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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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ࠓͷETϩϘίϯ
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ಋೖ
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ETϩϘίϯ • ΈࠐΈٕज़ऀҭΛతͱͨ͠ϩϘίϯ • ϋʔυΣΞશνʔϜݻఆͰιϑτΣΞͷΈΛڝ͏ • UMLʹΑΔιϑτΣΞͷઃܭਤఏग़͢Δඞཁ͕͋Δ
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͜ͷՆ࢝Ί͍ͨ ʮTOPPERS/ASP3ʯ ͋ͣΒͨ(@azurata09_)
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TOPPERS? ASP3? • TOPPERSࠐΈ͚ͷOSSΛల։͢ΔϓϩδΣΫτ • ASP3TOPPERSͷ։ൃͨ͠RTOSΧʔωϧ • ͪͳΈʹμITRON༷४ڌ • ࠓճͷLTͰASP3ΧʔωϧΛ༻ͨ͠EV3RTΛಈ͔͢
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ࠐΈ࣮ͬͯͳ͍ͱ͍͚ͳ͍Ͱ͠ΐʁ Կಈ͔͢ͷʁLνΧʁ
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㱺 ͳΜͱɺγϛϡϨʔλ͕͋Δ
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ࡐ: 2ྠϩϘοτ
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γϛϡϨʔλͷߏ ʮathrillΛETϩϘίϯͰ͑ΔΑ͏ʹ͢Δ·Ͱʹඞཁͩͬͨ͜ͱ - YouTubeʯΑΓ
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༨ஊ: ಉΞʔΩςΫνϟͷԠ༻ • γϛϡϨʔλ͕SPIKE(৽ػମ)ʹ͛͢Θͬͨ • ಛʹϓϩάϥϜΛมߋ͢Δ͜ͱͳ͘SPIKE্Ͱಈ͘Α͏ʹͳͬͨ ʮETrobocon/RasPikeʯΑΓ
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γϛϡϨʔλΠϯετʔϧͯ͠ɺ CPUΤϛϡϨʔλΠϯετʔϧͯ͠ɺ ೖΕΔͷଟͦ͏...໘ͦ͏...
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㱺 ΄΅ϫϯϥΠφʔͰΠϯετʔϧՄೳ
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etroboڥ • ETϩϘίϯ࣮ߦҕһͰ͋Γւಓใେֶ।ڭतͷ୨ڮೋ࿕ࢯʹΑΔ ։ൃڥ • ಈ࡞ڥWindows, macOS, Ubuntu, Chrome OS • ࣄલʹೖΕΔͷVSCode, WSL(WindowsͷΈ), Homebrew(MacͷΈ) ͚ͩ
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࣮ફ
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ϩϘοτͷઆ໌ ʮETϩϘίϯ2023 ڝٕ༰ʯΑΓ
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ಈ͔ͯ͠ΈΔ • ඪ: 2ඵ͝ͱʹલਐޙୀΛ܁Γฦ͢ • ༻ݴޠC++ • Ϟʔλಈ࡞ͷ੍ޚͱ࣌ؒΛଌΔػೳ͕ඞཁͦ͏
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APIͷυΩϡϝϯτΛಡΜͰΈΔ • ͜ͷ͋ͨΓ͍͚͑ͦ͏ • ͦ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 • ASP3RTOSͷΧʔωϧ • ϫϯϥΠφʔͰΠϯετʔϧͰ͖Δ։ൃڥͱγϛϡϨʔλͰෑډ͕ ͍ • ҙ֎ͱී௨ͷϓϩάϥϜͱԿ͔ΘΒͳ͍
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ΈࠐΈͬͯɺ໘ന͍ • ΊͬͪΌࢥ͍௨Γʹಈ͔ͳ͍ • ࣮ͷʮಈ͍ͯΔײʯ͕Α͍ • ࣮ͷ৽͠͞ͳ͍͕ྗ͕ͭ͘ײ͕֮͋Δ • ίϯϐϡʔλͷֶ͕ࣝΔ / ͑Δ
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એ • དྷि͔Βଟຖ׆ಈͯ͠Δ͔ΒELʹ༡ͼʹ͖ͯͶʂ • དྷҰॹʹͬͯ͘ΕΔਓืूதʂ