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J04✖️#-& ؆୯ϓϩτλΠϐϯά XJUI4XJGU✖️#-&4FSJBM✖️NCFE ࢁຊɹګେ 5BLBIJSP:".".050 גࣜձࣾχίϯγεςϜ 

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ࣗݾ঺հ w ࢁຊɹګେ w ͓࢓ࣄ w גࣜձࣾχίϯγεςϜ w Χϝϥ༻ΞϓϦͷ.BD൛ͷ։ൃ  ࠓ೔ͷൃද͸ۀ຿ͱ͸ ؔ܎ͳ͠

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എܠ εϚϗΤϯδχΞ࿮ͰࢀՃͨ͠ϋοΧιϯ ͜ͷΞΠσΞɺ ͳΜ͔σόΠε࡞ͬͨํ͕੝Γ্͕ΔΑͶʁ 0,ʂ ͡Ό͋ɺԶ࡞ΔΘʢυϠإʣ

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׬੒౓͕௿͍ͬ͢ɻ ϓϨθϯͰޡຐԽͯ͠ Ͱ΋ɺ݁ہ ͲΜ·͍ ͱ͔

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पลσόΠε΋࡞Εͳ͍͔ͳʁ ͍΍ɺ ࠓճ͸ΞϓϦ͚ͩͰউෛ͠Α͏ ࠷ॳ͔ΒఘΊͯͨΓɻɻɻ

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͘΍͍͠ʂʂ

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IUUQTXXXBQQMFDPNXBUDI IUUQKBXJLJQFEJBPSHXJLJ(PPHMF@(MBTT ϓϩτλΠϓ͍ͨ͠΋ͷ  ΢ΣΞϥϒϧσόΠεͱ͔ɺ εϚϗ͔ΒपลσόΠε੍ޚͨ͠Γɺ ηϯαͷσʔλऔΓग़͍ͨ͠

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NCFE J1IPOF #-& IUUQKBXJLJQFEJBPSHXJLJ*1IPOF IUUQXXXSPCPUTGYDPNSPCPU#-&4FSJBMIUNM IUUQKBXJLJQFEJBPSHXJLJ.CFE

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#-&ҙ֎ͱେม 

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 NCFE J1IPOF IUUQKBXJLJQFEJBPSHXJLJ*1IPOF ("55 "55 -$"1 ("1 #-&ϓϩτίϧελοΫ MJOLMBZFS -&QIZTJDBM Bluetooth SIG ӳޠ Q͘Β͍ͷࢿྉ IUUQKBXJLJQFEJBPSHXJLJ.CFE

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େมʂʂ ͳΒɺͦ͜͸࡞Βͳ͍

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NCFE J1IPOF  ϥΠϒϥϦ #-&4FSJBM #-&ϓϩτίϧ ϒϥοΫϘοΫε 6"35 IUUQKBXJLJQFEJBPSHXJLJ.CFE IUUQKBXJLJQFEJBPSHXJLJ*1IPOF

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#-&4FSJBM IUUQXXXSPCPUTGYDPNSPCPU#-&4FSJBMIUNM ɾ6"35ͰಡΈॻ͖͢Δ͚ͩͰ#-&௨৴ ɾ#-&ͷ஌ࣝෆཁ ɾ#-&ͷେมͳ෦෼͸શͯϞδϡʔϧଆ͕୲౰ ɾ=ʢ੫ࠐʣ 

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ϥΠϒϥϦ ɾDPSF#MVFUPPUIϥούʔϥΠϒϥϦ  DPSF#MVFUPPUI ɾ༗໊Ͳ͜Ζ ɹɹɾ:NT$PSF#MVFUPPUI ɹɹɾ-(#MVFUPPUI ӳޠɺPCKFDUJWFD ϥούʔϥΠϒϥϦ #-&4FSJBM༻ϥΠϒϥϦ

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ϥΠϒϥϦ IUUQTHJUIVCDPN5BLBIJSP:BNBNPUP#-&4FSJBM TXJGU೔ຊޠͰ࡞ͬͯΈͨ 

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ϥΠϒϥϦ w "1* w DPOOFDU w EJTDPOOFDU w SFBE#MPDL w XSJUF Ҏ্ʂʂ 

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σϞ

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ίʔυʢJ04ଆʣ  @IBAction func prev(sender:AnyObject) //લਐϘλϯ { var communicator : BLECommunicator = BLECommunicator.sharedInstance communicator.write("a") } @IBAction func back(sender:AnyObject) //ޙୀϘλϯ { var communicator : BLECommunicator = BLECommunicator.sharedInstance communicator.write("z") } @IBAction func rotate(sender:AnyObject) //ճసϘλϯ { var communicator : BLECommunicator = BLECommunicator.sharedInstance communicator.write("r") } @IBAction func stop(sender:AnyObject) //ఀࢭϘλϯ { var communicator : BLECommunicator = BLECommunicator.sharedInstance communicator.write("o") }

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if(SciByteRx(&data) > 0){ { if(data == ‘a’)//લਐॲཧ { //લਐ } else if(data == ‘z’)//ޙୀ { //ޙୀ } else if(data == ‘r’)//ճస { //ճస } else { //ఀࢭ } } } ίʔυ σόΠεଆ

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ίʔυ GetEncoder(&right_b,&left_b); char str[256]; sprintf(str,"r:%d,l:%d",right_b - right , left_b - left); communicator.readBlock = {string in } J04ଆ σόΠεଆ

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·ͱΊ w J04ͱपลσόΠεΛ#-&ͷ஌ࣝͳ͠Ͱܨ͛·͢ʂ w ϥΠϒϥϦ࢖ͬͯ΋Β͑ͨΒخ͍͠Ͱ͢ w ϓϧϦΫͱ͔΋Β͑ͨΒ΋ͬͱخ͍͠Ͱ͢ w ԹઘϋοΧιϯ୭͔Ұॹʹग़·ͤΜ͔ʁ w IUUQTQBKBNKQ