{"id":3033,"date":"2015-05-17T19:23:53","date_gmt":"2015-05-17T10:23:53","guid":{"rendered":"http:\/\/denasu.com\/blog\/?p=3033"},"modified":"2016-05-29T07:24:28","modified_gmt":"2016-05-28T22:24:28","slug":"%e3%83%a9%e3%82%b8%e3%82%b3%e3%83%b3%e3%81%8c%e3%81%a7%e3%81%8d%e3%81%9f","status":"publish","type":"post","link":"https:\/\/denasu.com\/blog\/2015\/05\/diary3033","title":{"rendered":"\u30e9\u30b8\u30b3\u30f3\u304c\u3067\u304d\u305f"},"content":{"rendered":"<p>Arduino\u3067\u30e9\u30b8\u30b3\u30f3\u3092\u4f5c\u3063\u305f\u3002<\/p>\n<div style=\"width: 854px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-3033-1\" width=\"854\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/2015051703.mp4?_=1\" \/><a href=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/2015051703.mp4\">http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/2015051703.mp4<\/a><\/video><\/div>\n<p><a href=\"http:\/\/denasu.com\/blog\/2015\/05\/diary3021\">\u524d\u56de<\/a>\uff0c\u8eca\u3068\u30c0\u30d6\u30eb\u30ae\u30a2\u30dc\u30c3\u30af\u30b9\u3092\u4f7f\u3063\u3066\u8eca\u304c\u52d5\u304f\u3088\u3046\u306b\u306a\u3063\u305f\u306e\u3060\u304c\uff0c\u3053\u308c\u3060\u3068\u5de6\u53f3\u306e\u524d\u8f2a\u304c\u3064\u306a\u304c\u3063\u3066\u3044\u308b\u306e\u3067\u3046\u307e\u304f\u66f2\u304c\u3089\u306a\u3044\u3002\u305d\u3053\u3067\uff0c<a href=\"http:\/\/www.tamiya.com\/japan\/products\/70144ball_caster\/\">\u30dc\u30fc\u30eb\u30ad\u30e3\u30b9\u30bf\u30fc<\/a>\u3092\u4f7f\u3063\u3066\u5de6\u53f3\u306b\u66f2\u304c\u308b\u3088\u3046\u306b\u3057\u305f\u3002<\/p>\n<p>\u3055\u3089\u306b\uff0cBluetooth\u30e2\u30b8\u30e5\u30fc\u30eb<a href=\"http:\/\/akizukidenshi.com\/catalog\/g\/gM-08690\/\">RN-42<a>\u3092\u4f7f\u3063\u3066PC\u304b\u3089\u64cd\u4f5c\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u305f\u3002<\/p>\n<p>\u8868\u88cf\u306f\u3053\u3093\u306a\u611f\u3058\u3002<\/p>\n<p><a href=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/2015051701.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/2015051701.jpg\" alt=\"2015051701\" width=\"512\" height=\"384\" class=\"alignnone size-full wp-image-3035\" \/><\/a><\/p>\n<p><a href=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/20150517021.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/20150517021.jpg\" alt=\"2015051702\" width=\"512\" height=\"384\" class=\"alignnone size-full wp-image-3040\" \/><\/a><\/p>\n<p>\u69cb\u6210\u3068\u3057\u3066\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n<ul>\n<li>\u30bf\u30df\u30e4\u306e\u30e6\u30cb\u30d0\u30fc\u30b5\u30eb\u30dc\u30fc\u30c9\uff0c\u30bf\u30a4\u30e4\u30bb\u30c3\u30c8\uff0c\u30dc\u30fc\u30eb\u30ad\u30e3\u30b9\u30bf\u30fc\uff0c\u30c0\u30d6\u30eb\u30ae\u30a2\u30dc\u30c3\u30af\u30b9\u3067\u57fa\u672c\u306e\u8eca\u3092\u4f5c\u6210<\/li>\n<li>\u53584\u96fb\u6c60\u3068\u30dc\u30c3\u30af\u30b9\u3067\u30e2\u30fc\u30bf\u306e\u96fb\u6e90\u3092\u78ba\u4fdd\uff0c6P\u96fb\u6c60\u3068\u30b8\u30e3\u30f3\u30d1\u30d4\u30f3\u4ed8\u304d\u30b9\u30ca\u30c3\u30d7\u3067Arduino\u7528\u306e\u96fb\u6e90\u3092\u78ba\u4fdd<\/li>\n<li>\u30e2\u30fc\u30bf\u30fc\u30c9\u30e9\u30a4\u30d0<a href=\"http:\/\/akizukidenshi.com\/catalog\/g\/gI-02001\/\">TA7291P<\/a>\u30922\u500b\u4f7f\u3063\u3066\uff0c\u30e2\u30fc\u30bf\u30fc\uff0cArduino\u96fb\u6e90\uff0c\u30e2\u30fc\u30bf\u96fb\u6e90\u3092\u63a5\u7d9a<\/li>\n<li><a href=\"http:\/\/akizukidenshi.com\/catalog\/g\/gM-08690\/\">RN-42 Bluetooth 2mm\u30d4\u30c3\u30c1\u5909\u63db\u30e2\u30b8\u30e5\u30fc\u30eb<\/a>\u3092<a href=\"http:\/\/akizukidenshi.com\/catalog\/g\/gP-05060\/\">XBee\u75282.54mm\u30d4\u30c3\u30c1\u5909\u63db\u57fa\u677f<\/a>\u3067\u30d6\u30ec\u30c3\u30c9\u30dc\u30fc\u30c9\u306b\u8f09\u305b\u308b<\/li>\n<\/ul>\n<p>RN42\u306b\u3064\u3044\u3066\u306f\uff0c\u8cb7\u3063\u305f\u3082\u306e\u304cXBee\u7528\u306e2mm\u30d4\u30c3\u30c1\u3060\u3063\u305f\u306e\u3067\uff0c2.54mm\u30d4\u30c3\u30c1\u306b\u5909\u63db\u3002\u79cb\u6708\u96fb\u5b50\u306e\u5909\u63db\u30dc\u30fc\u30c9\u306f3.3V\u30ec\u30ae\u30e5\u30ec\u30fc\u30bf\u4ed8\u304d\u306a\u306e\u3067\uff0c\u96fb\u6e90\u306f5V\u305d\u306e\u307e\u307e\u3064\u306a\u3052\u308b\u304c\uff0cArduino\u304b\u3089RN42\u3078\u306e\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u306f3.3V\u306b\u5909\u63db\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u306e\u3067\u9069\u5f53\u306b\u62b5\u6297\u3067\u96fb\u5727\u3092\u843d\u3068\u3059\u5fc5\u8981\u304c\u3042\u308b\u3002\u306f\u3093\u3060\u4ed8\u3051\u3082\u591a\u5c11\u6163\u308c\u305f\u3051\u30692mm\u30d4\u30c3\u30c1\u306f\u5c0f\u3055\u3059\u304e\u3066\u8f9b\u3044\u3002<\/p>\n<p><a href=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/20150517041.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/20150517041.jpg\" alt=\"2015051704\" width=\"512\" height=\"312\" class=\"alignnone size-full wp-image-3048\" \/><\/a><\/p>\n<p>RN42\u306e\u4f7f\u3044\u65b9\u306fWeb\u3092\u63a2\u3059\u3068\u5148\u4eba\u304c\u60c5\u5831\u3092\u6b8b\u3057\u3066\u304f\u308c\u3066\u3044\u308b\u304c\uff0cMac\u306e\u30b3\u30f3\u30bd\u30fc\u30eb\u304c\u4e00\u756a\u697d\u305d\u3046\u306a\u306e\u3067Mac\u304b\u3089\u7e4b\u3044\u3067\u307f\u308b\u3002RN42\u3092\u914d\u7dda\u3057\u3066\u96fb\u5727\u3092\u304b\u3051\u308b\u3068\u8d64LED\u304c\u70b9\u6ec5\u3057\uff0c\u305d\u308c\u3060\u3051\u3067Mac\u4e0a\u3067Bluetooth\u30c7\u30d0\u30a4\u30b9\u3068\u3057\u3066\u898b\u3064\u304b\u308b\u3002\u30da\u30a2\u30ea\u30f3\u30b0\u3059\u308b\u3068\u8d64LED\u304c\u70b9\u706f\u3059\u308b\u306e\u3067\uff0c\u30b3\u30f3\u30bd\u30fc\u30eb\u304b\u3089\u300cscreen \/dev\/tty.RNBT-DF42-RNI-SPP 115200\u300d\u3092\u5b9f\u884c\u3002\u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u901a\u4fe1\u304c\u3067\u304d\u308b\u3002<\/p>\n<p>\u56de\u8def\u56f3\u3002<a href=\"http:\/\/fritzing.org\/home\/\">Fritzing<\/a>\u3092\u4f7f\u7528\u3057\u3066\u4f5c\u56f3\u3002\u3054\u3061\u3083\u3054\u3061\u3083\u3059\u308b\u306e\u3067GND\u7701\u7565\u3057\u3066\u308b\u3051\u3069\uff0c\u9069\u5f53\u306bArduino\u306eGND\u304b\u96fb\u6c60\u306e\u30de\u30a4\u30ca\u30b9\u306b\u3064\u306a\u3050\u3002<\/p>\n<p><a href=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/2015051705.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/denasu.com\/blog\/wp-content\/uploads\/2015\/05\/2015051705.png\" alt=\"2015051705\" width=\"462\" height=\"400\" class=\"alignnone size-full wp-image-3058\" \/><\/a><\/p>\n<p>\u30d7\u30ed\u30b0\u30e9\u30e0\u3002\u3069\u3046\u3057\u3066\u3082\u30cf\u30fc\u30c9\u90e8\u5206\u304c\u30e1\u30a4\u30f3\u306b\u306a\u308b\u306e\u3067\u30bd\u30d5\u30c8\u90e8\u5206\u306f\u8d85\u9069\u5f53\u3060\u3051\u3069\uff0c\u4e0a\u3052\u3066\u304a\u3053\u3046\u3002<\/p>\n<pre class=\"brush:c\">\r\nint rpositive = 9;\r\nint rnegative = 6;\r\nint lpositive = 11;\r\nint lnegative = 3;\r\nint led = 13;\r\nint lspeed = 0;\r\nint rspeed = 0;\r\nchar inByte = 0;\r\n\r\nvoid setup()\r\n{\r\n  Serial.begin(115200);\r\n  pinMode(lpositive, OUTPUT);\r\n  pinMode(lnegative, OUTPUT);\r\n  pinMode(rpositive, OUTPUT);\r\n  pinMode(rnegative, OUTPUT);\r\n  pinMode(led, OUTPUT);\r\n\r\n  analogWrite(lpositive, 0);\r\n  analogWrite(lnegative, 0);\r\n  analogWrite(rpositive, 0);\r\n  analogWrite(rnegative, 0);\r\n}\r\n\r\nvoid loop()\r\n{\r\n  if (Serial.available() > 0)\r\n  {\r\n    inByte = Serial.read();\r\n    if (inByte == 'w')\r\n    {\r\n      \/\/ forward\r\n      lspeed += 50;\r\n      rspeed += 50;\r\n      Serial.println('f'); \r\n    }\r\n    else if (inByte == 's')\r\n    {\r\n      \/\/ backward\r\n      lspeed -= 50;\r\n      rspeed -= 50;\r\n      Serial.println('b'); \r\n    }\r\n    else if (inByte == 'a')\r\n    {\r\n      \/\/ left\r\n      lspeed += 50;\r\n      rspeed -= 50;\r\n      Serial.println('l'); \r\n    }\r\n    else if (inByte == 'd')\r\n    {\r\n      \/\/ right\r\n      lspeed -= 50;\r\n      rspeed += 50;\r\n      Serial.println('r'); \r\n    }\r\n    else if (inByte == 'z')\r\n    {\r\n      \/\/ stop\r\n      lspeed = 0;\r\n      rspeed = 0;\r\n      Serial.println('s'); \r\n    }\r\n\r\n    if(lspeed > 200)\r\n    {\r\n      lspeed = 200;\r\n    }\r\n    if(rspeed > 200)\r\n    {\r\n      rspeed = 200;\r\n    }\r\n    if(lspeed < -200)\r\n    {\r\n      lspeed = -200;\r\n    }\r\n    if(lspeed < -200)\r\n    {\r\n      lspeed = -200;\r\n    }\r\n\r\n    if(lspeed >= 0)\r\n    {\r\n      analogWrite(lpositive, lspeed);\r\n      analogWrite(lnegative, 0);\r\n    }\r\n    else\r\n    {\r\n      analogWrite(lpositive, 0);\r\n      analogWrite(lnegative, -lspeed);\r\n    }\r\n    if(rspeed >= 0)\r\n    {\r\n      analogWrite(rpositive, rspeed);\r\n      analogWrite(rnegative, 0);\r\n    }\r\n    else\r\n    {\r\n      analogWrite(rpositive, 0);\r\n      analogWrite(rnegative, -rspeed);\r\n    }\r\n    \r\n    if(lspeed != 0 || rspeed != 0)\r\n    {\r\n      digitalWrite(led, HIGH);\r\n    }\r\n    else\r\n    {\r\n      digitalWrite(led, LOW);\r\n    }\r\n\r\n    delay(100);\r\n  }\r\n}\r\n<\/pre>\n<p>\u6b21\u306f\u30b9\u30de\u30db\u304b\u3089Bluetooth\u63a5\u7d9a\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u30b9\u30de\u30db\u304b\u3089\u64cd\u4f5c\u3059\u308b\u304b\u306a\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Arduino\u3067\u30e9\u30b8\u30b3\u30f3\u3092\u4f5c\u3063\u305f\u3002 \u524d\u56de\uff0c\u8eca\u3068\u30c0\u30d6\u30eb\u30ae\u30a2\u30dc\u30c3\u30af\u30b9\u3092\u4f7f\u3063\u3066\u8eca\u304c\u52d5\u304f\u3088\u3046\u306b\u306a\u3063\u305f\u306e\u3060\u304c\uff0c\u3053\u308c\u3060\u3068\u5de6\u53f3\u306e\u524d\u8f2a\u304c\u3064\u306a\u304c\u3063\u3066\u3044\u308b\u306e\u3067\u3046\u307e\u304f\u66f2\u304c\u3089\u306a\u3044\u3002\u305d\u3053\u3067\uff0c\u30dc\u30fc\u30eb\u30ad\u30e3\u30b9\u30bf\u30fc\u3092\u4f7f\u3063\u3066\u5de6\u53f3\u306b\u66f2\u304c\u308b\u3088\u3046\u306b\u3057\u305f\u3002 \u3055\u3089\u306b\uff0cBluetooth\u30e2\u30b8\u30e5\u30fc\u30ebRN-42\u3092\u4f7f\u3063\u3066PC\u304b\u3089\u64cd\u4f5c\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u305f\u3002 \u8868\u88cf\u306f\u3053\u3093\u306a\u611f\u3058\u3002 \u69cb\u6210\u3068\u3057\u3066\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002 \u30bf\u30df\u30e4\u306e\u30e6\u30cb\u30d0\u30fc\u30b5\u30eb\u30dc\u30fc\u30c9\uff0c\u30bf\u30a4\u30e4\u30bb\u30c3\u30c8\uff0c\u30dc\u30fc\u30eb\u30ad\u30e3\u30b9\u30bf\u30fc\uff0c\u30c0\u30d6\u30eb\u30ae\u30a2\u30dc\u30c3\u30af\u30b9\u3067\u57fa\u672c\u306e\u8eca\u3092\u4f5c\u6210 \u53584\u96fb\u6c60\u3068\u30dc\u30c3\u30af\u30b9\u3067\u30e2\u30fc\u30bf\u306e\u96fb\u6e90\u3092\u78ba\u4fdd\uff0c6P\u96fb\u6c60\u3068\u30b8\u30e3\u30f3\u30d1\u30d4\u30f3\u4ed8\u304d\u30b9\u30ca\u30c3\u30d7\u3067Arduino\u7528\u306e\u96fb\u6e90\u3092\u78ba\u4fdd \u30e2\u30fc\u30bf\u30fc\u30c9\u30e9\u30a4\u30d0TA7291P\u30922\u500b\u4f7f\u3063\u3066\uff0c\u30e2\u30fc\u30bf\u30fc\uff0cArduino\u96fb\u6e90\uff0c\u30e2\u30fc\u30bf\u96fb\u6e90\u3092\u63a5\u7d9a RN-42 Bluetooth 2mm\u30d4\u30c3\u30c1\u5909\u63db\u30e2\u30b8\u30e5\u30fc\u30eb\u3092XBee\u75282.54mm\u30d4\u30c3\u30c1\u5909\u63db\u57fa\u677f\u3067\u30d6\u30ec\u30c3\u30c9\u30dc\u30fc\u30c9\u306b\u8f09\u305b\u308b RN42\u306b\u3064\u3044\u3066\u306f\uff0c\u8cb7\u3063\u305f\u3082\u306e\u304cXBee\u7528\u306e2mm\u30d4\u30c3\u30c1\u3060\u3063\u305f\u306e\u3067\uff0c2.54mm\u30d4\u30c3\u30c1\u306b\u5909\u63db\u3002\u79cb\u6708\u96fb\u5b50\u306e\u5909\u63db\u30dc\u30fc\u30c9\u306f3.3V\u30ec\u30ae\u30e5\u30ec\u30fc\u30bf\u4ed8\u304d\u306a\u306e\u3067\uff0c\u96fb\u6e90\u306f5V\u305d\u306e\u307e\u307e\u3064\u306a\u3052\u308b\u304c\uff0cArduino\u304b\u3089RN42\u3078\u306e\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u306f3.3V\u306b\u5909\u63db\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u306e\u3067\u9069\u5f53\u306b\u62b5\u6297\u3067\u96fb\u5727\u3092\u843d\u3068\u3059\u5fc5\u8981\u304c\u3042\u308b\u3002\u306f\u3093\u3060\u4ed8\u3051\u3082\u591a\u5c11\u6163\u308c\u305f\u3051\u30692mm\u30d4\u30c3\u30c1\u306f\u5c0f\u3055\u3059\u304e\u3066\u8f9b\u3044\u3002 RN42\u306e\u4f7f\u3044\u65b9\u306fWeb\u3092\u63a2\u3059\u3068\u5148\u4eba\u304c\u60c5\u5831\u3092\u6b8b\u3057\u3066\u304f\u308c\u3066\u3044\u308b\u304c\uff0cMac\u306e\u30b3\u30f3\u30bd\u30fc\u30eb\u304c\u4e00\u756a\u697d\u305d\u3046\u306a\u306e\u3067Mac\u304b\u3089\u7e4b\u3044\u3067\u307f\u308b\u3002RN42\u3092\u914d\u7dda\u3057\u3066\u96fb\u5727\u3092\u304b\u3051\u308b\u3068\u8d64LED\u304c\u70b9\u6ec5\u3057\uff0c\u305d\u308c\u3060\u3051\u3067Mac\u4e0a\u3067Bluetooth\u30c7\u30d0\u30a4\u30b9\u3068\u3057\u3066\u898b\u3064\u304b\u308b\u3002\u30da\u30a2\u30ea\u30f3\u30b0\u3059\u308b\u3068\u8d64LED\u304c\u70b9\u706f\u3059\u308b\u306e\u3067\uff0c\u30b3\u30f3\u30bd\u30fc\u30eb\u304b\u3089\u300cscreen \/dev\/tty.RNBT-DF42-RNI-SPP 115200\u300d\u3092\u5b9f\u884c\u3002\u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u901a\u4fe1\u304c\u3067\u304d\u308b\u3002 \u56de\u8def\u56f3\u3002Fritzing\u3092\u4f7f\u7528\u3057\u3066\u4f5c\u56f3\u3002\u3054\u3061\u3083\u3054\u3061\u3083\u3059\u308b\u306e\u3067GND\u7701\u7565\u3057\u3066\u308b\u3051\u3069\uff0c\u9069\u5f53\u306bArduino\u306eGND\u304b\u96fb\u6c60\u306e\u30de\u30a4\u30ca\u30b9\u306b\u3064\u306a\u3050\u3002 \u30d7\u30ed\u30b0\u30e9\u30e0\u3002\u3069\u3046\u3057\u3066\u3082\u30cf\u30fc\u30c9\u90e8\u5206\u304c\u30e1\u30a4\u30f3\u306b\u306a\u308b\u306e\u3067\u30bd\u30d5\u30c8\u90e8\u5206\u306f\u8d85\u9069\u5f53\u3060\u3051\u3069\uff0c\u4e0a\u3052\u3066\u304a\u3053\u3046\u3002 int rpositive = 9; int rnegative = 6; int lpositive = 11; int lnegative = 3; int led = 13; int lspeed = 0; int rspeed = 0; char inByte = 0; void setup() { Serial.begin(115200); pinMode(lpositive, OUTPUT); 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