{"id":1786,"date":"2017-05-09T00:55:38","date_gmt":"2017-05-08T15:55:38","guid":{"rendered":"http:\/\/192.168.1.111\/blog\/?p=1786"},"modified":"2017-05-09T01:18:49","modified_gmt":"2017-05-08T16:18:49","slug":"%e5%80%85%e3%81%a8%e4%b8%80%e7%b7%92%e3%81%abarduino_atc%e3%83%97%e3%83%a9%e3%83%ac%e3%83%bc%e3%83%ab_02%e4%bb%ae%e3%82%b9%e3%82%b1%e3%83%83%e3%83%81","status":"publish","type":"post","link":"https:\/\/www.mita.nu\/blog\/%e5%80%85%e3%81%a8%e4%b8%80%e7%b7%92%e3%81%abarduino_atc%e3%83%97%e3%83%a9%e3%83%ac%e3%83%bc%e3%83%ab_02%e4%bb%ae%e3%82%b9%e3%82%b1%e3%83%83%e3%83%81","title":{"rendered":"\u5005\u3068\u4e00\u7dd2\u306bArduino_ATC\u30d7\u30e9\u30ec\u30fc\u30eb_02(\u4eee\u30b9\u30b1\u30c3\u30c1)"},"content":{"rendered":"<p><script src=\"\/\/pagead2.googlesyndication.com\/pagead\/js\/adsbygoogle.js\" async=\"\"><\/script><script>\/\/ <![CDATA[ (adsbygoogle = window.adsbygoogle || []).push({ google_ad_client: \"ca-pub-3695676419355782\", enable_page_level_ads: true }); \/\/ ]]><\/script><\/p>\n<h1><span style=\"color: #339966;\">\u5005\u3068\u4e00\u7dd2\u306bArduino_ATC\u30d7\u30e9\u30ec\u30fc\u30eb_02(\u4eee\u30b9\u30b1\u30c3\u30c1)<\/span><\/h1>\n<p>\u672c\u4ef6\u306f\u3001\u4ee5\u524d\u66f8\u304b\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f<span style=\"color: #0000ff;\"><strong><a style=\"color: #0000ff;\" href=\"http:\/\/192.168.1.111\/blog\/?p=1762\">\u300c\u5005\u3068\u4e00\u7dd2\u306bArduino_ATC\u30d7\u30e9\u30ec\u30fc\u30eb_01(\u524d\u6e96\u5099)\u300d<\/a><\/strong><\/span>\u306e\u7d9a\u304d\u3067\u3059\u3002<\/p>\n<p>\u306a\u306b\u3084\u3089\u3084\u308a\u305f\u3044\u3053\u3068\u3092\u805e\u304d\u51fa\u3057\u3066\u3001\u30e1\u30e2\u3057\u305f\u306e\u3067\u3059\u304c\u3001\u3042\u307e\u308a\u3001\u3054\u3061\u3083\u3054\u3061\u3083\u66f8\u3044\u3066\u3082\u3053\u306e\u30da\u30fc\u30b8\u304c\u8aad\u307f\u8f9b\u304f\u306a\u308b\u3060\u3051\u3067\u3059\u306e\u3067\uff08\u4e0b\u8a18\u3092\u3054\u89a7\u306b\u306a\u308b\u3068\u304a\u5206\u304b\u308a\u306b\u306a\u308b\u3068\u601d\u3044\u307e\u3059\u304c\u624b\u9045\u308c\u3067\u3059\u3002\u3059\u307f\u307e\u305b\u3093\uff09\u629c\u7c8b\u3057\u305f\u6a5f\u80fd\u30e1\u30e2\u3060\u3051\u3001\u66f8\u304d\u307e\u3059\u3002<br \/>\n\u5005\u306b\u306f\u3001\u982d\u306e\u4f53\u64cd\u3092\u3057\u3066\u3082\u3089\u3046\u305f\u3081\u306b\u3001\u8cea\u554f\u3092\u53d7\u3051\u4ed8\u3051\u3064\u3064\u81ea\u4f5c\u3057\u3066\u3082\u3089\u3044\u3001\u6210\u529f\u4f53\u9a13\u3092\u5f97\u3066\u3082\u3089\u3044\u307e\u3057\u3087\u3046\u3002<br \/>\n\u8a70\u307e\u3063\u305f\u3068\u3053\u3067\u306f\u3001\u9069\u5207\u306a\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u30d8\u30eb\u30d7\u3057\u307e\u3059\u3002\u3064\u307e\u3089\u306a\u304f\u306a\u3063\u3061\u3083\u3063\u305f\u3089\u3001\u9006\u52b9\u679c\u3067\u3059\u3057\u306d\u3002<\/p>\n<p>Arduino Nano\u306e D6,D7 \u306b\u30e2\u30fc\u30bf\u30fc\u5236\u5fa1\u3092\u62c5\u5f53\u3055\u305b\u3066\u3001D9\u3092\u63a5\u8fd1\u30bb\u30f3\u30b5\u30fc\u304b\u306e\u3089\u30c7\u30fc\u30bf\u5165\u529b\u306b\u4f7f\u3046\u3068\u4eee\u5b9a\u3057\u3066\u4f5c\u3063\u3066\u3086\u304d\u307e\u3059\u3002<\/p>\n<p>\u5404\u3005\u306e\u7aef\u5b50(D6,D7,D9)\u304c\u3059\u3067\u306b\u4f55\u304b\u306b\u4f7f\u308f\u308c\u3066\u3066\u3044\u308b\u304b\u3001\u77e5\u8b58\u304c\u306a\u304f\u3066\u308f\u304b\u3089\u306a\u3044\u306e\u3067\u3001\u63a2\u308a\u306a\u304c\u3089\u3084\u3063\u3066\u3086\u304d\u307e\u3059\u3002<\/p>\n<p>\u7aef\u5b50\u3092\u5909\u3048\u3089\u308c\u308b\u3088\u3046\u306b \u30b9\u30b1\u30c3\u30c1\u4e0a\u3067\u306f\u524d\u534a\u306b#define \u3067\u5b9a\u7fa9\u3057\u3066\u5f8c\u3067\u5909\u3048\u3084\u3059\u304f\u3057\u3088\u3046\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<p>\u3068\u308a\u3042\u3048\u305a\u3001\u4e0b\u8a18\u6a5f\u80fd\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002\uff08\u3081\u3082\u3081\u3082\uff09<\/p>\n<h1>\u6a5f\u80fd\u8981\u4ef6\u30e1\u30e2<\/h1>\n<p>\u3053\u3046\u3044\u3046\u306e\u3092\u66f8\u304f\u306e\u306f\u8077\u696d\u75c5\u3067\u3059\u306d\u3002\u5b9f\u306f\u7d30\u304b\u3044\u30c6\u30ad\u30b9\u30c8\u3082\u66f8\u3044\u3066\u3044\u305f\u306e\u3067\u3059\u304c\uff08\u8077\u696d\u75c5\u3067\u300c\u8a66\u9a13\u9805\u76ee\u4f5c\u308c\u306a\u3044\u3068\u6b63\u3057\u3044\u3082\u306e\u304c\u3067\u304d\u3066\u308b\u304b\u308f\u304b\u3089\u306a\u304f\u306a\u308b\u300d\u306a\u3093\u3066\u601d\u3044\u306a\u304c\u3089)\u3053\u3053\u3067\u306f\u66f8\u304d\u307e\u305b\u3093\u3002\u8a55\u4fa1\u57fa\u6e96\u3092\u300c\u697d\u3057\u304b\u3063\u305f\u304b\uff1f\u300d\u306b\u7d5e\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002<br \/>\n\u304c\u3001\u307e\u3041\u5927\u4f53\u306e\u6a5f\u80fd\u30e1\u30e2\u306f\u5fc5\u8981\u3067\u3059\u306e\u3067\u3001\u4e00\u5fdc\u66f8\u304d\u307e\u3059\uff08\u7406\u5c48\u304c\u591a\u304f\u3066\u3059\u307f\u307e\u305b\u3093\uff09\u3002<\/p>\n<pre>\r\n\u8981\u4ef61\u300c\u524d\u65b9\u3001\u969c\u5bb3\u7269\u8d70\u691c\u51fa\u3092\u5951\u6a5f\u3068\u3057\u305f\u505c\u6b62\u300d\r\n\u3000\u3000\u6a5f\u80fd\u6982\u8981(\u30a2)\u3001\u300c\u505c\u6b62\u300d\r\n\u3000\u3000\u3000\u3000(1)\u201d\u6025\u505c\u6b62\u201d\uff1a\u8d70\u884c\u96fb\u6e90\u65ad\u306b\u3088\u308b\u6025\u505c\u6b62\u5b9f\u65bd\u3067\u306e\u201d\u505c\u6b62\u72b6\u614b\u3078\u306e\u9077\u79fb\u201d\r\n\u3000\u3000\u3000\u3000\u3000\u3000\u3000\u7de9\u505c\u6b62\u306f\u5b9f\u73fe\u3092\u898b\u9001\u308a\u3068\u3059\u308b\u3002\u7de9\u505c\u6b62\u306f\u885d\u7a81\u306b\u3064\u306a\u304c\u308a\u3084\u3059\u3044\u65e8\u4f1d\u9054\u3057\u305f\u3053\u3068\u3082\u3042\u308a\r\n\u3000\u3000\u3000\u3000\u3000\u3000\u3000\u5408\u610f\u5f62\u6210\u3057\u3084\u3059\u304b\u3063\u305f\u3053\u3068\u304c\u7406\u7531\u306b\u542b\u307e\u308c\u307e\u3059(\u8a98\u5c0e\u3057\u3066\u3044\u307e\u3059\u60aa\u3044\u696d\u8005\u3067\u3059)\u3002\r\n\u8981\u4ef62\u3001\u505c\u6b62\u5f8c\u306e\u81ea\u52d5\u904b\u8ee2\u518d\u958b\r\n\u3000\u3000\u6a5f\u80fd\u6982\u8981(\u30a2)\u3001\u969c\u5bb3\u7269\u304c\u691c\u51fa\u3055\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u306b\u306f\u8d70\u884c\u72b6\u614b\u306b\u81ea\u52d5\u9077\u79fb\u3059\u308b\u3002\r\n\r\n\u3000\u3000\u6a5f\u80fd\u6982\u8981(\u30a4)\u3001\u300c\u8d70\u884c\u300d\r\n\u3000\u3000\u3000\u3000(1)\u201d(\u7de9)\u52a0\u901f\u201d\uff1a\u4f9b\u7d66\u96fb\u5727\u9806\u6b21\u5236\u5fa1\u306b\u3088\u308b\u52a0\u901f\u3092\u7d4c\u7531\u3057\u3066\u306e\u6307\u5b9a\u96fb\u5727\u306b\u3088\u308a\u671f\u5f85\u3055\u308c\u308b\u8d70\u884c\u901f\u5ea6\u3078\u306e\u72b6\u614b\u9077\u79fb\u5236\u5fa1\r\n\u3000\u3000\u3000\u3000\u3000\u3000\u3000\u201d(\u7de9)\u52a0\u901f\u201d\u3092\u30d7\u30e9\u30ec\u30fc\u30eb\u3067\u5b9f\u73fe\u3057\u305f\u3089\u683c\u597d\u3044\u3044\u304b\u3089\u3068\u3044\u3046\u30af\u30e9\u30a4\u30a2\u30f3\u30c8(\u5005\u6bbf)\u306e\u5f37\u3044\u8981\u671b\u306e\u70ba\u3002\r\n\u3000\u3000\u3000\u3000\u3000\u3000\u3000\uff08\u30a4\u30f3\u30d0\u30fc\u30bf\u30fc\u30c1\u30c3\u30af\u306a\u52d5\u304d\u3092\u3055\u305b\u305f\u3044\uff09\r\n<\/pre>\n<hr \/>\n<p>\u63a5\u7d9a\u306f\u3001\u524d\u56de\u66f8\u304b\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f<strong><a style=\"color: #0000ff;\" href=\"http:\/\/192.168.1.111\/blog\/?p=1762\">\u3053\u306e\u30da\u30fc\u30b8(\u63a5\u7d9a\u56f3)<\/a><\/strong>\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<h1>\u6a5f\u80fd\u306b\u95a2\u3057\u3066<\/h1>\n<h2 style=\"color: #0000ff;\">\u90e8\u54c11\uff1a\u63a5\u8fd1\u30bb\u30f3\u30b5\u30fc\u30e2\u30b8\u30e5\u30fc\u30eb[KKHMF LM393 IR\u8d64\u5916\u7dda\u969c\u5bb3\u7269\u56de\u907f\u30bb\u30f3\u30b5\u30e2\u30b8\u30e5\u30fc\u30eb]<\/h2>\n<p>\u30fbVCC(\u96fb\u6e905v)\/GND(\u30de\u30a4\u30ca\u30b9\u6975)\/OUT(\u4fe1\u53f7\u7dda) \u305d\u308c\u305e\u308c\u3092Arduino\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001D7\u3068OUT\u3092\u63a5\u7d9a\u3057\u305f\u3068\u4eee\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<h3>setup()\u3067\u306f<\/h3>\n<pre>void setup()\r\n{\r\n pinMode( 7 , INPUT ); \/\/ \u63a5\u8fd1\u30bb\u30f3\u30b5\u30dd\u30fc\u30c8\u4f7f\u7528\u5ba3\u8a00\r\n}\r\n<\/pre>\n<h3>loop()\u3067\u306f<\/h3>\n<pre>void loop()\r\n{\r\n \/\/ \u63a5\u8fd1\u72b6\u614b\u691c\u51fa LOW = \u975e\u63a5\u8fd1 , HIGH = \u63a5\u8fd1\r\n l_tmp_pin = digitalRead(7); \/\/ \u63a5\u8fd1\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u60c5\u5831\u3092\u53d6\u5f97\r\n\r\n if(l_tmp_pin == LOW)\r\n { \/\/ \u63a5\u8fd1\u691c\u77e5\u72b6\u614b\r\n   \/\/ \u505c\u6b62\u63aa\u7f6e\u7b49\u306e\u51e6\u7406\u3092\u3053\u3053\u306b\u66f8\u304f\r\n } else { \/\/ \u63a5\u8fd1\u672a\u691c\u51fa\u72b6\u614b\r\n   \/\/ \u524d\u9032\u7b49\u306e\u51e6\u7406\u3092\u3053\u3053\u306b\u66f8\u304f\r\n }\r\n}\r\n<\/pre>\n<hr \/>\n<h2 style=\"color: #0000ff;\">\u90e8\u54c12\uff1aDC\u30e2\u30fc\u30bf\u30fc\u5236\u5fa1\u306e\u30e2\u30fc\u30bf\u30fc\u30c9\u30e9\u30a4\u30d6\u30e2\u30b8\u30e5\u30fc\u30eb[L9110S H\u30d6\u30ea\u30c3\u30b8 \u30b9\u30c6\u30c3\u30d1 \u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d6 \u30e2\u30b8\u30e5\u30fc\u30eb \u30c7\u30e5\u30a2\u30eb DC \u30b9\u30c6\u30c3\u30d7 \u30e2\u30fc\u30bf \u30c9\u30e9\u30a4\u30d0 \u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30dc\u30fc\u30c9]<\/h2>\n<h3>setup()\u3067\u306f<\/h3>\n<pre>void setup()\r\n{\r\n pinMode( 8 , OUTPUT ); \/\/ IA\u30dd\u30fc\u30c8\u4f7f\u7528\u5ba3\u8a00\r\n pinMode( 9 , OUTPUT ); \/\/ IB\u30dd\u30fc\u30c8\u4f7f\u7528\u5ba3\u8a00\r\n digitalWrite( 8 , LOW ); \/\/ StopOperation\r\n digitalWrite( 9 , LOW ); \/\/ StopOperation\r\n}\r\n<\/pre>\n<h3>loop()\u3067\u306f<\/h3>\n<pre>void loop()\r\n{\r\n digitalWrite(8, LOW); \/\/ PWM speed = slow\r\n analogWrite(9, 200); \/\/ \uff12\u500b\u76ee\u306e\u5f15\u6570\u306f 255-\u52a0\u6e1b\u5024\u3001\u3053\u306e\u4f8b\u3067\u306f200\u56fa\u5b9a\r\n}\r\n<\/pre>\n<p><!-- ====\u5e83\u544a==== --><\/p>\n<table border=\"1\">\n<tbody>\n<tr>\n<td bgcolor=\"#6b8600\"><script async src=\"\/\/pagead2.googlesyndication.com\/pagead\/js\/adsbygoogle.js\"><\/script><!-- Blog\u7528\u57cb\u3081\u8fbc\u307f\u81ea\u52d5\u30b5\u30a4\u30ba --><ins class=\"adsbygoogle\" style=\"display: block;\" data-ad-client=\"ca-pub-3695676419355782\" data-ad-slot=\"3803204959\" data-ad-format=\"auto\"><\/ins><script>(adsbygoogle = window.adsbygoogle || []).push({});<\/script><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><!-- ====\u5e83\u544a==== --><\/p>\n<h1>\u30b9\u30b1\u30c3\u30c1<\/h1>\n<p>\u3068\u308a\u3042\u3048\u305a\u3001\u52d5\u4f5c\u78ba\u8a8d\u3057\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u3053\u3093\u306a\u5f62\u3067\u9032\u3081\u3088\u3046\u3068\u304a\u3082\u3044\u307e\u3059\u3002<\/p>\n<pre>\/*\r\n[Pin3,4\u306b\u5bfe\u3057\u3066\u306eOperation]\r\nIA IB\r\nL L Off\r\nH L Forward\r\nL H Reverse\r\nH H Off\r\n\r\n\u3064\u307e\u308a\r\n3[LOW] ,4[LOW] OFF\r\n3[HIGH] ,4[LOW] \u6b63\u8ee2\r\n3[LOW] ,4[HIGH] \u9006\u8ee2\r\n3[HIGH] ,4[HIGH] OFF\r\nanalogWrite( XD_MTSW_IB, 255-xa_cur_speed ); \/\/\u524d\u9032\r\n*\/\r\n#define XD_DEBUG 1\r\n\r\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\r\n\/\/ Pin\u914d\u7f6e\u306b\u3064\u3044\u3066\u5ba3\u8a00\r\n#define XD_MTSW_IA 8 \/\/ IA\u3068\u3064\u306a\u3050PIN\u756a\u53f7\u5ba3\u8a00\r\n#define XD_MTSW_IB 9 \/\/ IB\u3068\u3064\u306a\u3050PIN\u756a\u53f7\u5ba3\u8a00\r\n#define XD_PIN_IR 7 \/\/ \u8d64\u5916\u7dda\u63a5\u8fd1\u30bb\u30f3\u30b5\u3068\u3064\u306a\u3050PIN\u756a\u53f7\u5ba3\u8a00\r\n\r\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\r\n\/\/\u9032\u884c\u65b9\u5411\u306e\u72b6\u614b\u30d5\u30e9\u30b0\r\n#define XF_DIRC_STOP 0 \/\/ \u76f4\u8fd1\u306e\u9032\u884c\u65b9\u5411(\u505c\u6b62[\u8d77\u52d5\u76f4\u5f8c\u6271]:0)\r\n#define XF_DIRC_FORW 1 \/\/ \u76f4\u8fd1\u306e\u9032\u884c\u65b9\u5411(\u524d\u9032:1)\r\n#define XF_DIRC_BACK -1 \/\/ \u76f4\u8fd1\u306e\u9032\u884c\u65b9\u5411(\u5f8c\u9000:-1)\r\n\r\n\/\/\u30e2\u30fc\u30bf\u30fc\u306e\u901f\u5ea6\u6307\u793a(\u56fa\u5b9a\u5024)\r\n#define XD_PWM_SLOW 50 \/\/ \u52d5\u304d\u59cb\u3081\u6700\u4f4e\u901f\u5ea6\u6570\u5024 (Default 50) \u4e0b\u3052\u3089\u308c\u308b\u3060\u3051\u4e0b\u3052\u308b\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u3092\u3059\u308b\u3000\u66ab\u5b9a\u5024\r\n#define XD_PWM_FAST 255 \/\/ \u6700\u9ad8\u901f\u5ea6\r\n\/\/#define XD_PWM_FAST 200 \/\/ arbitrary fast speed PWM duty cycle\r\n\r\n\/\/\u9032\u884c\u901f\u5ea6\u306e\u52a0\u7b97\u5024\r\n#define XD_SPEED_STEP 20 \/\/\u3086\u3063\u304f\u308a\u52a0\u901f\u6642\u306e\u901f\u5ea6\u52a0\u7b97\u306b\u304b\u3051\u308b\u79d2\u6570\r\n#define XD_SPEED_ADD 4 \/\/\u3086\u3063\u304f\u308a\u52a0\u901f\u6642\u306e\u901f\u5ea6\u52a0\u7b97\u5024\r\n\/\/10\u79d2\u3050\u3089\u3044\u3067\u5168\u901f\u306b\u306a\u308b\u3068\u304b\u3063\u3053\u3044\u3044\u304b\u3082\u306d = 200\/10 = 40\r\n\/\/#define XD_SPEED_ADD ((XD_PWM_FAST-XD_PWM_SLOW)\/XD_SPEED_STEP) \/\/\u3086\u3063\u304f\u308a\u52a0\u901f\u6642\u306e\u901f\u5ea6\u52a0\u7b97\u5024 \r\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\r\n\/\/ \u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\r\n\/\/int xa_stop_alert; \/\/ \u63a5\u8fd1\u8b66\u5831\u72b6\u614b\u30d5\u30e9\u30b0\r\nint xa_cur_speed; \/\/ \u73fe\u5728\u306e\u524d\u65b9\u9032\u884c\u901f\u5ea6\u30d1\u30e9\u30e1\u30fc\u30bf\r\nint xa_prev_direc; \/\/ \u76f4\u8fd1\u306e\u9032\u884c\u65b9\u5411(0:\u505c\u6b62\u3001XF_DIRC_FORW:\u524d\u9032\u3001XF_DIRC_BACK:\u5f8c\u9000)\r\nunsigned long xa_stopping_timer_cnt; \/\/ \u505c\u6b62\u6642\u306b\u5165\u3063\u305f\u6642\u306e\u6642\u9593\u60c5\u5831 xa_stopping_timer_cnt = millis();\r\nunsigned long xa_adding_timer_cnt; \/\/ \u30a4\u30f3\u30d0\u30fc\u30bf\u30fc\u3063\u307d\u3044\u52a0\u901f\u5b9f\u73fe\u306e\u305f\u3081\u306e\u6642\u9593\u60c5\u5831 xa_adding_timer_cnt = millis();\r\n\r\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\r\n\/\/ \u30bb\u30c3\u30c8\u30b0\u30ed\u30fc\u30d0\u30eb\u5909\u6570\r\nvoid setup()\r\n{\r\n pinMode( XD_MTSW_IA , OUTPUT ); \/\/ IA\u30dd\u30fc\u30c8\u4f7f\u7528\u5ba3\u8a00\r\n pinMode( XD_MTSW_IB , OUTPUT ); \/\/ IB\u30dd\u30fc\u30c8\u4f7f\u7528\u5ba3\u8a00\r\n digitalWrite( XD_MTSW_IA , LOW ); \/\/ StopOperation\r\n digitalWrite( XD_MTSW_IB , LOW ); \/\/ StopOperation\r\n\r\n pinMode( XD_PIN_IR , INPUT ); \/\/ \u63a5\u8fd1\u30bb\u30f3\u30b5\u30dd\u30fc\u30c8\u4f7f\u7528\u5ba3\u8a00\r\n\r\n xa_cur_speed = 0; \/\/ \u9032\u884c\u6307\u793a\u306e\u901f\u5ea6\u306f0\u3068\u3059\u308b(\u521d\u671f\u5316)\r\n xa_prev_direc = XF_DIRC_FORW; \/\/ \u521d\u671f\u7684\u306b\u306f\u9032\u884c\u306e\u6307\u793a\u306f\u51fa\u3055\u306a\u3044\u3067\uff10\uff1d\u30cb\u30e5\u30fc\u30c8\u30e9\u30eb(\u505c\u6b62\u4e2d)\r\n xa_stopping_timer_cnt = 0; \/\/ \u505c\u6b62\u72b6\u614b\u306b\u81f3\u3063\u305f\u6642\u9593\u3092\u4eee\u306b\u8a2d\u5b9a millis() \u306e\u5024\u306f\u505c\u6b62\u3057\u305f\u3089\u5165\u308b\r\n xa_adding_timer_cnt = 0; \/\/ \u30a4\u30f3\u30d0\u30fc\u30bf\u30fc\u52a0\u901f\u95a2\u9023\u8a55\u4fa1\u30bf\u30a4\u30de\u30fc\u5024\u521d\u671f\u5316\r\n}\r\n\r\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\r\n\/\/ in_speed MAXSpeed\u3092\u6307\u5b9a\u3057\u3066\u305d\u3053\u307e\u3067\u52a0\u901f\u3059\u308b\r\nvoid xf_go_ahead(int in_speed)\r\n{\r\nunsigned long l_tmp_mills;\r\n\r\n l_tmp_mills = millis(); \/\/ \u8d77\u52d5\u304b\u3089\u306e\u7d4c\u904e\u6642\u9593\uff1d\u73fe\u5728\u6642\u9593 \u3092\u53d6\u5f97\r\n\r\n xa_stopping_timer_cnt = 0; \/\/ \u505c\u6b62\u72b6\u614b\u306b\u81f3\u3063\u305f\u6642\u9593\u3092\u4eee\u306b\u8a2d\u5b9a millis() \u306e\u5024\u306f\u505c\u6b62\u3057\u305f\u3089\u5165\u308b\r\n\r\n if(xa_prev_direc != XF_DIRC_FORW)\r\n { \/\/\u76f4\u524d\u307e\u3067\u30d0\u30c3\u30af\u3057\u3066\u3044\u305f\u304b\u3001\u505c\u6b62\u3057\u3066\u3044\u305f\r\n   xa_adding_timer_cnt = l_tmp_mills;\r\n   xa_cur_speed = 0;\r\n }\r\n xa_prev_direc = XF_DIRC_FORW; \/\/ \u76f4\u8fd1\u306b\u524d\u9032\u3057\u305f\u8a18\u9332 \u65b9\u5411\u30d5\u30e9\u30b0\r\n\r\n if((xa_adding_timer_cnt + 100) &lt; l_tmp_mills) \/\/ 100\u30df\u30ea\u4ee5\u4e0a\u7d4c\u904e\u3057\u3066\u3044\u308c\u3070\u518d\u8a55\u4fa1\r\n {\r\n  xa_adding_timer_cnt = l_tmp_mills; \/\/\u73fe\u5728\u6642\u9593\u3092\u3092\u8a18\u9332\r\n   \/\/ \u901f\u5ea6\u4e0a\u9650\u306b\u6291\u3048\u3064\u3064\u3001\u5897\u901f\r\n   xa_cur_speed += XD_SPEED_ADD;\r\n   if(xa_cur_speed &gt;= in_speed)\r\n   {\r\n     xa_cur_speed = in_speed;\r\n   }\r\n }\r\n xf_ff(xa_cur_speed);\r\n}\r\n\r\nvoid xf_ff(int in_cur_speed)\r\n{\r\n digitalWrite(XD_MTSW_IA, LOW); \/\/ PWM speed = slow\r\n analogWrite(XD_MTSW_IB, in_cur_speed); \/\/ PWM speed = slow\r\n}\r\n\r\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\r\nvoid xf_stop(int in_mode)\r\n{\r\n xa_prev_direc = XF_DIRC_STOP;\r\n xa_adding_timer_cnt = 0;\r\n\r\n if(xa_stopping_timer_cnt == 0)\r\n {\r\n   xa_stopping_timer_cnt = millis(); \/\/ \u505c\u6b62\u72b6\u614b\u306b\u81f3\u3063\u305f\u6642\u9593\u3092\u8a2d\u5b9a\r\n }\r\n\r\n if(in_mode == 0)\r\n {\r\n \/\/ \u306a\u3093\u3068\u306a\u304f\u6b62\u3081\u308b\uff08\u8d70\u884c\u4e2d\u7de9\u505c\u6b62\u5b9f\u9a13\u5b9f\u88c5\uff09\r\n   if(xa_cur_speed &gt; 0)\r\n   {\r\n     xf_ff(xa_cur_speed);\r\n   } else {\r\n     xa_cur_speed -= (XD_SPEED_ADD + 0); \/\/\u3076\u3064\u304b\u3063\u3066\u3057\u307e\u3046\u3088\u3046\u3067\u3042\u308c\u3070\u3000\u3053\u3053\u306e\u52a0\u7b97\u5024\u3092\u5927\u304d\u304f\u3059\u308b\u3068\u9593\u306b\u5408\u304f\u304b\u3082\r\n     if(xa_cur_speed &lt; 0)\r\n     {\r\n       xa_cur_speed = 0;\r\n     }\r\n     digitalWrite( XD_MTSW_IA, LOW );\r\n     digitalWrite( XD_MTSW_IB, LOW );\r\n   }\r\n }\r\n}\r\n\r\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\r\n\/\/\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\r\nvoid loop()\r\n{\r\nint l_tmp_pin; \/\/ Pin\u72b6\u614b\u30c7\u30fc\u30bf\u53d7\u4fe1\r\nunsigned long l_tmp_mills;\r\n\r\n l_tmp_mills = millis(); \/\/ \u8d77\u52d5\u304b\u3089\u306e\u7d4c\u904e\u6642\u9593\uff1d\u73fe\u5728\u6642\u9593 \u3092\u53d6\u5f97\r\n\r\n \/\/ \u63a5\u8fd1\u72b6\u614b\u691c\u51fa LOW = \u975e\u63a5\u8fd1 , HIGH = \u63a5\u8fd1\r\n l_tmp_pin = digitalRead(XD_PIN_IR); \/\/ \u63a5\u8fd1\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u60c5\u5831\u3092\u53d6\u5f97\u3057\u3066\u3001\u8b66\u5831\u72b6\u614b\u30d5\u30e9\u30b0\u3092\u7acb\u3066\u308b\r\n\r\n if(l_tmp_pin == LOW)\r\n { \/\/ \u63a5\u8fd1\u691c\u77e5\u72b6\u614b\r\n   \/\/\u505c\u6b62\u63aa\u7f6e\r\n   xf_stop(0); \/\/\u7dca\u6025\u505c\u6b62\r\n } else { \/\/ \u63a5\u8fd1\u672a\u691c\u51fa\u72b6\u614b\r\n   \/\/ \u524d\u9032[\u901f\u5ea6\u52a0\u7b97&amp;\u4e0a\u9650\u5024\u4e38\u3081\u51e6\u7406]]\r\n   xf_go_ahead(XD_PWM_FAST);\r\n }\r\n}\r\n<\/pre>\n<p>\/\/\u304a\u308f\u308a<\/p>\n<p>\u3068\u308a\u3042\u3048\u305a\u4eca\u56de\u306f\u3001\u30b9\u30b1\u30c3\u30c1\u3092\u4eee\u306b\u66f8\u3044\u3066\u307f\u307e\u3057\u305f\u3002<\/p>\n<h2>\u3010\u4e88\u544a\u3011<\/h2>\n<h4>\u672c\u4ef6\u306e\u7d9a\u304d\u3067\u3059\u304c\u3001\u66f8\u3044\u305f\u30b9\u30b1\u30c3\u30c1\u3092\u52d5\u304b\u3059\u305f\u3081\u306b\u3001\u4eee\u7d44\u3092\u3057\u307e\u3059\u3002\uff08\u4f55\u3082\u30d7\u30e9\u30ec\u30fc\u30eb\u306b\u5165\u308c\u8fbc\u307e\u306a\u3044\u3067\u3082\u30d6\u30ec\u30c3\u30c9\u30dc\u30fc\u30c9\u3068\u30c6\u30b9\u30bf\u304c\u3042\u308b\u3067\u306f\u306a\u3044\u304b\uff1f\uff09\u3068\u3044\u3046\u58f0\u304c\u805e\u3053\u3048\u3066\u304d\u305d\u3046\u3067\u3059\u304c\u3001\u6c17\u6301\u3061\u3092\u7dad\u6301\u3059\u308b\u305f\u3081\u306b\u3001\u300c\u3084\u3063\u305f\u3053\u3068\u304c\u4f55\u304b\u898b\u3048\u308b\u300d\u3053\u3068\u3092\u3084\u3063\u3066\u3086\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<span style=\"color: #0000ff;\"><strong><a style=\"color: #0000ff;\" href=\"http:\/\/192.168.1.111\/blog\/?p=1869\">\u300c\u5005\u3068\u4e00\u7dd2\u306bArduino_ATC\u30d7\u30e9\u30ec\u30fc\u30eb_03(\u30d7\u30e9\u30ec\u30fc\u30eb\u6539\u9020)\u300d<\/a><\/strong><\/span>\u3068\u3001\u984c\u3057\u3066\u7d76\u8cdb\u57f7\u7b46\u4e2d(\u5005\u6bbf\u8a66\u9a13\u671f\u9593\u4e2d\u306b\u3064\u304d\u884c\u52d5\u505c\u6b62\u4e2d)\u3067\u3059\u3002\u3088\u308d\u3057\u304f\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n<\/h4>\n","protected":false},"excerpt":{"rendered":"<p>\u5005\u3068\u4e00\u7dd2\u306bArduino_ATC\u30d7\u30e9\u30ec\u30fc\u30eb_02(\u4eee\u30b9\u30b1\u30c3\u30c1) \u672c\u4ef6\u306f\u3001\u4ee5\u524d\u66f8\u304b\u305b\u3066\u3044\u305f\u3060\u304d\u307e\u3057\u305f\u300c\u5005\u3068\u4e00\u7dd2\u306bArduino_ATC\u30d7\u30e9\u30ec\u30fc\u30eb_01(\u524d\u6e96\u5099)\u300d\u306e\u7d9a\u304d\u3067\u3059\u3002 \u306a\u306b\u3084\u3089\u3084\u308a\u305f\u3044\u3053\u3068\u3092\u805e\u304d\u51fa\u3057\u3066\u3001\u30e1\u30e2\u3057\u305f\u306e\u3067 &#8230; <span class=\"more\"><a class=\"more-link\" href=\"https:\/\/www.mita.nu\/blog\/%e5%80%85%e3%81%a8%e4%b8%80%e7%b7%92%e3%81%abarduino_atc%e3%83%97%e3%83%a9%e3%83%ac%e3%83%bc%e3%83%ab_02%e4%bb%ae%e3%82%b9%e3%82%b1%e3%83%83%e3%83%81\">[Read more&#8230;]<\/a><\/span><\/p>\n","protected":false},"author":2,"featured_media":2005,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4,145],"tags":[150,155,165,164,139,179,146,64],"_links":{"self":[{"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/posts\/1786"}],"collection":[{"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/comments?post=1786"}],"version-history":[{"count":25,"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/posts\/1786\/revisions"}],"predecessor-version":[{"id":2016,"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/posts\/1786\/revisions\/2016"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/media\/2005"}],"wp:attachment":[{"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/media?parent=1786"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/categories?post=1786"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.mita.nu\/blog\/wp-json\/wp\/v2\/tags?post=1786"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}