LEGO Mindstorms EV3

CU-Robocon

WEBhttp://robot-programming.jp/ E-mailhf@cs.chubu.ac.jp

1

2

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LEGO Mindstorms

5

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

LEGOEV3

LM

M

L

7

EV3

8

9

10

11

1. PC(EV3-SW)

2. USB/Bluetooth

3.

USB

12

EV3

1. EV3

2.

13

EV3

14

15

16

(PAD)

17

EV3

3

1

2

3

PAD

PAD(Problem Analysis Diagram)

12

0100()

3

3

18

1. sound

2. : :

3.

4.

19

&

20

USB

Bluetooth

13

323

3

()

()

3 ///

(PAD)

21

22

True

False

&

&

23

USB

1

2 3

24

() (2)

()

25

EV3

26

B C

PAD

27

(B+C)32

B+C

3

1

2B+C

2

}}

(

28

(B+C)32

1 2

50

3

ON

2

(

29

(B+C)32

1 2

C50

3

ON

2

B50

L

30

745:12

31

B C

BC

: 50 : 40

B: 50C: 50 B: 50C: 40 B: 50C: 30

: 0 : 10 : 20

32

33

(2)

()

34

B C

PAD

BC

35

3

B+C

B C

2

B

C

1

2

}

}

BC

36

1 2

B 50

C -50

90

37

90

1.

2.

()

90

38

()

1.

1.5

2.

180

39

1 390

3 390

2 390

4 390

3904

()

40

1 390

3 390

2 390

4 390

100800

3904

41

1

2

3

4

3 90

PAD

42

4

3

B+C

B C

90

2

3

}

}

1 1

3904

PAD

43

44

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

50cm

46

50cm

cm20.5

ab= ab=()

47

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

PAD

51

cnt10cm20.5

90

4}2

cnt

cnt1 1

cntcnt+1 6

5

3

52

cnt

12

3 4 5 6

cntcnt+1cnt1

53

() ()

()

54

012

55

EV3

1

EV3156

1.

2.

1.

1.

}3.

57

PAD

2 1

4

45

35

True

False

PAD

58

59

1

2 3

4 5

60

()

61

30cm

62

63

EV34

4

EV3464

1.

2.

30cm()1.

30cm()1.

}3.

65

PAD

30cm

2 1

4

45

3

True

False

66

1

2 3

4

< 30cm

(cm)

67

68

LED(R, G, B)

LED

69

RGB

RGB

R

G

B

R

G

B

LED

70

(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

71

LED

LED R:

G:

B:

72

LED

LED R:

G:

B:

73

LED

LED R:

G:

B:

11,000R,G,B

1[ms]

74

EV33

3

EV3375

()()

76

PAD

()()

> 40 13

2

True

False4

B

C (0)

77

()()

1

2

3

4

--> 50

78

79

(PAD)

1

3

6

4

5

1

2

80

1

2

3

4

5

6

1

81

--

1

2

3

4

5

6

1

82

83

[degree/s]

(InvenSense)

85

EV3/

[degree] [degree/sec]

(PAD)

90

86

2 390

4

1

87

90

90

()

1

2

3 4

88

89

90

91

92

0 177

127

x

y

0 21

12

|x|

y||

93

0 177

127

x

y

0 21

12

|x|

MINDSTORMS

HELLO!

y||

94

0 177

127

x

y

0 177

127

x

y

(50,20)

(50,20)

40

80

80

95

96

(PAD)

2 1

3

97

1

2 3

-

98

(PAD)

12

1 2 1

1 3

2 4

1 5

99

12

1

2 4

1 1

3 5

100

0 177

127

x

y (89,64)r

101

102

103

PAD

> 40 35

4

True

False6

1

2

1

30cm

7

10

45

9

True

False

2

104

1

24

35

6

7

8

9

105

AB

A

BC

B

BC

106

107

108

109

110

111

112

113

(Hironobu Fujiyoshi)

1997 19972000 Postdoctoral Fellow 2000 2004 2006 2010 2014

(2005)(2009)(2009)(2011,2013)ISS(2013)

E-mail: hf@cs.chubu.ac.jp WEB: http://www.vision.cs.chubu.ac.jp/ Facebook: facebook.com/hironobu.fujiyoshi Twitter: @hf149

[WEB]

http://www.robot-programming.jp/

[] LEGO Mindstorms NXT! ISBN-13: 978-4764903784

[iBook] NXT-SW https://itunes.apple.com/jp/book/id902846245

[iBook] NXC https://itunes.apple.com/jp/book/id902356211