0 U U U PETTEE IO TITTEL KOLEO O AN EE b A NANG NA ET BE HHHHHHHHPHHHHHHHHUHHHHHH4HHHHHHHHUHHHHHHHUHHHUHHHHHLH O nn IO NA 10 ANNO U U T dis II RER DEER ER RRE EEE ABER SR EE SR AAA DROE JE U U TTT U
10. M 4 x2 RS232O H8 3672F AD AD DIO Boot Mode a Top View i b c d PC 1 U U U U U U 000 000 UU DUDU 3 I0000000000000 3 1 U U U 0 TT U TT U D U 0 0 TO U U TT TO O 0 GO U 0 0 U U U 0 0 U U U U 0 U 0 0 UD 0 0 0 0 0 U U U U 0 D U U U 0 0 0 0 U 0 0 D U U 0 U U 0 U U U UD U 0 L HHHHHUHHHHUHHHHHHUHHHHUHHHUHHHHHUHHHHHUHHHHHHHHHHHHL U U U U OT TTT TO 0 0 U U TO TT U D U U 0 UD U UD 0 U U U U 0 U U U 0 0 0 0 U UD 0 0 0 U 0 0 D U U UD U U U U U U 0 U 0 0 UD U 0 D U U D U 0 0 UD U U U U LU U U U U UD 0 U 20 U U U 0 0 U U U 0 0 U U U U 0 D U U 0 U U U 0 U U 0 0
11. EF Fi Default desktop 6 HEWATI 11 U U U U U U U U 0 0 UD U U U 0 0 0 0 0 0 U U U U 0 D U 0 0 0 U U U 0 00 UD U U U 0 0 U U 0 U U U U D D D UU Assembly source file 0 D L D D D D L U U D U U U U C source file U U U U U U man E O U U E mame D ELO D U U DT U U U U U 0 U dll U 20 0 man J00O000000000000000000000000000000000000000 OOOGGOOOGGOwrile I U UD U U U U UU while 1 IDM L HHHHHH startHHHHUHHHHHHHHHUHHHUHHIHUHHHHHUHHHHHHHHL U U user mainO D D DEL BLU D D U main U TO GO D 0 L Start D E E U U D D 0 0 D 0 D D D D D D D D D user maing OO pragma DI D UO D D U D D D U D LU U U U U KAM D U D U U UL IIHHHHHHHHHHHHusermainOHHHHHHHHHHHHHHHHHHHHHHHHH U U U U 0 0 0 0 U 0 0 U 0 0 UD 0 U UD U U UD 0 0 U U U 0 0 U U U 0 0 U U D 0 0 UD U 0 U 0 0 U LU U U wheel ent zright D UU UU wheel_cnt 1eft 0 U U DD DD D B U L U U PCD 0 D D BDO DO OO DO DO DO D 0 U TT U U RUD mU
12. D 0 UD 0 D UD D D 0 0 0 D UD D 0 0 D UD 0 LL LU U UD 4 0 1m 0 1m h71 E 8 1 01m 8 1 0 15m lt 3 ooo gu ONE ARTEL ED 0 1 m gt A B 4 12 0 00L LU 5p OU D LT SU mame D D B DE UO UO HE B CE CEU E OOD user main 0000000000 user main U U U U U U PE HD BI ERR FET U O QKIT p HHHHHHHH HHHHHHUHHHUHHHUHHHHHIHHH2HHUHHIHHHHHHHHHHHHUHHHHHHHHL HHHHHHUHHHHHHUHHHHHHHHUHHHHHHHHHHHHHHHHHHHHUHHHHHHHHL HHH1IHHH2HHHHHHHHHHHHHHHHHHHL HE NG NANA Ng Tp ET gd EDID ER AG A E E ugpgulgldgidglllliilPII gd RTE HT ERa amp ID Ki D JAN RT HHEH TD TP HHHHUHHHHHHHUHHHHHHHHHHHHHHUHHHHHHHHUHHUHHHHHHUHHHHHL HHHHHHUHHHHHHHHHUHHUHHHHHHHUH2HHHHHHHUHHUHHHUHHHHHHHLH HHHHHHHHHHHHUHHHHUHHHUHHHHHHHHHHHHHHUHHHHHHHHHHUHHHHL U DL HHHUHHHHHHHHHHHHHHHHHHHHUHHHHHHHHHHHHHHHHUHHHHHHHHL HHHUHHHUHUHHHHHHHHUHHHHHHHHHHUHHHHHHLH Ut LU
13. UD D U U UD DUU U U U DO U D U U D U U UD U D U U Bi K 2 0 Wema 27 rad s U TD SysJikken exe O0000000000000000000000000000000000000 U U 0 U U U TTT O 0 700000 D U U D DO U U L TT TO U 0 U U TT D U U 0 0 U U U DLL 0 0 UD 0 0 TTT 0 TT GT 0 TO TO U UU U U U B 0 UD LL 0 0 0 TT D U TTT TOT U U 0 U U UD U U KU U U UU U DU U 0 U U 00 0 UD U U Kp U U IHHHHHHHHH HHHHHHHHHHHH UU rad s 2 0 4 0 6 0 p70000000000000000 43 PLD DD 00 L U UD 0 U U U U U D 0 0 ODO TO U U U UD UU PU 0 U UD 0 U 0 0 0 0 U 0 D U U 0 U U U 0 0 TT U TT 0 TT U U U U LU U U
14. switch continue LU U U U 0 0 000000 L L L L3 p4 H UO U U U U U U U U U L U U U L U U U U U U LU OMAN O U U U U U U L U U U U U U U U LU U U U U U U U U U U U U U LU LU U e E BB 2 LU U 2HHHHHHHHHHHHHHHHHHH True 00000 Fase 000140 while L U LU U U 000 LEC 1 1 ji 1 1 TED ger BE aii 1f k gt 1 k k 1 if m 1 m m 1 if n 1 n n 2 OU I0000000000 U U U U U L LU LI BANG D LE s sthi UL uugiluuiuiuulllililit ldli l JLutLl 000 i 0 j 0 1 Ja val i val i GSi NGA NANA NGANA EVO U U U D val D 10000 rt 00000 vale DU U 1 y val HU DL UE E e 1Q 00000 UO al 00000 1000 lo r3 U ANDO HL U ORO OU CO CO 1U 0 2 2 0 amp amp 1 HB D 100 2000000000000 U 100 200 U U amp amp 0 LU U U U U LU UU U ANDUDULU U U U U LU U ORDUL U U U U LU U U U U ORIILL U U U U L U U LU U U U U U LU C L1 C L1 U U L U U U U LU 180 2 ma ma ram us
15. D U U D U U 0 U U 0 U UD U 0 U U U U 0 00 00000 UU DU 2 U U U U O DODODO TT D TT U 0 D U U 0 0 0 D U U 0 D 0 0 0 U U U U D HS Tiny U D D D UU U l H8 3672 D O HD64F3672FP D D L U U U D D U D U 16 D U CPU U 00 00000 16M820 ROM DO D IL 16KB RAM 2048 0 O0 O0 D d TO U OG 0 0 0 0 U 0 L U U U U ADD UD D U U D OO U TT TO TO 0 0 TU 0 D 0 U 0 U dul U U U U O 0 D TTT 0 U 0 UD 0 U U 0 LED 0 0 U 0 0 UD 0 UD U U U U U wu 0 U D U D U U D U D U CL U U U 4000 LED _ Hi CdS REC LED s RS232C PC 5 4 LED x3 LED CdS
16. p200000000000000000000 HHHHHHUHHUHHHUHHHHHHHHUHHHHHHHHHHHHUHHUHHHHHHHHHH HHHHHHUHHUHHHUHHHHH1IHUHHUHHHUHHHHHHHHHHUHHHHHHHHHLH HHHHHHUHHHHHUHHHHHHHHHHHHHHHHHHHUHUHHHUHHHHHHHHHLH LU U 0 0 D 0 U 0 K U U U UD WE TOGO 0 00 000 OO RN OO ON EO K 6 0 K 12 0 Vema 0 2 m s Wema 0 0 rad s pria phiri RBS ih hiiia praoma section USR void user main void m gt float float float float float float int t 0 0 theta r theta 1 theta old r 0 0 theta old 1 0 0 omega r omega 1 omega old rz0 0 omega old 1 0 0 alphaz0 1 loop counter 0 00000000000000000000000000000000 wheel wheel ent right 0 ent lefteo while 1 wait for Ims times HAE E EE E EE 1omsh l 2111111111 theta r float wheel cnt right 120 0 x 2 0x 3 14 7 theta 1 float wheel cnt left 120 0 x 2 0 3 14 7 LU omega r theta r theta old r 0 01 2 000 omega l theta l theta old 1 0 01 omega r alpha omega r 1 alpha omega old r 3 UUD omega l alpha omega 1 1 alpha omega old 1 theta old r theta r 0000000908 00000 theta old l theta 1 omega old r omega r DDD DD U e 71 l omega old l omega 1 GJOOOOOOOOv w UJU GJOOOOOOD e v e enia EN JA Na EP AAA EET FETT LE
17. D 0 0 TT U I HHHHHHHHHUHHHHHHHUHUHHHHHHHHHHHHHHHHHHHHHHHHHHHIHHL DER EK EM EE SAETTA I T I dis 1 0 5 PLD DEO 0 UI L 4 1HHHHHHL 41 HHHHHHHHHHHHL U lU CU U 0 UD U 0 D U U D U U 0 0 U D UD 0 U 0 0 0 0 U U PCD U 0 0 U U TM TT U D U 0 TO TT O CO U 0 UD DODO DO D DO GOOG AMIIH BHI TO PMIDDUL HHHHHHHUHHHHHHHUHHHUHHHHHHHHHHHHHUHHHHHHHHHHHHHHHLH U U U U UU XU YU U UU 00 U 020000000 HEW40 0 L U U U U UU U RobotJikken hwsi 0 0 0 00000000000 U U U 0 D 0 0 U U U U MEU D 0 D 0 0 U U U U U U U 0 U 0 D 0 D 0 0 U 0 U U U U U 0 U 0 0 U U U UD UD U U D U AEW4 70 60 O U U U U 0 U DU U U D U U OKOL L der Robot Jikken Hieh performance Embedded Workshop PME MED RTV PD B TO KAHED VD FAND AID O g 3 Ba e e EI EE d YA hd ES Release
18. D 0 0 D D 0 0 D D D DD 20 0 D 0 0 0 D D 0 0 0 0 U KEE EEA if 0000000000000000000 HH Di GOD jelset 002 T UU A E HR OO NANA E OA 1 ii 2 HT HHH if i 1 U U 1 lelse U U 2 HEH LIGG E EEE ANA d hit else H D H D BU BH D U U D I 3 if i gt 0 i 5 U U 1 amp amp U DD D 10 70D D 10 300 0000 ANDD DDD D UU D UH 04 if 11 0 1 5 M 00 55000000 ER LED DC Eles IHH LU U Ou Ou Ou Ou Ou S50000000000 1000 000000010 U U D 10 1000000000000000000 2000 else if UU 304000000 LU U U ou rm rj H switch case HHHHHHHHHHHHHHHHHHH UU switch 1 case 1 AERE break case 2 2 LU U 1000000000000 40 00 LU U U case HO U D DEO D KU switeh 0000000000 HHHHHUHHHUHHHHH Or DI 3 3 ES 3 DI 3 3 3 3 3 3 DI 3 switch value case 0 T P s break case 1 OU 2 break case 2 3 break default QU 4 U U value 0 40000000 01000000 202000000 3000000 Q 4000000 switeh D D D l goto labell U U U UU LU 1 1f 1 1 3 2 1 1 label1 goto LU U U L 00 return 00000000 goto U U U LU U 0 0 0000000 lapell
19. D U 0 0 0 U LEDD U 0 0 0 U U 0 0 LU U U U 0 0 U U U UD TT D UD U U U 0 TT U TO 0 U 0 U 0 D 0 U U U U TO D TO O U U TT DT UD TO D U U D U U D U 0 0 U 21 U U U U 00 200000000 U 0 U U U D U U DU U U 0 U TOGO U U U U U U U U U UD TT TT 0 U TTT TT U U ng Nga U D U 0 UD 0 D U U U U U U ODO UD U D U U 0 UD U 20000000000 OG D 0 D U U 00 0 U U U U U 0 U UD TTT TTT U TT U U U U U TT U U 0 U D U 0 0 U U D U U U U Td 0 TT UD U TTT U UD TO U TO D U TOT 0 U U U U D U U 20000000000 UD U GO TO UD D U U D U U U U 0 0 N gt i AN NC W 2
20. LU U HHHHHHHHHHL CU U UU 00 U at O 0 P 1 flo 2000 L LU U U L print stringi char str essen O HR DB ET RANU LU U U U U U U U U L 0 U 0 DO U U D U 0 U ROM D U 0 U U LU U U 0 0 UD 0 U U 0 IO 0 UD U TT 0 0 UT U U U 0 U U D UD 13 0 KAM 0 D U 0 0 LU U 0 U 0 0 0 D 0 TTT D 0 MPUT RAMO DO 2KB U TOT 0 LU U 000000000000000000000000000000000000 U U U U D userman U U KAM D U LL LLL D TTT TOT U D BDO U UD LU U U RAM 0 0 U 0 U U D U U KAM U U U 10 user mainQ UU 0 U U RAND D U L KOM D U U 0 UD TO 0 UD D 0 0 U U U U U KAND 0 D 0 0 0 U U LLL L U U D DUD DDD int sci3 00000 Down Data U D D U D D U D UD U LI L KAM
21. U U D TT TT TT D GO TO TG TOTO 0 D 0 U 3LHHHHHHHL SU UU maine U DU U UT T L U U U UL 000 usermain HHHHHHHHHHHusermainOHHHHHHHHHUHHHHHHHHH BO ST OB OD BD OO DO TO TT dd Wd U QK D D D EE 0 ERE A hih Ph pragma section USR void user main void t L L L Pi EI H R HR CSR ERR EAR QE Ge EE e 2 x U Uu Butt tu omega cmd else rt t lt 4 4 U Uu UU omega cmd lelse if t lt 6 LU Uu U omega cmd lelse DOO000 omega cmd 0 FEE RENEE L L j j pragma section gt 4HHHHHHL SI UU UL U IO UT D D D TO D U 0 0 0 illi d ull 0 0 D D 0 U LU U 0 D D UG D OD IT D U D UD D D 0 TT GT TT D 0 D D D D U HHHHHHHHHHHHHL HHHHUHHHHUHHHHHHHHHHHHUHHHHUHHHHHHHUHHHHHHHHHHUHHHLH U U 0 10 0 D 0 D D D U v U D mell D 0 0 0 D 0 0 D 0 00 eU D rads D D 0000000 0 U 0 UD U D D
22. 0 0 U 0 0 D U U KOM D U 0 0 D U 0 0 D U 0 0 D UD U U UD 0 0 D U 0 0 U U U U U ROM D U D U 0 D 0 U 0x0000 16KB ROM baag lt ROM ROM J RR oi V m 3x T n 0x3FFF ROM 3 E 2KB RAM BO 2 EN si HS EMT 0 80 RAM RAM 16KB ROM RAM OxFF80 I O0
23. 000 PIO UU amp 5 2 0 K50000000000000 d LU U U U D D 0 0 D D D U U U SysJikken exe O O D D D D EL D D D D D IL HHUHHHHHUHHHHUHUHHHHHHHHHHHHHHUHHHHHUHHHHHHHHHHHHHUHH HHHHHHUHHUHHHUHHUHHHHHHHHHUHHHUHUHHHHHHHHHHHHHHHHH HHHHHUHHHHUHUHHHHHUHHHHHHHHHHUHHHHHHHL AAA ANA E GP HZ5 7 HT GE GE GEB GE EE AA AA HHHHHHHHUHHHHUHHHHHUHHHHHHHHUHUHHHHUHHHHHHHHUHHHHUHHHLH LE E EEE L CH E E do DO 9HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 2000 3rad s D O 000000 200 6rad s000000000 200 3r4 000000000000000000D0 rad s cmd 6 0 0 2 4 0 Time sec H Se EMELIE EN HE HIHHHHUHHHUHHHHHHH DER A AAA IR H HERE EN HNO EE EE ER DR A ALTA TS RR NA HAHAHA BA NARA NA BA BD Ha BABA HA NARA BINA NAH thi DEO UL OL O DEO LE UE CI C Add de ARE ANETTE 0 U U D TO TT TT 0 DD ODO U UD LU U UD UD UD D D U D D 0 D D 0 UD 0 0 UD U D UD U D UD D D 0 U D D 0 D 0 0 D D 0 UD 0 0 D U D UD U U LU U U U D TT D D TTT D U U D D D D D U 0 D U 0 UI U
24. Chitose Institute of Science and Technology OOOOOOOO 0000 2015 U U 0 U U 0000000000000000000000 1 HHHH HHHHUHHHHHHHHHUHHHHUHHHUHHHHHHHHHHHHHUHHHHHUHHUHHHLH U U 0 U 0 0 TTT TT U U TT 0 UD U UD U 0 D U TO U 0 U 0 U U UD lll U U 0 ODO U U TTT TO UD TT U TOT U 0 U U U 0 D D 0 U U U U TO GT 0 TT U TTT TT U D U U 0 U 0 UD U 0 U U U U UD D U TT UD U D U U 0 L U U U U U U IT TU D U U U TPIHHHHUHHHHHLH U U D D 0 U DU 00 204000 1 UD UD U U TTT U U 0 U U 0 U U U U 0 0 UD U 0 00 0 0 D U U 0 U 0 0 D U 0 D U U D U U 0 U U U U 0 U U 0 0 0 0 U U 0 U 0 0 U U U U 0 U U TTT DU D U 0 TO 0 U
25. D D U 0 TTT U U OT UT U TOGO L U U L LU U U U U RAM D D U U UGO OD U UD U D UD BIO D U BE D L XU YI RobotJikkenzRelesasell lll Robotfikken mtr EH U E E E U E HE E U U U U U U RobotJikken mot 000000 user man D D D DO 0 0 0 D 0 KAM D DUD 0 D D 0 0 UD 0 0 D 0 0 D 0 0 D D 0 Syshikken exel U U U U U U 0 D UD 0 D U U Robotikken mtr L D D U et U U U L U U U U L U U U U L U U L U U U U L U U U U L U T LU U U U RAM D D U U U U U U U U U U U U 0 40 LEDU L U U U U U UU U U U U U U 020000000 Sat 0 D D U 0 HHHHHHUHHHHHHHUHHHHRAMHHHUUHHHUHHHUHHHUHHUHHUHHUHHL U U U UD 0 0 U 0 0 D UD 0 0 U KAND D 0 0 D U U D U U UD U U 0 U U UD 0 0 U U UD 0 U S 0000000000000000000000000000000000000 pragma section 2000000 U U U 0 U 0 0 0 U 0 0 D U 0 0 D U 0 U U 0
26. D U U U U U U U U U UTD LU U U 0 0 UD TO U UD U U 0 U TTT TT GT U U 0 DO 0 TT TTT U U 0 D 0 D 0 0 0 LU U U U 1 0 UD U U 52 UU UU 00 I HHHHHHHHHHH Oz Aer 00 000000000000 000 0000000000000 HHHHHHHHHHH moJ00000000000000000000000000000000000 LU U R Wright ly i W Olle ft HHHHAHHHHHHHMHHHHHUHHHHHHHHIOHHHHHHHHUHHHHHHHHHHHL woHHHHPIHHHHHHHHHHHHHHHHHHHHHHUHHHHUH elHeeHHHHH ATTI a lt TTT TD i tv Vemd V O zzz 9 0000 vemal exea U U DO GU ELO CELO CO TT DO PLD 0 D 0 U LE UE D L y Kp Cu K 2 Uy uo K eo K gt 10 U U U ua U U U 0 D 0 0 SU UI l U 0 D D 0 D D D DD Oz Oe DO 000 0 D 00 D D D 0 000000000000 pd S Ns AAT n U U U UD ua U U U TOGO D TTT TTT B 0 D 0 D UD U UD 0 11 UD 0 0 D 0 0 D D 0 U H U U U 00 D ADO
27. U U LU U U U U U L WS810L OId AST H3MOL HOSNIS N 338 1HOIH 1431 x HOSN S WHY HOSN S WHY 1 og E D 6NO 6N9 g P SNO 8NO O A O Y d L m 7 L E L 8 5 9 2 8 NE EMS 800HvZ O dOLS LHVLS Led C od S 1NOyW3 60 cdyWZGd EdMMW Sd YAMAWYSd Old Lid HOSN3S NOILVLOd MOL gu 09L 6d 091 vu drol Nl 19 AEL AST LHOIY 90 9 aau dai sa qaq d31 sao o 1331 13534 Sao els NE AS4 O o o OLL 2 2 uz p o S TTM ol THA ar la ML TU 2 D ace x 14094 ANI ONV 0dd INV Ldd cNV Zdd OH LOV vdMNSSd NV 8d 8N 222983790 AO9H L EOHI Z7 Ld 91d Sid JndNI V JIndNI 9 LNdNI V 11210 V MOL v d ENI AST INIT OOOO A V AS LLVA ra 4347437 ed 4347437 YYIC 6 amp rY9d AST gnuA NO LAS O A el dWV7 LIM L NET m 2 m O 2 Parga EGO WS Ult chi UZE AST AST w m O m el HOSN3S 3N p O EE LOINAO3 VER1 0 HHHHUHHHHHHHH BANDADP42 0000 comal Mee EE EE ETE C 2500 EPE HUE BUE 2 400 HH 000000 240811 AAN 400 HH 000000 400500000000 LU U 10ms A BECHER GF LU U 260 U UU d ll 3eo D o ull 260 U D OU TEB LI 000031 0000050 000000 400HHHHHHHH LU U 000031 U U UU 00 U U U U
28. e SUE E BREE 313 ELE EIS IRAN Motor R int u right Motor Li int u left 000000 rs 232c0 0 PCD LIU if loop counter 10 0 prine float J3 peint stringit NET print float omega rris Drine string XE print float omega 1 print SELING E Tra loop counter t t 0 01 100000000 0 01 pragma section P30O0000000000000000000 LU U U U vand U U U U D 0 em U U U U 0 UD BL O U BE D l LU U U 0 D DO 0 0 0 D D TTT 0 TTT 0 D D D 0 D 0 0 LU U 025m 0 40 BD 0 D 0 U U U U IT UD 0 U 0 HHHHHHH4HHHHHHHHHHHHHHUHHHHHHHHHHHHHHHHHHHHHHHHL U U UD 0 D 0 D D D D 1 0 D 200 D D D D D D 0 D D D 0 D D D 0 D 0 D 0 D UD D D D D U U L rads HHHHHHHUHHHHUHHHHLH A HA AA BAKA BANGAH HHHH12H HHHHODHHHHUHHHHUHHHHHHHHHHHHH GDHHHHHHHL HHHHHHHUHHHHHUHH AHHHHUHHHHHHHHHHHHUHHHHHHUHHHHHHHHL HHHHHUHHHHHH HHHHHHHHHHHHL SHHHHUHHUHHHUHHHHHUHIHHHHHUHHHHHUHHHHHHHHHHUHHHHHHLH HHHHHHUHHUHHHUHHHUHHHHHHHUHHHHHHHHHHHHUHHHHHHHHHLH U U UD UD 1 0 D
29. ek 0000000 x 00 000000000 0 D 0 D 0 U LU U U U U U U U CI HHHHHHHHHUHHHHHUHHHHHHHUHHHHHHIHHHHHHHHHHHHHHHHL HHHHHHO OHHHHHHHHHHUHHHHHHUHHHHHHHHHHHHHHHHHHHHHHH ao HHHHHHUHHHHHHHHHUHHHHHHHHHHUHHHHUHHHHHHUHHHHHHHHLH HHHHHHHUHUHHHHHHHHHHHHHHHHHHHHHHHHHH Oright k Or chi k U Wright k E 1 M 0 right k 1 3 UU 0000000000000000000000000000000 es 00000000 EE DARA T ii TO al Pi Pi i aaa ETEN ARA RE K Ha HIST EEE EE Dl AAA AA e ln LU UU CI xli utut RAEE OAV ERR EET pe PA A A A JA AJA HHHHHHHUHHHUHUHHHHUHHHHHL pragma secti void user mai float float gt float gt float gt float gt float gt int wheel wheel while gt co gt es gt toragma secti HHHHHHHH LU U on USR n void t 0 0 theta r theta ly theta old r 0 0 theta old 1 0 0 omega r omega 1 omega old rz0 0 omega old 1 0 0 alphaz0 1 loop counterz0 cent right 0 cent left 0 1 wait for Loms timers 22 HB E HH EL oms N EET U00U00 theta r float wheel cnt right 120 0 2 04 3 14 theta 1 float wheel cnt left 120 0 2 04 3 14 U00U00 omega r theta r theta old r 0 01 2 000 omega l theta l theta old 1 0 01 omega r alpha omega x 1 alpha omega old r 3 UUD omega l alpha
30. omega 1 1 alpha xomega old 1 theta old r theta r 0000000908 k OOOOO theta old l theta 1 omega old r omega r DDD DD U e 71 D L omega old l omega 1 i RULL ETT TE hj ZD D DDD U rs 232c0 0 PCD oo if loop counter 10 0 e 1000 1000000000000 pre Eloac e print sering NEU Je print float omega r 24 UI d TRE print trina SEN print float omega 1 re print stringi o xm ys loop counter t t 0 01 100000000 0 010 on HHHHHHHHHHHUHHHHHHHUHHHHHHHHHHUHHUHHHHH LU U 0 0 TTT TTT 0 0 0 0 0 U 0 0 0 U U D radis U U 20 P D D l U U U UD U 0 UU PU 0 L Uright Kp Gcma Wright 4 U U U U K U DUD 0 D D U D U 00000000000 madsy org U U D 0 l U U U U U U der U U U D D U D B D 0 D UD Motor BI int u right Motor L int u left U U U U D U 0 0 U U U D U U U U Motor RO Motor LO D 0 D U 0 0 0 D U 0 0 0 0 U U U BU U U UU 0 U D U D TO 0 DPD U TO U
31. tf Answer 50 Value f An i value U U 0 UD UU Answer 10 0 LU U Value 0 1234000 0000000000000 LU U U U
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