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͜ͷՆ࢝Ί͍ͨ ʮTOPPERS/ASP3ʯ ͋ͣΒͨ(@azurata09_)

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͋ͣΒͨ (@azurata09_) • ԭೄݝग़਎ • ஌ೳ B3 • ETϩϘίϯ • Webϑϩϯτ

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͋ͣΒͨ (@azurata09_) • ԭೄݝग़਎ • ஌ೳ B3 • ETϩϘίϯ • Webϑϩϯτ

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ࠓ೔ͷ࿩͸ETϩϘίϯ

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ಋೖ

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ETϩϘίϯ • ૊ΈࠐΈٕज़ऀҭ੒Λ໨తͱͨ͠ϩϘίϯ • ϋʔυ΢ΣΞ͸શνʔϜݻఆͰιϑτ΢ΣΞͷΈΛڝ͏ • UMLʹΑΔιϑτ΢ΣΞͷઃܭਤ΋ఏग़͢Δඞཁ͕͋Δ

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͜ͷՆ࢝Ί͍ͨ ʮTOPPERS/ASP3ʯ ͋ͣΒͨ(@azurata09_)

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TOPPERS? ASP3? • TOPPERS͸૊ࠐΈ޲͚ͷOSSΛల։͢ΔϓϩδΣΫτ • ASP3͸TOPPERSͷ։ൃͨ͠RTOSΧʔωϧ • ͪͳΈʹμITRON࢓༷४ڌ • ࠓճͷLTͰ͸ASP3ΧʔωϧΛ࢖༻ͨ͠EV3RTΛಈ͔͢

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૊ࠐΈ࣮ͬͯ෺ͳ͍ͱ͍͚ͳ͍Ͱ͠ΐʁ Կಈ͔͢ͷʁLνΧʁ

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㱺 ͳΜͱɺγϛϡϨʔλ͕͋Δ

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୊ࡐ: 2ྠϩϘοτ

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γϛϡϨʔλͷߏ੒ ʮathrillΛETϩϘίϯͰ࢖͑ΔΑ͏ʹ͢Δ·Ͱʹඞཁͩͬͨ͜ͱ - YouTubeʯΑΓ

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༨ஊ: ಉΞʔΩςΫνϟͷԠ༻ • γϛϡϨʔλ͕SPIKE(৽ػମ)ʹ͛͢୅Θͬͨ • ಛʹϓϩάϥϜΛมߋ͢Δ͜ͱͳ͘SPIKE্Ͱ΋ಈ͘Α͏ʹͳͬͨ ʮETrobocon/RasPikeʯΑΓ

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γϛϡϨʔλ΋Πϯετʔϧͯ͠ɺ CPUΤϛϡϨʔλ΋Πϯετʔϧͯ͠ɺ ೖΕΔ΋ͷଟͦ͏...໘౗ͦ͏...

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㱺 ΄΅ϫϯϥΠφʔͰΠϯετʔϧՄೳ

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etrobo؀ڥ • ETϩϘίϯ࣮ߦҕһͰ͋Γ๺ւಓ৘ใେֶ।ڭतͷ୨ڮೋ࿕ࢯʹΑΔ ։ൃ؀ڥ • ಈ࡞؀ڥ͸Windows, macOS, Ubuntu, Chrome OS • ࣄલʹೖΕΔͷ΋VSCode, WSL(WindowsͷΈ), Homebrew(MacͷΈ) ͚ͩ

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࣮ફ

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ϩϘοτͷઆ໌ ʮETϩϘίϯ2023 ڝٕ಺༰ʯΑΓ

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ಈ͔ͯ͠ΈΔ • ໨ඪ: 2ඵ͝ͱʹલਐޙୀΛ܁Γฦ͢ • ࢖༻ݴޠ͸C++ • Ϟʔλಈ࡞ͷ੍ޚͱ࣌ؒΛଌΔػೳ͕ඞཁͦ͏

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APIͷυΩϡϝϯτΛಡΜͰΈΔ • ͜ͷ͋ͨΓ࢖͑͹͍͚ͦ͏ • ͦΕͧΕMotorΫϥεɺClockΫϥεͷϝϯό

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΍ͬͯΈͨ void main_task(intptr_t unused) { Motor leftWheel(PORT_C); Motor rightWheel(PORT_B); Clock clock; const int8_t pwm = (Motor::PWM_MAX) / 6; const uint32_t duration = 2000 * 1000; while(1) { leftWheel.setPWM(pwm); rightWheel.setPWM(pwm); clock.sleep(duration); leftWheel.setPWM(-pwm); rightWheel.setPWM(-pwm); clock.sleep(duration); } ext_tsk(); }

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ಈ͘

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·ͱΊ

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·ͱΊ • ASP3͸RTOSͷΧʔωϧ • ϫϯϥΠφʔͰΠϯετʔϧͰ͖Δ։ൃ؀ڥͱγϛϡϨʔλͰෑډ͕ ௿͍ • ҙ֎ͱී௨ͷϓϩάϥϜͱԿ΋͔ΘΒͳ͍

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૊ΈࠐΈͬͯɺ໘ന͍ • ΊͬͪΌࢥ͍௨Γʹಈ͔ͳ͍ • ࣮෺ͷʮಈ͍ͯΔײʯ͕Α͍ • ࣮૷ͷ໨৽͠͞͸ͳ͍͕ྗ͕ͭ͘ײ͕֮͋Δ • ίϯϐϡʔλͷ஌ֶ͕ࣝ΂Δ / ࢖͑Δ

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એ఻ • དྷि͔Βଟ෼ຖ೔׆ಈͯ͠Δ͔ΒEL޻๪ʹ༡ͼʹ͖ͯͶʂ • དྷ೥Ұॹʹ΍ͬͯ͘ΕΔਓืूதʂ