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移動ロボットの制御実験I（ライントレース，センサ

1. E ROM pee Q e EST Lu 16KB ROM RAM VO OxFFFF U 3HD64E3672FPHHHHHHUHHHHHHHUHHHH HUHUHROMHRAMHHUHUHHH 0 2 0 0 10 ROM D U D UD 0 0 0 0 DO U U D D U UD U U U D U L U U U UD U U U PD 0 0 0 0 U U 0 UU dd dd TT O TO U U U UD U U 0 0 D U O GO U 0 U 0 0 0 cil U U U UU 0 D UD TO TO GO U U TO U U 0 0 D U U 0 0 TO 0 D U TT TT U DD TU 0 0 UU 00 U U L KOM D 0 D U UD 0 OB UD UD TO OO U U U 0 U UD 0 0 UD UD U 0 B 0 0 0 0 U U U KAM D UD 0 0 0 0 U 0 0 L U U U U U U U U 0 U U U 0 UD U D U DU D U U U 0 KAMU 0 0 0 D U U U 0 D 0 0 0 0 U DU L U U U U 0 0 U 00 KAND D U 0 UD TTT 0 U 0 0 UD U U U TO TTT TT U 00 0 0 0 0 U 0 0 UL U U U U 0 U U U U 0 0 U 0 0 0 MPU UD U 0 0 0 D U U U
2. i 2 HHHHUHHHHHLH U pU U U U D DU Sart D U U 0 U U 0 UD 0 0 UD 0 0 U 40 LED D 0 0 D D UD U LU U TT U U U U DDD OD TO D U TT TO 0 UD 0 0 0 U 0 0 U 0 U U U U Sart 0 0 0 IO GO O D UD O U Start HOD EL LU U U U U U UD U TT U D U U UD DDD DDD U D 0 0 UD U TO 0 0 UD 0 0 U 0 0 UD U 0 D U U 5 RAND DD 00000 0 DUD 0000 UD D D 0 000 U UD DU GRAM KTR DO ODO ODO TTT TT TT TTT TTT E GTH GL E E e TL EE ga dona gaga ganas aa OO GO DU EDGE IO A EET ET ET Ganga gaga ET EET HHHHHHHHHHHHHHHHHHHHHHHHHHUHHUHH 1000HHHHHHHHHHUHHHHH OK HHHHHHUHHHUHHUHHHHHHHHHHRAMHHHHHHUHHUHHHHHHHHHHHHHHHLH a Oe HE OO GOG Op OSL OA EC ZI GC U RAMPOB U U U U TTT TTT TTT UD U TOT U U U TO TO CT GO D 0 UD U D 0 UD 0 U U 000000 MPU RAMU OU 2KBHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH DD RTD E manti D DB B TT TTT TTT 000000000000 00000000000 LU U U U U UD U U U U 0 0 0 0 UD U U D D 0 0 U U KAM D D U U 0 0 0 TU U 0 UD U U 0 0 0 UD D D EE EE 0 C LU U U U U U 0 U 0 RAM D U U U D UD 0 0 UD U U DG TT D 0 0 D U U KAM D D U TUTTO UD 0 0 0 U UU U IU maino D 0 D U 0 D 000 STD HSHT SE HHE DE SHR ORAR RAIA RIA EE EE A a lg th EET main D U D U U D U usermain O O 0O D D pragma section D U U U DE U D D l RAM E LU h UOLO DI hi DI LI L L void user main void lt U U U U U U U
3. T Flash FDT Version 3 1 lt E ROM MUR RS232C USB a S OxFFFE PA RS232C PC lt Uu 40000000 4 DU U U 00 DO DDD ROMII U U U U U 0 UD U U UU MEUU ROM D 0 D 0 0 D U 0 D U U U TG UGO 0 D 0 0 UD 0 0 UD U ULL U U U U DO Odd O U 0 TU O U U TO DO TT 0 U TT D U 0 U U D 0 0 UD U D U 0 U 0 0 0 0 U U 19 CU U 0 U 0 0 U 0 ODO 0 D U U UD U 0 U U 0 0 0 U U PC U U 0 0 D U UD U TT TO UD U TT TT TO TTT 0 0 U U U TT U U U U 0 0 0 0 0 0 U U U U U U UD 0 TG TTT UD U U UD U U D U U 0 U U AMDUD 0 0 U U 0 U 0 PMI 0 D 0 0 U L U U U U DO U U 0 Cd U U D U UD U TO U U D U UD U U UD 0 0 O TO CO UD U U UD 0 0 UD U 0 U U U U U XI YU U UU U UU l 020000000 HEW4 U U U U D U 0 U 0 0 U U U U RobotJkken hws U UD D 0 0 D D U 0000000000000 U U U 0 D 0 0 U U U U MPU D 0 TTT TO U U U U TT TTT 0 D 0 0 U 0 U U U U U 0 U 0 U L U U U U U 00 DDD O 0 UD 0 0 D U U D 0 HEW 0 S
4. ZA PSD PSD SHARP GP2D12 WP f N a V gw 1 a m SHARP PSD MPU U 9 PSDT U 0 UD 0 0 UD 0 0 U 0 L 2 PSD U U L U U L U U L U U L PSD U 00D SHARPII GP2D2 0 0 O UD U D U DO OO OG 0 0 UD 0 0 D 0 0 U 0 0 D U U U U U 100 0 U UD U DDD U U TO U U 0 0 U U U U 0 0 UD 0 0 0 U LED 0 0 0 0 U U 0 0 U U L U U U U DO U DDD 0 0 dd 0 0 UD 0 PSD UD U 0 UD TTT TU PSD U U U U 0 0 U U 0 UD U 0 D U U D U PSD 0 TT 0 UD TO OO 0 U U 0 U 0 0 UD 0 0 0 0 0 UD 0 0 U LU U 0 U U 00 0 0 TUT Td U U 0 0 TTT TOT U U UD TT U U U U D 0 U 00 0 0 U 0 0 U U U U U U 00 0 0 U U 9U D U U UD U U MPUY AD 00 U U 0 U 0 L U 3090 0 U U O TT U U UD U TO TO U UD U U TTT U U TOGO U U D U 0 0 UD U 0 U U U U U D U U 0 0 D U 0 DU U CU U 0 U D 0 0 D U 0 U Fig eg O TO 0 0 UD 0000000060 U U U ODO UD U DO UD U U D U U D U 0 D U 0 0 U 0 0 LU 1HHHHHHHHHHHHHHHHHHHHHHHH AM or PMD XI Y U U U U 0 U L LU U U 0 U U DO 0 U U U XI ZOD U 0 UD U 0 U ul user_main U D D D D D D U D U U 0 D D D D U get ad 00 00 ADD D D D D D DU HHHHHHHHHHHHHHHHHHHH U U U U 00 D U 00 D 10 0 D U DD D U D 0 D 0 10 00024000000 1023 D U U D D D U TT U U DD 0 D U 0 D 10 U U DD 0 0 UD 00 D 0 0 L PC U 0 OD DO D U U DD 0 D D U 0 U U U UD 0 0 U
5. HHDHCHHHHHHHL LU U U U 00 U 0 U U U U forG DHL 000 U U U U break D U U D D EL D U whi EEE HH 1 UD 2 U TDD DDD 0 DDD D 0 D D D D 0 D 10000000 0 0 D 0 10 0 D 0 UU i LU U U U 1 0 while i lt 10 CHHHHHHHIL while 1 whi1e 1 1 while 23 5 HUU DUCUUUUUUUL U U U U U U U UL LU U U U U U UU 210 U U U UU U U una i 3 tor 1 0 Le 10 00 1 for LU U U U U U U 000 2 UO A EC D UD D LT L U LI LU U U L U U L iL L OHHHHL 1 10 100000 AN as 10000000 LU U U U UU L 1 24 5 U U 2 Lon Wi DAS O ii do while 0000 T do 0 D 1 while Q 1 YU IEEE EEE YP T E T I 1 TUPU Ea EE HHHHHHHHHHHHHH UHHHDHHHHHHHHHLH 000 1 0 do SEDENS 1 while i lt 100 HIHHHHHHHHHHHHHHHHHHHHHHHHHH i0 100 D ED LL L U D DD 0 D 000 D dol 0 D D 00 D DDD D DDD 0000000000000 e E E E e A E EE E A E E ER RA E EEN e E break HHHHHHHHHHHHHH UU break UU do for while switch LU U HH DD D 000 while 1 1 U U 1 1f value 0 break UU value rt 00400 erg B p D 0 0 0 D D D 1 0 D 0 0000000000 L U U U U U L continue HHHHHHHHHH UU continue UU do for while D HH E DB 0 U EE BEL B D 7 EE 0 L 000 while 1 Lap EE Tel value 0 continue Hh 2 U U value O0 00 D 0 0 D D 0 D D 0 0 D D 0 00 20 0 D 0 0 D UIL BO E e ee I 25 00 DAS 1000004 if J000000000000000
6. Tono QT I I I I E poor e ue Cy Mi el d f gt SS B suu I EE n DR DREY a LE SL VCL S se 1 Tv 7 1 T G Li E be qeesceu er elaine aa e I ERRE RR E 0 n PSD 4 III i erro d m PSD 10 20 30 40 50 60 LED 4 dq cm psd 10 PSD 0 D U U 0 UD 0 0 UD 0 0 D 0 0 UD U UD U U LU U U U UD U D UD U 0 U U U D 10emY Semi D UU D U O GO TT D Il U U U U 00 100 0 UD UD 0 0 0 D D D 0 0 D 0 0 D D UD 0 CU UD UD 0 0 00 Fget 000000000 HHHHHHHHHHHHHHHSHHHHHHHHUHHHUHHHUHHUHHHHHHHHHHHHLH LU U UU UD U 0 dd UT TU DT TT dd 0 UD U 0 TT l LU U U U U U 0 UD TT DO D U U D TT 0 0 TO TT 0 U TT GO OG 0 0 U 0 UD 0 0 0 U U U 0 D UD 0 D 0 0 00 0 D D 0 20 0 DUD 0 DUD 0 DUD U U aU U U 0 0 UD U 0 D UD 0 D UD 10000 HHHHHHLH 5 15 3 HH BL O FEE PELO EL ELO D EE EU D EI E DABO BO DO BBD TTT TTT TTT TTT TTT TO TTT TTT TT D B
7. srand 00000000000000 rand srand seed value UL LU U U D 0 0 D seedvaue D U 0 U D U D U 0 LU DOD value rand op 327670 HH UU D value GO WO D D 0 D D D D U D readO 00000 U U U DD D 0 0 0 D OD D D D D D D D D 0 0 D D D D randO 0 U D srandO L U U 0 U 0 U DO 0 GU TT U 0 0 0 0 U 0 D 0 U U U 0 0 U Im srand time NULL srand ODOR value rand A ee A PANA AAA ICI Oo Co Oo HO C4 ETE o HO EE EE Cy CI 5 3l Wil Den BH bp D Es e pint 00000000 Hu PN es UU printf T DB D D D LU 00 HHHHHHHHHHHHUHHHHHHHHHHHHHHHHHHHHHHHHHHHH LU gut printf Answer sd An i U U D 0 0 0 0 D D 0 0 4000000000000 1000 gt 40 D UD D 0 0 0 0 U HHHHHHHHHHHHHHHL 0 1234 printf Answer f Mn value U U D 0 0 0 0 D D 00 0000000000000 vave OU sf 000000 L U U U U 0 U 0 0 00 0 0 UD 0 U 0 L 1 10 value 0 1234 printf Answer sd Value f An i value LU U U U U UU Answer 10 HHHHHHHHHH 0 LU U U UU 00 U Value 0 1234 J 2
8. 0 0 00 U HHHHHHUHHUHHMPUOHHHHHHHHHUHHHHHH SuperH 0000 HS U 0 D 0 0 C HHHHHHHHHHHHUHHHUHHHHHUHHHHHHHHHHHHHHHHHHHHHHUHHHHL U U U 0 UD U DO D U OD dd UD UD 0 0 0 HS Tiny 00000 MPUHHHL U U U 0 0 U U DO UD ODO OD UD TTT TT OT TO U U l U U U U U 00 D U 0 TT TTT TT TTT UD U U UD 0 0 U U D U U 16 H8 300H CPU ROM 16KB RAM 2KB DOES wee 16 x16 E H 62 B POTRO 51854 VAR E 10 AD 0 5V 26 K a H8 3672F b U 2 MPU D U UD D 0 U 0 U 000000000000 H8 3672F 0 OU HD64F3672FP O ROM DB DOO 0 0 0 BL UO U 16KB RAM U 2048 0 D Di 2KBII TO UO CT DD U U U U U U GT D 0 TO D 0 LO U U U U U OS U 0 U U U LT l U U U U 0 0 U U U U 0 0 0 U U TTT DT D U U D U TO U U TO U U UD U U U TO 0 U U 0 0 U U 0 0 l U U ROMY KAM D 0 0 DI HL 0 D D U U U U U D II C ROM Read Only Memory D O 0 D 0 D D U l U U U 0 UD U DO D U DO 0 TO OG O TO OO GO TT DO U RAM Random Access Memory O O O U U U 0 D 0 0 0 0 U U U U UD TTT OT TOT U U U U U U 0 D MPU D D KOM D 0 UD 0 D 0 0 U 0 l U U U U U U U U DO OD DO 0 TT TTT TTT TT U U GT 0 U U D U U UD 0 0 U DELL q
9. 5 4 LU U UU U U U U LU L U U U U U L U L U L U U U U U U U D UD EEDIUILI L LL U U U 0 U U U U U 0 U UD U U U Led Pat 0 Td U U OT O OT OGG TOGO TO U 0 D U OxF U 16 U U 0 UD 0 GCT U DH 0 UD U 0 U U UD 0 LED D UD 0 0 E U main c U U U U U U DL U D LI U ENO OSC RONCAR i C E EUER H Hp Hep H T Hs EE ERE BE RR HHHHHHHHHHHH LIILIA include 3672s h l 0 LI UL include nrobo h 77 000 0 UU UU 7 e N N xN N N xN xN xN xN S include grdef h I Ill include datadef h include lt machine h gt RenesasD 000000000 int main void CIRIE DUD UD U 0 U D D D D D D initVariables initMPU Act stop 00 000 initLED 40 LED 00000 t t E while 1 init LED start U U DD 0 DD D E U U U while 1 if start sw det OFF break E O EO flag led on ON LEDl flag_user 0N 0 000000000 Wit 30 d0 000000000000 CER AAA EEES O ODO DO DO OD DD uultu CO while 1 Led Pat OxF 4 LEDO ODO ON Wait 100 100 x 10ms 1 sec Led Pat 0x0 40 LEDO OFF Wait 100 CORE CD O E COCO C 0O40 0 UD 0 0 U LU U U 0 UD 0 0 U DD U 0 TO TT TTT 0 0 U U U D TT 0 U U U TT 0 0 TOGO OG U 0 lll HHHHHHHHHHHHHHHHHHHHHHHHHUHHHHHHHHHHHHHHHH U U U U U U U 0 0 Build Finished 0 Errors T U U U OO D EE BL UO D U D DE EE D Warnine L E U U U UD 0 00 0 0 U 0 0 TT U D 0 0 UD 0 0 U U B U
10. ALO 0 El O a LC C LC C E dp nna w JE L BRT I BULL BRIEL RIL RST BI DE 210 2 00 00417040 31 31 UU LILTLT ARE NE NERE E EUR SNA SONE ANNE p U l DUI C 490 O aC 000 O Gu C Q Q A UU BILULLLDLLUL LLL LU HHHHHHHHHHHHHHH milllliluliliuull Act Fwd int pl int p2 Act Bwd int pl int p2 Act Turn PR int plane p2 Act_Turn_FL int pl int p2 Act_Turn_BR int pl int p2 Act_Turn_BL int pi int p2 Act_Rot_R int pl int p2 Act Rot Ll ant Dil int p2 Act Stop void BI 0 0 0 D D D D 0 0 Motor R int p Motor L int p Bill Wait int t wait for 10ms timer void RR ina ims O L HHHHHHHHL L L L O VEL m Be T e He ESSE wait for Ims timer void R AD DUD 0 U LC C LC C get line sensor int ch get ad int ch LU U U 2 0 0 0 U LU U D 1 L LU U U U U 0 0 U U LU U D 0 U 0 L r n JD D DE DO HEB LI 0 19 5 HHHH ineniil LU U D U U UU float Ga D DD 0 U 0 0 DL ELO U EG 0 U EU EE 0 DT LU U D U U U U int 0 0 0 GU TT 0 U 0 0 U pG U U D 0 U 0 L val print float float val prant string char stri R PC D 0 00 DDD 0 l print_int int val lD DD E Ba 0050 01 SHARP GP2D12 GP2D15 General Purpose Type Distance GP2D1 2 G P2D1 J Measuring Sensors E Features Bl Outline Dimensions 1 Less influenc
11. U U L3 p4 H 28 5 00 DE6t EHE O CJ UU U U U U LU U U U U LU U U U L U U U U LU U U U L EE aL NE ge 10 100 HHHHHHHHHHL U U U U LU U U U U U LU UU EE et 2010 e UU 2HHHHHHHHHHHHHHHHHHH Tue D 0 D D False O O D while L U U UD U 0 U 0 0 0 0 U U 000 1f 1f T 1f 1 1 1 y SAL k k 1 HHHHAHA m m 1 n Nn 2 PEA se E TS ASS A I0000000000 HHHHHHHHHH UU HHR eaa TRT RICH TR LU LU ENE SEVERE SE ERE HEHE NA 000 1 0 250 i js val 1 val 1 TH 1 U U U D U 0 0 D UD 0 D 0 0 UD 0 U DODO vl 10000 mius 00000 vale 0 0 TD 2 Y val D D D D 0 D iD D BEBE UU al D D D D D 1000 S29 00 DE6t EHE O O e r3 Im O O U ANDU l I U ORO OU O L1 CO L1 LU U U 1 amp amp 2 0 LU U 2 amp amp U 100 200000000000000 0 100 2000000000000 L U U U CEE EEE Lt JA ANA A AAA ES El El ES El El LU U U U U U AND O L U U U U LU ORI LI C C C L1 LU U U U U U U LU U U U U ORI DD U U U U U U LU U U U U U UL AAA 180 2 oO HO O al 0x00ff a2 0xff00 a3 al amp a2 a3 0x0000 l LI ads al a2 JZ a4 0x f II 20 U UU al 20000000 ANDIIL TL ORTI 0 0 0 LED U al 0x01 a2 0x10 a3 al 1 a3 0x02 a4 a2 gt gt 1 a4 0x08 JU UJ 2 U U UU al a2 0 U 0 0 U 0 D 0 UD 0 U 00 000 5 30 BE DCE A LU U UD U U DO DO DO UD 0 U 0 U 0 0 U ull rad 100 327670 D DD DD DD DD D
12. U U U U L gINSSLOL Old YAMOL HOSN3S OLY A 8 00L ecu 6NO z19 zie MS 800HvZ O dOLS LUVIS Lei 4 od ov 9 lNOHJ 60 AST 1HOIY 1437 S HOSN3S WHY HOSN3S WHY G c D 6NO 9 8NO 8NO O e m O AS HOSN S NOILV LOH MOL m 8H 09L 6H 09L eluwNO LMS O pa E ka diNVTAILIHM E m iw D O A gt ezz Ae 2322 nt AS AS zdyWzsd ONV 08d 6dyWVZGd LNV Ldd PDM Sd eNvicad OuLQV rdMWSSd ENV gd Old 8n thd ddcZ9 d4v90H A9H L EOHI Z Ld Qld Std 90 77 aay dai aay dai AST AST o O of o OLE La s ZZ o o s N oF lt a q q U Viren 0 e A gt LHDIY V AS LYS BG SNO SNO E ky Te N8 AS4 qat aql r m O m o 1331 HOSN3S INN yd EAN UR 4 T ONVI INdNI V LON des IndNI 9 I ndNI V Io s LIT TO LOINWOA ENO NT T O O O O CLL RS A T ino O O pm LE NEF LIVE oc a LLI 2 U U D 0 U DUD 0 BANDADP42 D J 0 O 18 5 EP TPS EO 0 ht EE Wate HE ED ED n 2 HL B BOT EE EET 400 0000000 4000000000 OO iL ELE EA IRENE GE snb ERA 1 i T o O D H H H H T 0 4oo0000000D 3 QU 40000000000 LS 10ms I 00 000031 UU UU 00 U 000031 UU UU 00 U UIHHHHHHHHH 360HHHHHHLH 360HHHHHHLH HHHHHHL L3 Bp ges Da 260 U n pull HE ST BST S Doo RST RST E ER ET E UW 200HU0UUUUU LA G 0
13. U UD TT TT TOT TIT D D D DO BL D U D 0 UO EE D 0 7 EE D CT LU U U U 30m U U 0 U TT TT TOT TITO 20cm TTT TO EL U D D U LU U U UU U UD U U UU 30 U UD UU 0 0 Un U L U D QU D D D UD U U UD O 0 0 UD 0 UD D UD 0 U Ll HHHHHHHHHSHHHHHHHHHHHHHHHHUHHHHUHHHHHHHHH SL LU U U 0 U UU UD U D U U U U D 30m U D TOT TOT T TOO 0 U U DB B 0 D uult LU U UU t t 0 01HHHHHHHHHHHU 10ms TT ELO D D D ODO 0 0 CO EE 0 0 D LE Hl U 0 D 0 0 D 0 0 D 0 0 30 D 0 D D D TO D D U D OO ActRrotLO VOU Act RotR lI ll LU U U U U U U DO BDO DO U TTT U 0 0 wait 0 0 Lll U U D 0 UD 00 0 D 0 D 0 D D D D 0 D BI DL XI SBD EEE E e AA E Ra ETUI Eb DD DO DD ODO N CO TO TO TT TG TTT ET DG B EDT 010 e DODODODO SU OU maine U UO ELO HE U UO D DO HE O HEU EE UE L LU U U user mainO DO DL UO D D D DU 0 U usermain DO DU D 0 D D D Hl I DEO OD UT TTT TT TT Td OT OTT DD OG TO OT TO GO E TT DD HOKHHHHHHHHHHHL 5 HHHHHHHI HHHHHHUHHUHHHUHHHHHIHHH2HHHHHHHHHHHHHHHHHHHHHUHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHUHHUHIHHH2HHHHHHHHL HHHHHHHHHHHHIHHH2HHHHHHHHHHCOGSHHHPSDHHHHHHHUHHHHHHHHH ARA Sr O O A Bee RD n mim ll AAN D R HD A PL ih I hh DELA EEE U U U 0 BO DO DO DO DD O TT ODO OO UD Td Td Td TT U UD TOT TTT TOT 0 D 0 0 0 0 0 0 U LL DBO WIHMINIIMWIWIMIMHNIMIMBNIIMMINBMINIMINMIMBMNINIWMMININRWINIWBMIWIMMMIWH AUN a HG UA eN DABO BO DO BO DO BD TOT TT dd TO GT TO OT TOT TTT TTT TT TUOI BI HSR HSHH RO 81T 91 E REIT RO Aga A 5 17 00 AU UU 000 000 0 t U U LU U U LU U
14. UT U U int main vold L L while 1 L L T EA ATH ITH HHHHHHUHHHHHHHHHHHHH PULAU LLALA US TULLIA ILLIUS LIL EE user main lt U L U DDD E TET O user main Jl T RAMOOUODOUG 4 user main l LI LI pragma section USR void user_main void 1 4 LEDHHHHHHHHHHHHHHHHHHHHHL while 1 Led Pat OxF 40 LED U ON Wait 100 100 x 10ms 1 sec Led Pat 0x0 4 LED OFF Wait 100 i pragma section L L LU U U 0 0 U U U U UD U D TOT U UD U D 0 0 Sd Step3 U 0 D UD 0 U O O OOO UD 0 U 0 U EDT HHHHUHHHHHHHHHUHHHHHHHHHHHH Would you like to reload UD OO O L LU U U KO pg go DO BD ODO OD MPUN UD UD 0 UL UL U LU U U 0 DO 0 GT TT TT TT U U TTT U U U D D U U U T U U U U TO U U lut U L U U U D D D UD U 000060 Disconnect D 0 D D D D O OO OOO FDT T Device O U L U L U U Disconnect TU DG OO OO H D D 0 U 0 EE 0 LUI LT HHHHHHHHHHHHUHHUHHHUHHHHHUHHHHHHHHUHHHHHHHHHHHHHHH LU U U U D Start U UD U D UD TG U U DO 0 TTT UD 0 U U U 0 U U LED 0 D D U 0 0 U 0 0 U LU U U U U 0 U U U 0 U U ROM D D D UD 0 0 D TT U 0 UD 0 0 D U 0 D U U 0 usermain UU HHHHHHUHRAMHHHHHHHHHHHHHHL 20 user main UO U U D UO D U UO U U U RAM D 0 U 0 0 U L manc D UD OO DLE D D 0 D 0 D D D D D D 0 D D D D DU RAM D 00 D D D D 00000000 D DH D DDD int sci3 G 0000 Down pata D OO000000000000 RAM HHHHHHHHHHHHHUHHUHHHHHHHHHHHHHHUHHHLH LU U U U UD U 0 UD 0 0 U UD U U U 0 U KAM D D 0 D U U U
15. 0 U ROMY KAND 0 0 0 UD UD U 0 0 U 0 U UL U U U UD U U U U 0 UD 0 U UD 0 U U 0 U D U U MPU D 0 0 U IT GO TT 0 0 0 U 0 0 D U 0 DULL U U U U U 00 00 LU 32 HHHHHHH HHHHHHHHHHPCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLH HHHOSHHHHHHHHHHHH OUHHHHHHHHHHHHHHHHHHHHHHHHHHHH OST Windows Embedded Linux VxWorks ITRON etc 1 EH D E E E HB E D E E E E EB EE EE ET EE EE EE EL E Ll HHHHHHHHHHHHHHHHHHHHHHHHHHHHPCHHHHHHHHHHHHHHHHHHL HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH4HHHHHHH HIHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HEWA High performance Embedded Workshop Version 4 HHHHMHHHHHHHHHHHHH64KBHHHHHHHHHHHHI HIHHHHHHHHHHHHHHHHHHHHHHHHHHH geelHHHHHHHHHHHHH Windows L U U Linux D U U UNIXOSHHHHHHHHHHHIH L U U U UD D UD DO 0 0 U U U UD D UD D UU R82322CU 00 USBHHHHHHHHHHHHHHHHHHL HHHHHHHHHHHHHHHHHHHHHHHHHHROMHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHU MPUOHHRS232CHHHHHHHHHHHHL PCHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH PCHHHHHHHHHHHHHHHH FDT Flash Development Toolkit Version 3 1 LU DU U U UU L unsupportedversionHHHHHHHHHHHHHHHHL 0x0000 C HEW4
16. 0 UD 0 0 UD 0 0 D U 0 0 U 0 U U 2 HHHHHHHHHHHHHHHHHHHHHH U U U U Y DODODO U TT 0 D UD 0 TT D U 0 0 D U U 0 0 0 U UD U 0 D U U 0 B D UD 0 0 0 UD U U U U U U U U 0 RS Tiny U D UD O U U O OO COLO U U 88672 0 UU HD64F367FP 00000000 U U U 0 U UD 001600000 CPU D TO 00000 16M8E20 ROM D D D GO OO D U U 16KB RAM U 2045 U U UU 2KB0 0 UU D UD U 0 0 0 D U TO 0 0 UD DD ODO U UD U 0 0 0 0 0 0 U U 0 0 00 U U U ADD U U 0 U 0 0 U 0 OD 0 0 U TG UD 0 0 UD U U U U TT U U TT 0 0 UD 0 0 U U O 0 0 0 0 0 U U U U 0 D U 0 0 0 D 0 0 D UD 0 0 D LED D U U 0 0 D U U 0 0 D UD 0 0 U U 0 D U U U 0 U 100 00 L U U U UD U 0 ODO DO 0 D DO D UD 0 D UD 0 0 D 0 0 D D 0 0 D Td 0 D 0 0 D UD 0 D UD 00 AD 00 1 CdS LED RS232C PC RS232C H8 3672F 4 n 3 9 AD AD p DIO SS lt FF 71 lt MPU Boot Mode Y EEE d a Top View b c d PC IEHHHHHHHHHHHHHHHHHHH IC 3 UU DU 0 000 U0 DUD 0000 0 D D 0 000 L 31 HRUD 0 D
17. 0000 UU OD GO jes 002 T UU L lU UU U EE EE U U U U U U U U U U U U U U U U LU UU U U U EE U 2 L U U U U U 000 if i 1 U U 1 lelse UE 2 HOHUUU 1800000 ELL E DD 0000 M0 000000 else t H D HU H D U U D U U D U LE i620 ER loss o UD 1 amp amp j U DU 010 Ol 0 10 50 0 0 U D U ANDE UDULDULUCUULDULULULU if 1 0 i 5 ul 1 LILLE 01 a i NINH LU U U U U 0 0 U if i lt 5 DEL D jelse if i 10 UU 2 lelse UU 3 else if D 0 D D 0 D 0 DO Dd OD D DD D 0 D I 30 0 D 0 0 D U D 0 UD 1000 IIHHHHHHH else TD D D 10 100 DD DD D D D 0 0 D D D 0 0 DD 2000 LU U U U U U 00 00 0 0 0 0 U D UD U 30000000 5 26 Wil DECT switch case 0000000000000000000 UU SWE GIL D i 1 case l 1 1 break case l 2 2 break default 3 UU HHHUHHHHHHHUHHHHHHLH HHHHHcaselHHHHHHHHHL break switch 1 L D D U LU D D LU LU U U U U 0 U 0 0 UD 00 U U E HH OEE ES hili 20 H L L L L L Io Qu L mn D 0 switch value case O E s break case 1 HU 2 break case 2 ais break default UU 4 U U value 0d 0000000 101000000 202000000 3000000 O 4000000 switeh E D 0 D 0 U 2 HUU DUCUUUUUUUL L U U U U U 1f 1 1 goto labell s oe j 2 ah al labell goto UBL DO retur D 00000400 goto U LI LL DE D U 0000 fOUUUUU labell IU UBL Ut Uu OUULUiuiiL Lt switch continue L U U U 0 U U
18. 0000 ago 0000 line r get line sensor 0 QU00 line c get line sensor 1 l 000 line l get line sensor 2 D0000 Lr AA ED an 5 else if Jelse if pragma section sSpo 8 0000080 1800000000000 00000000000 000000000000 AAA A ANS AN AA ANO EE A ONE ARA LU U UD 0 0 U DO U DO BDO DD ODO U TTT TO U U U UD TU GT lt LU U U 0 UD 0 0 U DO DO U TTT TT D U U U U 00 U U cnm U U U U D U D U 0 UD 0 0 BL U U 0 DT HHHHHHHHUHHHHHUHHHHHHHL LU U UD 0 0 U 0 0 U U UD U U U 0 U 500 0000 700 U D U U D 0 0 D 0 D U 0 U U D 0 ibl HHHHHHUUHHHUHH600HHHHHHHHHHUHHHHHHHHHHHUHHHHHHUHHLH HHHHHHHHHHHHHHHHHHHHHHHHUHHHHHUHHHHHHHUHHHHHHHHHL HHHHHHHHUHHHUHHUHHHUHHHL HB UU ULL L SU Ll maine DL D B DE UO UO HE BE U EE B CE CEU E U UU user mainO DD D 0 D 0 UL DO D D D usermain DL D DO D UO D 0 D 0 D D D 0 U 0 U LU U U UD U UD DO DO U IT TT 0 U UD U 0 U UD 0 TG U UD 0 0 D TTT TTT D 0 0 U UD 0 L LU QK U D D D D U UO EE UO 0 U Sn 7 U 20 DU 000 L 00000000000000000000000 PSD OO OG U U 0 DH HOO UD TT TO U UD U U l LU U U U U U 0 0 U 0 0 0 0 0 U 0 0 UD 0 0 D ll 1 PSD U II 1 U LI L U U U U PSD Position Sensitive Detector DD D D U UD UD U 0 90 U 0 0 0 0 0 0 0 0 0 0 D 0 L U U U U U 0 U 0 0 U 00 PaD D dd TT 0 0 UD U U U U U D U U U 0 LU TG U U UD U UL U U U U 0 U U U L U U L U U U U L U U U U L U D PSD D 0 D U GO O 0 D U 0 D U U 0 0 D U U U U U 0 0 U 0 0 UD U 0 UD U U M E 7
19. 0000000000 000000000000 000000 6000000000000000000000000 Step3 0000000000 HHHHHHHHHHHHHHHHHHHHHHHHH 7HHHHHHHHHH BootMode D O HHHHHHHHHHHHHHHHH HH LEDHHHHHHHHHHHHHHHHHHHH MPUD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 6 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH LET EB EL EE EJ E EE DJ E EE Device O U D L Connect to Device LH U E Connection complete LU U U 0 0 0 0 DO 0 00 0 U OKU U LU l Error No 15024 Boot failed O O0 J U L U U UD UD U U U U U U O TTT IO TT U 0 U 0 U U U UD U U U iili 6 U U U U U 0 U L U U U U 00 D U D U U UU UD U BBD 0 0 UD U PCD U DB OB OD U UU U U D U U U EE U U UL GE U D RS232C D D D DO 0 0 0 0 0 0 0 0 0 U U U U U U U Connect to Device O U O OO Download Active Filel UD H BH B B 0 D U U UD U U U UD U U U U U U U U MPU D U ET U U 0 E U U U U 0 0 0 D UD U U U U U 0 0 U D D U 0 U Image successfully written to device DO OO B 0 U U DU U U EDT U UU Device O UU LU D DI Disconnect D T UO GT U nid D 0 D 0 0 U 0 0 L FDTU D UD U 0 UD 0 0 U 0 0 UL DOBO DO O DDD OD ODO TT TTT EL DEO D ELO B D 1 LED 2 RO NZ aag Boot Mode sio oi
20. 2 0 lt 1024 gs HEK EA UL MPU U 8 CdSH U 0 D U L U U U U UD U U 0 U U ADD DU 0 DU U 0 U U U 0 TO TTT U D U U 0 0 U UD 0 0 0 0 U U U U D U U UD U 0 UD U 0 D U U 0 TO OT TO U 0 TU 0 0 UD U U userminO 000000000 000000000 SysJikken exe 0 KAM D DO D DO DO D D D U UD D U 0 D D UD U U RAMU U EI U U U U U UD DD OO TT DT TT 0 UD TT UD 0 TO U U TOT U UD U TT U U 0 U U BULL U U U U DO U DDD 0 0 UD 0 TG TTT U U U U 0 U do HHHHHHHHUHH HHHHUHHHUHHHHHHHHHHHADHUHHHHUHHHHUHHHHHHHH int get line sensor int channel U U U channel D U 0O 0000 2 0 D 0 0 0 TH D DO 0 0 240 DD D UD 0 1 0 UL U U U U U UD U 0 D Ul ADD U 0 DU DDD OD DO DO ODO 0 TOO U U 0 U 0 0 U 0 U 0 L U U U U 0 0 U U 0 0 0 0 0 0 U ADD U 00 Rs 232c0 00000 PC 0 D U UD 0 DD D UD 0 0 D 0 U 5 II PC ID D U D U SysJikken exe U li D DD OO CO DDD D D OO OLD D 0 UD BE D EE CECI L LU U U 0 0 U BB DO 0 DO 0 UD 00 U U UD 0 UD 0 0 U U UD U LU U U UU 0 ODO O DO D UD 0 TG 0 U U D TG TT U U TO TH U U DH U U 0 D 0 0 U U CI LU U UD U U 00 U U UD U UD TTT DO U U U U U U U U U UD U dd O TO 0 U U UD U UD CE U U U U PECUS HHHHHHHUHHHUHHHHHHHHHHHHHHHHHHHUHHUHHHHHHHHHHHHHHLH HHMHHUHHHHUHHHHHHHHHHHHHH HHHHHUHHHHHHHUHHHHHHUHHL pragma section USR void user main void Inc line Ly line c lane ks AA A lg le EE while 1 Wait 100 1s000 Zi Phi AD EC line r get line sensor 0 line c get line se
21. Chitose Institute of Science and Technology U D D D D D 0 D 0000 2015 U U U U U U UD D 00 000 U U 0 U liti 0000000000000000000000 l UU l U U U U 0 0 U U U UD U TT TT TTT U U OT TTT U U U TO U 0 TO O 0 U 0 0 U U U L U U L U L D U U U U L U OT U 0 D UD U UD U U U 0 UD U U TT U D U TT U U TO U 00 0 0 BO OU U D U U U U U U Cd TU TG TT U UD U U 0 U TO U U TT 0 0 U U 0 0 UD U U TOO 0 U 0 0 0 U U U U 0 0 U ODO UD U U U OOOO DD TO 0 0 D 0 TO TT TO OT U UD U TO 0 U U 0 0 D U U 0 0 l U U U 0 0 U U U U 0 0 0 0 UD U TTT D U U U UU U U U 0 TT U U TT 0 0 0 0 0 UD 0 0 UD U 0 0 U U U U 0 0 0 U U U O UU UD U U UD U U UD U U U U TT 0 U U U TT U 0 TO 0 UD U U D U 0 0 0 U 0 0 U U U U U DO O DDD U D U U TT U U L U L 0 0 UD TTT TTT TC U UD 0 0 U U 0 0 0 Ll U U U U U U U U U U U U U U U 0 0 0 0 0 0 0 U UD U d U U 0 0 0 0 UD U U U UD UD UD 0 0 0 0 0 0 0 0 LT C U U U U 0 0 U U U U U TT UD U U U TT TT U U U 0 U TO U U TT 0 0 UD 0 TO 0 0 0 D U U U UD U I C U U UD 0 D 0 0 ROMO D U D UD ODO D 0 D 0 D UD 0 D 0 D 010 0 UD 0 D 0 D 0 D 0 D 0 KAM 0 00 IL HHHHHHHHHHHHHHL U U U U 00 0 0 0 UD U TTT U U D U U TT O TT UD U U U D U U 0 U U dO 0 0 0 U U U 0 U U U U 0 0 U 0 0 D U U DDD ODO DADO U U 0 D U U U U 0 TT U U 0 U D 00 0 U UD U 0 0 0 U 0 U HHHHHHHUHHHHHHHHHHHHHUHHHHHHHHHHHHHHUHHHHHHHHHUHHHHLH HHHHUHHHHHHIHUHHHHHHHUHHUHHUHHUHHHUHHUHHUHHHHHHHHHHHHHHLH U U U U U 0 U U dd TTT TT UD U U D U U TO GO TO O U D U U 00 U DU 20000000 LU U U U 0 0 UD Odd O U UD TOT IT UD U
22. EBO EE OEC LI LU U U UD 0 0 U U UD 0 D DW B U U D 0 D 0 D 0 U d 1 Vpsd U U U U D 0 U U U D U D D ma U D D D D D D UD 0 0 D D OO J 0 0 0 D UD UD 000000000 LU U U KU U UU DD OD U U UD 0 DU ud Td U U U U GO U U U U TO D U U U U D 0 0 U U U 0 U U U U u K dema d 2 DABO DD DO O DO BDO DD ODO ODO DD ODO ODO D GT ulli HHHHHHHHHHH Motort MotorR HUUUUUU BODOOODODOD0d0D0D00 LU U U UD U 0 0 0 0 D D UD TTT TT TT TT TT dd DO O TG UU D uL Lut HHHHHHUHHHUHHHHHHUHHHHUHHHUHHHHHH Motor Til ine Ww js Mortos RE NET Js POCUS 86 86 EEE EE princess BEHET E Ri ha HHI hi th h DREI EROE 95T RTSH BEE U U D U wie U D D 0 D 0 D U U D U U D lemsp rib DD D Wat D D UO D UD 0 D 7 0 0 U C HHHHHHUHHAHHHHHUHHHHHHHHHHHHHHHHHHHHHHHHHHUHHHHLH HHHHHHHHHHHHHHHHHUHHHHHHHUHHHHHUHEHHHHHHHHHHHHHHL HHHHHUHHHHHHHUHUHHHHHHHUHHHHAHHHHHHHHHHHHHHHHHHHHLH HHHHHHUHHHHUHHHUHHHHHHHHHHUHHHHHHHHHUHHHHHHHHHHHLH gzHHHHHHHHHHHHHHHHHHHHHHHHHHL U DU KU DU DU 0 BB BO D D D UD D DO DO 0 UD D 0 0 0 D 0 D D K 0 0 0 0 D 0 D U KOLU Ooooo0000 HHHHHHHHHHHH TIHHHHHHHHHHHHL 63 1 U UU UD 0 BB 0 U U UD BDO D U U UD U TOT D 0 UD 0 D 0 UD 4 GO U U U U ELO 30cnm L D L TOT U HEBEL L U LI L HHHHHHHUHHHHHUHHHHHHHHHHHHHHHHHHHUHHHHHHHHHHUHHHL U D UD D 20m0 D ELO TT GT D D TO 0 D 0 EE D D D 0 D U D D Motor MotorR U U D UD 0 0 UU i D U DUD 0 DUD 0 0 U 0 0 UD 0 0 U U 5 16 5 IU HDD D EE BE GE GEO DEO EE UE EE EI LI U U U U U U DO UD BDO U
23. I Fase Rs 2 Hystersis width 5 I i 5 E T a a Non detection Output L 0 5 10 15 20 5 30 35 40 45 50 55 60 65 70 75 80 Output switching point distance L 24 3cm Distance to reflective object L cm Fig 5 Analog Output Voltage vs Surface Fig 6 Analog Output Voltage vs Distance to Illuminance of Reflective Object Reflective Object 3 0 GP2D12 6 GP2D12 T 2 8 Reflectivity ini 90 18 S an Reflective object Light source m 2 E Say car RS rl E E 2 0 reflects aam Je GP2D12 a 2 0 Ei illuminance 2 16 Tem 16 s 5 E 12 L 30cm E 12 8 S 08 08 lt lt 0 4 0 4 U U U 2000 4000 6000 8000 10000 12000 14000 U 10 20 30 40 50 60 70 80 Surface illuminance of reflective object 1x Distance to reflective object L cm Fig 7 Analog Output Voltage vs Ambient Fig 8 Analog Output Voltage vs Detection Temperature Distance n GP2D12 GP2D12 Kodak Co Ltd gray cards R 27 reflective ratio 9096 L Distance to reflective object X Delecion pani N distance 2 8 24 Sensor gn GP2D12 distance 2 0 1 6 1 2 0 8 Analog output voltage Vo V Analog output voltage Vo V 0 4 20 10 0 10 20 30 40 50 60 70 80 90 Ambient temperature T C Detection distance X cm 0
24. TO O D mob D 0 0 U 0 0 U 0 0 UL L U U U U U 0 U U 0 U 0 OKOL L E Robot Jikken High performance Embedded Workshop FE REO FETO P BLE THO BASEL T FALSO J200 Dea G5 e a JA amp it Robot Jikken E RobotJikken Assembly source file 3 asmsrc vectsrc 3 G source file main c ain c Dependencies E 3672sh datadeth E erdeth nroboh 3 eir er AL At 21 21 c7 E Build Debug A FindinFiles A Macro A Test Version Control FI Default desktop SSHEWA4 JULU E U U U U U U U U 0 0 UD U U U 0 0 0 0 DO U U TTT D UD TO TO U U TTT U U U 0 0 U U 0 U U U D UD 0 DUD DD D d 1 LD O Assembly source fie I I D D D D D U U U D U U U U D U U C source file U D TIL U D U D U man U U D E mainc U 00000000 U U U U U U U Oo CU DU U 00 00 U 00 U U 30 mane U 0 TO GO U U UD U U D U U U U U U U UD U 0 U L U U U 0 0 U U U U UD DDD 0 0 0 U UD D 0 D UD D UD D 0 0 0 0 0 TTT 0 0 U CU 0 U U U U main U U U U U U U U U U U UU TO U U U U U U TO TO TTT TO TO U U 0 U U U U 0 0 U asm sre 0000 ma U 0 0 0 0 0 0 D D UD UD 0 0 0 D D UD UD 0 0 0 D 0 0 L U U U U U 0 U U U UD while U U 0 U U 0 U U U U 0 0 U U U U U U UD U while 170 0 0 00 U U UD U U U stat U U UD O O O U U U U U 0 U 0 U 0 0 LU U U 0 U 0 D 0 0 U W 0 00 0 U U U U U U UD U U D U U Start 0 D D U U D U U 0 UD 0 D U U
25. TT 0 0 U U U UD TO OT 0 D U U 0 U LT XO YU ZRobotJikkenzReleasel U U U RobotJikken mtr EH B U E E E U DU U U U U D U U U U Robotlikkenmot 1 D D OOO userman TO GO OD U D 0 HOO U D 0 D UD B DT RAMDODO 00000 DO D U O UD U EE EF D U H 0 D U D D Oil SysJikken exe HHHHHHHHHHHHHL U U 0 D D 0 D UD 0 D DO 0 0 UD 0 0 D LD U Robotikkenmt 0O L D D D l HHHHUHHUHHHHHUHUHHHHHHHHUHHHUHHHHHUHUIWHL HHHHRAMHHHHHHHHHHHHHHUHUHHHHHHHHHHHHHHHH 40 EEDII U U U U UD DD U U ddt di U UD 0 0 dd TG TG 0 IO D 0 UD 0 0 H sA U U UD U U D D D U U U COM UD UD U U U U TT U U TTT dd O UD U U 0 0 UD 0 0 0 UD 0 U U U U D 0 D D D D D D 0 D D FDT DO O Device O D D D U Disconnect D D D U U D U D D D U HHHHHHHHHHHHHHHHHHHHHHHHL Un U U UD Start 0000000000000 40 LEDIIHHHHHHIHHHHHHHHHHHHHHH2UHHHHHHHHHHHHHUHHHH U U U D U U U U U D U 0 U D U CE U U D user man 000 Wat OU 10000 1000000000 HHHHHHHHHHHH2UHHHHHHHHRAMHHHUHHUHHHHHUHHRAMHHHUHHHHHH U U U D D 0 U U userrmamOHHHHUHHHHHHHHHHHHHHHHHHStertHHHHHHHHH HHHHLEDHHHHHHHUHHHHHUHHHHHHHHHHHHHHHUHHHHL P user main DU H HH U HE RAM D B D D L pragma section USR void user main void 40 LED U D D D D DB D U D L while 1 1 Led Pat OxF 4 LEDO OOO ON Wait 10 10 x 10ms 0 1 sec lll I iE Led Pat 0x0 40 LED U OFF Wait 10 g B STH NENE pragma section LU U U U UD U UD U U 0 UD 0 0 U U 0 D KAND D D 0 0 D OD 0 DO U 0 UO 0 0 0 0 D 0 BED LT LU
26. U LH p E U U U UT UT UT UT UT UT U U H XU YU RobotJikken Release U J RobotJikken mot U U U U ODO U DDD 0 0 UD 0 D U U D U U 0 U 0 0 U U UD 0 0 UD U S 0 0 U 0 0 U 0 0 U U 0 0 U U U U DO U U 0 0 0 D 0 0 U 0 0 UD U U 600000 U U 0 U 0 0 U 0 0 LU U 30 U U 0 0 DDD U DDD U 0 D 0 D U U UD 0 0 U U U U 0 U U 0 U D U UD 60 U U UD UD 0 U U 0 0 0 U U U 0 U PCD U 0 010 U 0 D U pp RS232C PC m PC RS232C PC A Q WL DI U 6 U UU U UU 0 U U U U 0 U U PCD IC DL LI Step1 FDTQOOO00 000000000 FlashHHHHHHH FDTHHHHHH Flash Development Toolkit OO000 000000000 unsupported version D 0800000080 OKHHHHHHHHHHHHHHH HHHH Cancel 00000000 O Device O OO OO ODDO Configure Flash Project O 0O 0 0 0 0 U D U 0 0 0 0 UI L 0000000 MPUN LI D U Select Device H83672F 4000000000 00000060 U U U U U 0 0 0 0 0 0 D U 10 U U U U U U 0 0 D 0 0 0 MPU Td dd DTT U UD U U U U 0 0 U LL U RS232C U 0 0 0 UD U O TU U U 00 PC D U 0 COM ID D U U U 0 0 0 U UD U OO U 0 0 0 U U C U U U U U U 0 0 U OC DU UD U GT U UD U UD U U 0 D 0 0 U CI Step2 000000000000 0000 ss 9008000000000 000000 Filed 0 0 0 0 0 O Open An S Record 1 0000 XY FRobotJdikken XReleasel RobotJikken mot 000000000000000000000000000000000000
27. U U 0 0 UD 0 D ODO 0 0 0 U KAM D D D UD D UD OD UO CELO ELO D 0 D D U GO EE 0 0 0 LI HIHHHHHUHHHHUHHHHHHUHHHHHHHUHHHHHHHHHHH A pragma section 0200000000000 TT TTT TO Td TUTT TTT TOT TT OG OLD EE EE BT CT R HHHHHHUHHUHHHHHHHHHHHHHHHROMHHHHHHHHHHHHUHHHHH 5 10 6 010000000 U U U ODO U DDD U TTT UD 0 0 U U 0 U 0 0 UD U 0 0 0 B CD IL U U U U U U U L U U L U U L U U L U U L U U U tl U U U U 0 UD U DO D D ODO 0 UD U U 0 0 U U U U Cd5 U 0 UD UD 0 0 D U U 0 0 D U 0 0 d U U U U U U D U 0 0 0 U U U 0 D U U U U Cd5 U dd dd 0 0 D UD 0 0 0 UD UD 0 0 U U 0 D U 0 0 UD D 0 U HHHHHUHHHHUHHHHUHHHHHHHHHHHHHHHHHHHHUHHHHHHHHHHHH U U U U 0 0 U U IG TTT UD 0 0 U U UD U 0 UD 0 0 U 0 D CDL U U UD UD D UD U U U U Cd5S D U 0 D UD U U U U LED D UD U UD UD U U 0 0 0 UD 0 0 0 0 0 0 0 0 0 U L U U U 0 D U 0 0 0 DO DO 0 D U 0 0 0 TT U U 0 D U 0 0 0 UD U 0 0 0 U U U 0 D COSHHHHL U U U U DO OD 0 U DO OD ODO U 0 D U U D U U UD U U 2 CAST U U MEU D D TO D D D D D AD D D U U U DD U U U DD U CdslHHoSVHHHHHH 10K20 0 D U 0 0 0000000000 800 A00 0 UU ADDIT U MPU D 00 UD U 0 TU TTT 0 D U 0 0 MPU D 0 U UD 0 0 0 0 ADD D U UD UD U U Y 0 0 10 U U UU 2400000000000 1022 D 0 0 UD U U U U 0 0 D U U OO UO U 0 U U UD Hg U U U 0 U U U U D U U U U Cd5 U 0 D UD 0 0 GO UD 0 0 U AD 00 UU vd dd 0000000 U U U BDO U U Ud TTT U U UD 0 0 D U 0 D U U U TT U U TT U D TO U U 0 U 0 0 U U U 5v UD U 000 ADD D 0 0 TOGO U U D U U 0 U 0 UD 0 0 U U UD U 0 L LED WAS 5V 10
28. UD U U TU GO TO D U TU U U 0 U U U TOT TO 0 0 U U UD U 0 U 0 0 0 0 U 00400000500 Step3 U 00000 EDT 0 D U U D UD 0 0 D U U U ROMY D U 0 0 D 0 0 U 0 L U U U D 100000000 SysJikken exe D U U RAM D U U U 0 0 0 D U 0 0 0 D UD U 0 0 UD U L 5 14 a LU U U 0 UD 0 0 0 0 U FDO 0 D UD 0 0 D U U 0 U Rom D UD U U 0 UD U D 0 0 D UD O 0 D 0 U D U LU U U UD U UD usermain O U D U U U U GT UG TT U TT U U U UD 0 U 0 DO DO U U UD 0 0 0 D U U D U D SysJikken exe TOO KAM D D D 0 D 0 0 D 0 0 D U 0 D UD 0 D UD 0 D 0 0 U HHHUHHHHHHHHHHHHHHHHHHHHHHH SysJikkenexe 0 D D D D 0 0 D DU l LU U U U UD U UD Bd U 0 D 0 UD U 0 U U UD 0 0 U 0 U U PSD U U U U L U U U U PC U U U U U U U L U U L pragma section USR void user main void int psd data float V psd while 1 Wait 100 1s00 PSD I ODO ADI LU UU psd data get ad 2 ADHUUUUOUUUU o sv 102400020 1000000000 V psd float psd data 1024 0 5 0 TEES IP Hilli print float V psd print stringi yrn dj L U U L LU U L pragma section PSD PSD PATIRE se 1 LED PSD
29. e on the color of reflective objects reflectivity 2 Line up of distance output distance judgement type Distance output type analog voltage GP2D12 Detecting distance 10 to 80cm Distance judgement type GP2D15 Judgement distance 24cm Adjustable within the range of 10 to 80cm 3 External control circuit 19 unnecessary 4 Low cost E Applications 1 TVs 2 Personal computers 3 Cars 4 Copiers E Absolute Maximum Ratings Ta 25 C Vcc 5 V Parameter Symbol Rating Supply voltage 0 3 to Voc 40 3 10 to 60 40 to 70 Output terminal voltage Operating temperature Storage temperature Unit mm Light detector side 6 3 Lens case 4 5 03 2 hole Terminal connection The dimensions marked are Vo described the dimensions of 2 GND lens center position Vcc Unspecified tolerance 0 3mm Notice In the absence of confirmation by device specification sheets SHARP takes no responsibility for any defects that may occur in equipment using any SHARP devices shown in catalogs data books etc Contact SHARP in order to obtain the latest device specification sheets before using any SHARP device Internet Internet address for Electronic Components Group http www sharp co jp ecg 5 20 sei bed i EO a SHARP GP2D12 GP2D15 E Recommended Operating Conditions Parameter Unit Operating supply voltage V E Electro optical Charac
30. nsor 1 line l get line sensor 2 000 RS 232c0 00 pC 0 LI l print 1nt Line de print stringi NEL print int line c line cl print string Vt 00000 L L L L L L L L print int line 1 1 line 1000 print strangi few jun D G j pragma section a EEE AAA EMERSI EEE EE BBB DO TT TTT TTT TO TO TT TT TO GO GO Od TOO BLIUL UL L UUOUOAct_Fwd DIO UO D UO LO D U U Act_Rot_R HH Act_rRot_L 0000000 Act Turn FR U UU Act Turn ELO D D UD D U DEO 0 H D BOUL E get AA ANS oen d Dd go god od o000000 3 000 0000000000000 0000000000 line r line c line llillu L D HL BL D HE BL O EE OL OL EE BED DC UO 7L OE OE EE B D DI CI HIW D TH ht DO O DDD DT 0000000 XOU DDD DO DD OD 0000000 AQUA A ba AAA AN B AN AAA HHHHHHHHHHHHHHHHHHHHHHHHHHHUHHHHHHHHHHHHHHH Wat JE LU U 0 U U U U D D DU 30ms U Di d 0 D db D U UO DO TOGO D CELO EE 0 0 COELO D UD LI C LU U U U U U D UD DUDO OD D UD TT TT 30ms U U 0 UD ELO U OLD L HHHUHHHHHHHHHUHHHHHHHUHHHUHHHHU BILL LU U U 0 0 D BD D D D DD D UD D TTT TT 0 0 D TT D U D 0 UD D 0 D DO DO D 00 0 0 D 0 L HHHHHHHUHHHHHHHHHHHHHHHHHHUHHHHHHHHHHHHHUHHHHUHHHHL LU U U 0 0 UD BD D UD D U D U TO TTT TT UD U TTT U D 0 0 TTT D D luu LU U U U DO 0 0 DD D D D i D D U TO D 0 UD 0 0 D 0 0 U SHH HHHHHHHHHHHHHHHHHHHHHHHHHHH pragma section USR void user main void int line r dine Jane ds while 1 Wait 3 30ms OO D U D C U D D UO UE TI LI C 0
31. teristics Ta 25 C Vec 5V oss V Output ten voltage wal V Ve Output vottageatLow 7 T 96 V Dif of cp ol y De ri em pi mm C NEON SO Note L Distance to reflective object Using reflective object White paper Made by Kodak Co Ltd gray cards R 27 white face reflective ratio 90 2 We ship the device after the following adjustment Output switching distance L 24cm 3cm must be measured by the sensor 3 Distance measuring range of the optical sensor system 4 Output switching has a hysteresis width The distance specified by Vo should be the one with which the output L switches to the output H Fig 1 Internal Block Diagram Fig 2 Internal Block Diagram GP2D12 GP2D15 GND Voc 5V GND Voc 5V O O 9 O processing Circuit processing circuit I Vo I Analog output LED drive C I LED Distance measuring IC Distance measuring IC Fig 3 Timing Chart Vcc Power supply 38 3ms 9 6ms Distance _ measuring First measurment m N aale operation m X N a ia Vo Output Unstable output First output Second output E nth output _ 5 0ms GP2D12 7 6mst1 9ms Y GP2D15 B 21 ES S e O RT RR Is SHARP GP2D12 GP2D15 Fig 4 Distance Characteristics GP2D15 l I Output H Lo Ad Bom SEO dp a d I I v I I I

移動ロボットの制御実験I（ライントレース，センサ

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