{"id":446,"date":"2016-08-21T13:23:55","date_gmt":"2016-08-21T04:23:55","guid":{"rendered":"http:\/\/bezelie.com\/blog\/?page_id=446"},"modified":"2016-08-21T14:17:47","modified_gmt":"2016-08-21T05:17:47","slug":"btk%e3%82%b8%e3%83%a7%e3%82%a4%e3%82%b9%e3%83%86%e3%82%a3%e3%83%83%e3%82%af%e3%81%a7%e3%81%90%e3%82%8a%e3%81%90%e3%82%8a","status":"publish","type":"page","link":"http:\/\/bezelie.com\/blog\/?page_id=446","title":{"rendered":"BTK:\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067\u3050\u308a\u3050\u308a"},"content":{"rendered":"

\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067\u3050\u308a\u3050\u308a\u52d5\u304b\u305b\u308b\u3079\u30bc\u30ea\u30fc\u3092\u4f5c\u308a\u307e\u3057\u3087\u3046\u3002<\/p>\n

\u5fc5\u8981\u306a\u3082\u306e<\/h5>\n

\u30fb\u30b5\u30a4\u30f3\u30b9\u30de\u30fc\u30c8\u793e\u88fdArduino\u7528\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af
\n\u30fbAmazon<\/a>\u30fb\u79cb\u6708\u96fb\u5b50\u901a\u5546<\/a><\/p>\n

\u63a5\u7d9a\u65b9\u6cd5<\/h5>\n

\u30fb\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u96fb\u6e90\u3068GND\u306e\u30b1\u30fc\u30d6\u30eb\u3092Studuino mini\u306e\u30a2\u30ca\u30ed\u30b0I\/O\u306e\u96fb\u6e90\u3068GND\u306b\u63a5\u7d9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

\u30fb\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306eX\u8ef8\u3068Y\u8ef8\u306e\u30b1\u30fc\u30d6\u30eb\u3092Studuino mini\u306e\u30a2\u30ca\u30ed\u30b0I\/O\u306e\uff11\u756a\u3068\uff12\u756a\u306b\u63a5\u7d9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

\u30fb\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u30b9\u30a4\u30c3\u30c1\u306e\u30b1\u30fc\u30d6\u30eb\u3092Studuino mini\u306e\u30c7\u30b8\u30bf\u30ebI\/O\u306e\uff16\u756a\u306b\u63a5\u7d9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0<\/h5>\n

\u30fb\u4e0b\u8a18\u306e\u30b5\u30f3\u30d7\u30eb\u30b9\u30b1\u30c3\u30c1\u3092\u30b3\u30d4\u30fc\u3057\u3066\u3001Arduino IDE\u306b\u30da\u30fc\u30b9\u30c8\u3057\u3001Studuino mini\u306b\u8ee2\u9001\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

\/\/----------------------------------------------------------------------\r\n\/\/ \u30d9\u30bc\u30ea\u30fc\u304a\u3057\u3083\u3079\u308a\u30ad\u30c3\u30c8(BTK) Studuino mini\u7528\u30b5\u30f3\u30d7\u30eb\u30b9\u30b1\u30c3\u30c1\r\n\/\/ \u6700\u7d42\u66f4\u65b0\uff1a2016\u5e748\u670820\u65e5\u3000by Jun Toyoda (Team Bezelie)\r\n\/\/ \u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067\u52d5\u304b\u305b\u308b\u30b5\u30f3\u30d7\u30eb\r\n\/\/ \uff11\uff1a\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u4e0a\u4e0b\u5de6\u53f3\u3067\u9996\u304c\u52d5\u304f\u3002 \r\n\/\/ \uff12\uff1a\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3092\u62bc\u3057\u4e0b\u3052\u308b\u305f\u3073\u306b\u4f53\u304c\u56de\u8ee2\u3059\u308b\u3002\r\n\/\/ \uff13\uff1a\u30c7\u30b8\u30bf\u30ebI\/O\u30d4\u30f3\uff15\u756a\u306b\u30b5\u30fc\u30dc\u3092\u3064\u306a\u3050\u3068\u30bb\u30f3\u30bf\u30ea\u30f3\u30b0\u3067\u304d\u308b\u3002\r\n\/\/----------------------------------------------------------------------\r\n#include <Servo.h> \/\/ \u30b5\u30fc\u30dc\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\r\n#include <Wire.h> \/\/ I2C\u901a\u4fe1\u3059\u308b\u305f\u3081\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\r\n#include <AquesTalk.h> \/\/ AquesTalk\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\r\nAquesTalk atp; \/\/ AquesTalk\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u5b9a\u7fa9\r\n\r\n\/\/----------------------------------------------------------------------\r\n\/\/\u30b5\u30fc\u30dc\u521d\u671f\u8a2d\u5b9a Pitch=\u9996\u306e\u7e26\u632f\u308a, Roll=\u9854\u306e\u56de\u8ee2, Yaw=\u4f53\u306e\u56de\u8ee2\r\nconst int svPc = 90; \/\/ \u30b5\u30fc\u30dc\u306e\u4e2d\u5fc3\u89d2\u5ea6\uff08Pitch\uff09 \r\nconst int svRc = 90; \/\/ \u30b5\u30fc\u30dc\u306e\u4e2d\u5fc3\u89d2\u5ea6\uff08Roll\uff09\r\nconst int svYc = 90; \/\/ \u30b5\u30fc\u30dc\u306e\u4e2d\u5fc3\u89d2\u5ea6\uff08Yaw\uff09\r\nconst int pinSvC = 5; \/\/ \u30b5\u30fc\u30dc(\u30bb\u30f3\u30bf\u30ea\u30f3\u30b0\u7528)\u3092\u30c7\u30b8\u30bf\u30ebI\/O\u306e5\u756a\u306b\u5272\u308a\u5f53\u3066\u308b\r\nconst int pinSvP = 9; \/\/ \u30b5\u30fc\u30dc(Pitch)\u3092\u30c7\u30b8\u30bf\u30ebI\/O\u306e9\u756a\u306b\u5272\u308a\u5f53\u3066\u308b\r\nconst int pinSvR = 10; \/\/ \u30b5\u30fc\u30dc(Roll)\u3092\u30c7\u30b8\u30bf\u30ebI\/O\u306e10\u756a\u306b\u5272\u308a\u5f53\u3066\u308b\r\nconst int pinSvY = 11; \/\/ \u30b5\u30fc\u30dc(Yaw)\u3092\u30c7\u30b8\u30bf\u30ebI\/O\u306e11\u756a\u306b\u5272\u308a\u5f53\u3066\u308b\r\nServo svC; \/\/ \u30b5\u30fc\u30dc\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u308b(\u30bb\u30f3\u30bf\u30ea\u30f3\u30b0\u7528)\r\nServo svP; \/\/ \u30b5\u30fc\u30dc\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u308b(Pitch \u9996\u306e\u7e26\u632f\u308a\u7528)\r\nServo svR; \/\/ \u30b5\u30fc\u30dc\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u308b(Roll \u9854\u306e\u56de\u8ee2\u7528)\r\nServo svY; \/\/ \u30b5\u30fc\u30dc\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u308b(Yaw \u4f53\u306e\u56de\u8ee2\u7528)\r\nint destP; \/\/ \u5909\u6570\uff1a\u30b5\u30fc\u30dc\u306e\u76ee\u6a19\u89d2\u5ea6\uff08Pitch\uff09svPc-40<destP<svPc+20\r\nint destR; \/\/ \u5909\u6570\uff1a\u30b5\u30fc\u30dc\u306e\u76ee\u6a19\u89d2\u5ea6\uff08Roll\uff09 svRc-40<destR<svRc+40\r\nint destY; \/\/ \u5909\u6570\uff1a\u30b5\u30fc\u30dc\u306e\u76ee\u6a19\u89d2\u5ea6\uff08Yaw\uff09 svYc-40<destY<svYc+40\r\nint posP = svPc; \/\/ \u5909\u6570\uff1a\u30b5\u30fc\u30dc\u306e\u73fe\u5728\u306e\u89d2\u5ea6(Pitch)\r\nint posR = svRc; \/\/ \u5909\u6570\uff1a\u30b5\u30fc\u30dc\u306e\u73fe\u5728\u306e\u89d2\u5ea6(Roll)\r\nint posY = svYc; \/\/ \u5909\u6570\uff1a\u30b5\u30fc\u30dc\u306e\u73fe\u5728\u306e\u89d2\u5ea6(Yaw)\r\n\r\n\/\/----------------------------------------------------------------------\r\n\/\/ \u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u8a2d\u5b9a\r\nconst int joyStickX = 1; \/\/ \u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\uff08X\u8ef8\uff09\u3092\u30a2\u30ca\u30ed\u30b0I\/O\u306e\uff11\u756a\u306b\u5272\u308a\u5f53\u3066\u308b\r\nconst int joyStickY = 2; \/\/ \u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\uff08Y\u8ef8\uff09\u3092\u30a2\u30ca\u30ed\u30b0I\/O\u306e\uff12\u756a\u306b\u5272\u308a\u5f53\u3066\u308b\r\nconst int joyStickSW = 6;\/\/ \u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\uff08\u30b9\u30a4\u30c3\u30c1\uff09\u3092\u30c7\u30b8\u30bf\u30ebI\/O\u306e6\u756a\u306b\u5272\u308a\u5f53\u3066\u308b\r\nint inputX; \/\/ \u5909\u6570\uff1a\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u304b\u3089\u306e\u5165\u529b\u5024(X\u8ef8)\u4fdd\u5b58\u7528\r\nint inputY; \/\/ \u5909\u6570\uff1a\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u304b\u3089\u306e\u5165\u529b\u5024(Y\u8ef8)\u4fdd\u5b58\u7528\r\nint inputSW; \/\/ \u5909\u6570\uff1a\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u304b\u3089\u306e\u5165\u529b\u5024(\u30b9\u30a4\u30c3\u30c1)\u4fdd\u5b58\u7528\r\nint counterSW = 0; \/\/ \u5909\u6570\uff1aYaw\u72b6\u614b\u306e\u4fdd\u5b58\u7528\r\n\r\n\/\/----------------------------------------------------------------------\r\nvoid setup() \/\/ \u521d\u671f\u8a2d\u5b9a\r\n{\r\n pinMode (joyStickSW, INPUT_PULLUP); \/\/\u56de\u8def\u5185\u306e\u30d7\u30eb\u30a2\u30c3\u30d7\u62b5\u6297\u3092\u6709\u52b9\u306b\u3059\u308b\u3002\r\n \/\/\u3053\u308c\u306b\u3088\u308a\u30b9\u30a4\u30c3\u30c1\u3092\u62bc\u3057\u3066\u3044\u306a\u3044\u72b6\u614b\u304c\uff11\u3001\u62bc\u3057\u305f\u72b6\u614b\u304c\uff10\u306b\u306a\u308b\u3002\r\n initServo(); \/\/ \u30b5\u30fc\u30dc\u306e\u521d\u671f\u30bb\u30f3\u30bf\u30ea\u30f3\u30b0\r\n atp.SetAccent(120); \/\/ AquesTalk\u58f0\u8272\u6307\u5b9a \u30a2\u30af\u30bb\u30f3\u30c8 0<64<255\r\n atp.SetPitch(3); \/\/ AquesTalk\u58f0\u8272\u6307\u5b9a \u30d4\u30c3\u30c1 0<64<255\r\n atp.SetSpeed(100); \/\/ AquesTalk\u58f0\u8272\u6307\u5b9a \u30b9\u30d4\u30fc\u30c9 50<100<300\r\n atp.Synthe(\"#J\"); \/\/ AquesTalk\u767a\u58f0\u300c\u30c1\u30e3\u30a4\u30e0\uff11\u300d\r\n while(atp.IsBusy()) ; \/\/ AquesTalk\u3000\u9cf4\u308a\u6b62\u3080\u307e\u3067\u5f85\u3064\r\n delay (1000);\r\n}\r\n\/\/----------------------------------------------------------------------\r\nvoid loop() \/\/ \u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\r\n{\r\n inputX = constrain(analogRead(joyStickX),0,1023); \/\/ \u5165\u529b\u5024\u3092\u7bc4\u56f2\u5185\u306b\u53ce\u3081\u308b\r\n destP = map(inputX, 0, 1023, svPc-40, svPc+15); \/\/ \u5165\u529b\u5024\u3092\u30b5\u30fc\u30dc\u306e\u53ef\u52d5\u7bc4\u56f2\u306b\u632f\u308a\u5206\u3051\u308b\r\n if (abs(destP - posP) > 2){ \/\/ \u5909\u5316\u91cf\u304c\u5927\u304d\u3044\u3068\u304d\u3060\u3051\u52d5\u304b\u3059\r\n svP.attach(pinSvP); \r\n svP.write(destP);\r\n delay (100);\r\n svP.detach ();\r\n posP = destP;\r\n }\r\n\r\n inputY = constrain(analogRead(joyStickY),0,1023); \/\/ \u5165\u529b\u5024\u3092\u7bc4\u56f2\u5185\u306b\u53ce\u3081\u308b \r\n destR = map(inputY, 0, 1023, svRc+35, svRc-35); \/\/ \u5165\u529b\u5024\u3092\u30b5\u30fc\u30dc\u306e\u53ef\u52d5\u7bc4\u56f2\u306b\u632f\u308a\u5206\u3051\u308b\r\n if (abs(destR - posR) > 2){ \/\/ \u5909\u5316\u91cf\u304c\u5927\u304d\u3044\u3068\u304d\u3060\u3051\u52d5\u304b\u3059\r\n svR.attach(pinSvR); \r\n svR.write(destR);\r\n delay (100);\r\n svR.detach ();\r\n posR = destR;\r\n }\r\n \r\n inputSW = digitalRead (joyStickSW); \/\/ \u30b9\u30a4\u30c3\u30c1\u72b6\u614b\u306e\u5165\u529b\r\n if (inputSW == 0) { \/\/ \u30b9\u30a4\u30c3\u30c1\u304c\u62bc\u3055\u308c\u3066\u3044\u305f\u3089\u4ee5\u4e0b\u306e\u51e6\u7406\u3092\u884c\u3046\r\n switch(counterSW){ \/\/ \u62bc\u3055\u308c\u305f\u306e\u304c\u4f55\u56de\u76ee\u306a\u306e\u304b\u306b\u3088\u3063\u3066\u51e6\u7406\u3092\u5206\u3051\u308b\r\n case 0: \/\/ \u521d\u671f\u72b6\u614b\r\n atp.Synthe(\"konnnichiwa'\"); \/\/ AquesTalk\u767a\u58f0\r\n destY = svYc - 40; \/\/ \u5de6\u3092\u5411\u304b\u305b\u308b \r\n counterSW = 1;\r\n break;\r\n case 1: \/\/ \u5de6\u3092\u5411\u3044\u3066\u3044\u308b\u72b6\u614b\r\n atp.Synthe(\"bo'ku\/be'zeri-.\"); \/\/ AquesTalk\u767a\u58f0\r\n destY = svYc; \/\/ \u6b63\u9762\u3092\u5411\u304b\u305b\u308b \r\n counterSW = 2;\r\n break;\r\n case 2: \/\/ \u6b63\u9762\u3092\u5411\u3044\u3066\u3044\u308b\u72b6\u614b\r\n atp.Synthe(\"_tsuku'tte+kurete.\"); \/\/ AquesTalk\u767a\u58f0\r\n destY = svYc + 40; \/\/ \u53f3\u3092\u5411\u304b\u305b\u308b \r\n counterSW = 3;\r\n break;\r\n case 3: \/\/ \u53f3\u3092\u5411\u3044\u3066\u3044\u308b\u72b6\u614b\r\n atp.Synthe(\"ari'gato- \"); \/\/ AquesTalk\u767a\u58f0\r\n destY = svYc; \/\/ \u6b63\u9762\u3092\u5411\u304b\u305b\u308b \r\n counterSW = 0;\r\n break;\r\n }\r\n svY.attach(pinSvY); \r\n svY.write(destY);\r\n delay (500);\r\n svY.detach ();\r\n }\r\n}\r\n\r\n\/\/----------------------------------------------------------------------\r\n\/\/\u95a2\u6570\r\nvoid initServo (){ \/\/ \u30b5\u30fc\u30dc\u306e\u521d\u56de\u30bb\u30f3\u30bf\u30ea\u30f3\u30b0\r\n svC.attach(pinSvC); \r\n svP.attach(pinSvP); \r\n svR.attach(pinSvR); \r\n svY.attach(pinSvY); \r\n svC.write(100); \/\/ \u52d5\u4f5c\u78ba\u8a8d\u306e\u305f\u3081\u3001\u308f\u3056\u3068\u305a\u3089\u3059\r\n svP.write(svPc);\r\n svR.write(svRc); \r\n svY.write(svYc);\r\n delay (500); \r\n svC.write(90);\r\n delay (500); \r\n svC.detach ();\r\n svP.detach ();\r\n svR.detach ();\r\n svY.detach ();\r\n}\r\n\r\n\/\/----------------------------------------------------------------------\r\n\/\/ Studuino\u306b\u95a2\u3059\u308b\u60c5\u5831\r\n\/\/ \u30e9\u30a4\u30d6\u30e9\u30ea http:\/\/www.artec-kk.co.jp\/studuino\/docs\/jp\/Studuino_library_reference.pdf\r\n\/\/ AquesTalk pico LSI\u306b\u95a2\u3059\u308b\u60c5\u5831\r\n\/\/ \u97f3\u58f0\u8a18\u53f7\u5217\u751f\u6210\u30b5\u30fc\u30d3\u30b9 http:\/\/www.a-quest.com\/demo\/pico_kanji2roman.html\r\n\/\/ \u8a18\u8ff0\u30eb\u30fc\u30eb\u3000http:\/\/www.a-quest.com\/download\/manual\/atp3011_datasheet.pdf\r\n\/\/ \u30e9\u30a4\u30d6\u30e9\u30ea\u3000http:\/\/blog-yama.a-quest.com\/?eid=970151\r\n\/\/----------------------------------------------------------------------\r\n\/\/end of file<\/pre>\n
 <\/p>\n","protected":false},"excerpt":{"rendered":"
\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067\u3050\u308a\u3050\u308a\u52d5\u304b\u305b\u308b\u3079\u30bc\u30ea\u30fc\u3092\u4f5c\u308a\u307e\u3057\u3087\u3046\u3002 \u5fc5\u8981\u306a\u3082\u306e \u30fb\u30b5\u30a4\u30f3\u30b9\u30de\u30fc\u30c8\u793e\u88fdArduino\u7528\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af \u30fbAmazon\u30fb\u79cb\u6708\u96fb\u5b50\u901a\u5546 \u63a5\u7d9a\u65b9\u6cd5 \u30fb\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u96fb\u6e90\u3068GND\u306e\u30b1\u30fc\u30d6\u30eb\u3092Studu … “BTK:\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067\u3050\u308a\u3050\u308a” \u306e<\/span>\u7d9a\u304d\u3092\u8aad\u3080<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-446","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=\/wp\/v2\/pages\/446","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=446"}],"version-history":[{"count":3,"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=\/wp\/v2\/pages\/446\/revisions"}],"predecessor-version":[{"id":453,"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=\/wp\/v2\/pages\/446\/revisions\/453"}],"wp:attachment":[{"href":"http:\/\/bezelie.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=446"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}