{"id":26144,"date":"2025-08-29T03:55:57","date_gmt":"2025-08-28T18:55:57","guid":{"rendered":"http:\/\/www.tyosuke20xx.com\/blog\/?p=26144"},"modified":"2025-08-29T03:55:58","modified_gmt":"2025-08-28T18:55:58","slug":"%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e3%81%ae%e4%bd%9c%e3%82%8a%e6%96%b9","status":"publish","type":"post","link":"http:\/\/www.tyosuke20xx.com\/blog\/?p=26144","title":{"rendered":"\u30ed\u30dc\u30c3\u30c8\u306e\u4f5c\u308a\u65b9"},"content":{"rendered":"\n<h1 class=\"wp-block-heading\">1) \u307e\u305a\u306f\u30bf\u30a4\u30d7\u3092\u6c7a\u3081\u308b\uff08\u304a\u3059\u3059\u3081\uff09<\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u2705 <strong>2\u8f2a\u5dee\u52d5\u30ed\u30fc\u30d0\u30fc<\/strong> \u2026 \u4f5c\u308a\u3084\u3059\u3044\u30fb\u5b66\u3073\u3084\u3059\u3044\uff08\u304a\u3059\u3059\u3081\uff09<\/li>\n\n\n\n<li>4\u8f2a\/\u30ad\u30e3\u30bf\u30d4\u30e9 \u2026 \u6bb5\u5dee\u306b\u5f37\u3044<\/li>\n\n\n\n<li>\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0 \u2026 \u7269\u4f53\u64cd\u4f5c\u306b\u7279\u5316<\/li>\n\n\n\n<li>\u4e8c\u8db3\/\u4eba\u578b \u2026 \u8d85\u4e0a\u7d1a\uff08\u5236\u5fa1\u304c\u96e3\u3057\u3044\uff09<\/li>\n<\/ul>\n\n\n\n<p>\u4ee5\u4e0b\u306f\u300c2\u8f2a\u30ed\u30fc\u30d0\u30fc\u300d\u306e\u5177\u4f53\u4f8b\u3067\u3059\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\">2) \u5fc5\u8981\u306a\u90e8\u54c1\uff08\u4f8b\uff09<\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u30de\u30a4\u30b3\u30f3\uff1a<strong>Arduino Uno<\/strong> \u304b <strong>Nano<\/strong><\/li>\n\n\n\n<li>\u30e2\u30fc\u30bf\u30fc\u30c9\u30e9\u30a4\u30d0\uff1a<strong>TB6612FNG<\/strong>\uff08\u52b9\u7387\u25ce\uff0fL298N\u3088\u308a\u4f4e\u767a\u71b1\uff09<\/li>\n\n\n\n<li>DC\u30ae\u30e4\u30c9\u30e2\u30fc\u30bf\u00d72\uff08TT\u30e2\u30fc\u30bf 6V\uff5e9V\uff09\uff0b\u30db\u30a4\u30fc\u30eb\u00d72\u3001\u30ad\u30e3\u30b9\u30bf\u8eca\u8f2a\u00d71<\/li>\n\n\n\n<li>\u8ddd\u96e2\u30bb\u30f3\u30b5\uff1a<strong>HC-SR04<\/strong>\uff08\u8d85\u97f3\u6ce2\uff09<\/li>\n\n\n\n<li>\u96fb\u6e90\uff1a18650\u00d72\uff087.4V\uff09\uff0b\u30b9\u30a4\u30c3\u30c1 \uff0aArduino\u7528\u306b5V <strong>\u964d\u5727\u30e2\u30b8\u30e5\u30fc\u30eb<\/strong>\u3042\u308b\u3068\u5b89\u5b9a<br>\uff08\u307e\u305f\u306f6V\uff5e9V\u96fb\u6c60\uff0bArduino\u306eVIN\uff09<\/li>\n\n\n\n<li>\u30b8\u30e3\u30f3\u30d1\u7dda\u3001\u30d6\u30ec\u30c3\u30c9\u30dc\u30fc\u30c9\u3001\u30b7\u30e3\u30fc\u30b7<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\">3) \u914d\u7dda\uff08TB6612FNG\uff0bArduino\uff09<\/h1>\n\n\n\n<p><strong>\u96fb\u6e90\u7cfb<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>VM<\/strong> \u2192 \u30e2\u30fc\u30bf\u7528\u30d0\u30c3\u30c6\u30ea\uff0b\uff086\u201312V\uff09<\/li>\n\n\n\n<li><strong>VCC<\/strong> \u2192 Arduino <strong>5V<\/strong><\/li>\n\n\n\n<li><strong>GND<\/strong> \u2192 Arduino <strong>GND<\/strong>\uff08\u5fc5\u305a\u5171\u901aGND\u306b\uff09<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5236\u5fa1\u30d4\u30f3\uff08\u4f8b\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>STBY<\/strong> \u2192 5V\uff08\u6709\u52b9\u5316\uff09<\/li>\n\n\n\n<li><strong>PWMA<\/strong> \u2192 D5\uff08PWM\uff09\uff0f<strong>AIN1<\/strong> \u2192 D7\uff0f<strong>AIN2<\/strong> \u2192 D8\uff08\u5de6\u30e2\u30fc\u30bf\uff09<\/li>\n\n\n\n<li><strong>PWMB<\/strong> \u2192 D6\uff08PWM\uff09\uff0f<strong>BIN1<\/strong> \u2192 D9\uff0f<strong>BIN2<\/strong> \u2192 D10\uff08\u53f3\u30e2\u30fc\u30bf\uff09<\/li>\n<\/ul>\n\n\n\n<p><strong>\u8d85\u97f3\u6ce2 HC-SR04<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>VCC<\/strong> \u2192 5V\u3001<strong>GND<\/strong> \u2192 GND<\/li>\n\n\n\n<li><strong>Trig<\/strong> \u2192 D3\u3001<strong>Echo<\/strong> \u2192 D2<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\">4) \u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\uff08\u969c\u5bb3\u7269\u56de\u907f\u30fb\u305d\u306e\u307e\u307e\u66f8\u304d\u8fbc\u3093\u3067OK\uff09<\/h1>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">\/\/ 2\u8f2a\u30ed\u30fc\u30d0\u30fc \u969c\u5bb3\u7269\u56de\u907f\uff08Arduino UNO\uff09\n\/\/ Driver: TB6612FNG  \/ Sensor: HC-SR04\n\n\/\/ \u5de6\u30e2\u30fc\u30bf\uff08A\u5074\uff09\nconst int AIN1 = 7;\nconst int AIN2 = 8;\nconst int PWMA = 5; \/\/ PWM\n\n\/\/ \u53f3\u30e2\u30fc\u30bf\uff08B\u5074\uff09\nconst int BIN1 = 9;\nconst int BIN2 = 10;\nconst int PWMB = 6; \/\/ PWM\n\n\/\/ \u8d85\u97f3\u6ce2\nconst int TRIG = 3;\nconst int ECHO = 2;\n\n\/\/ \u901f\u5ea6\uff080-255\uff09\nconst int SPD_FWD = 160;\nconst int SPD_TURN = 150;\nconst int SPD_BACK = 150;\n\n\/\/ \u95be\u5024\nconst int OBST_CM = 20;\n\nlong readDistanceCm() {\n  \/\/ \u8d85\u97f3\u6ce2\u6e2c\u8ddd\n  digitalWrite(TRIG, LOW); delayMicroseconds(2);\n  digitalWrite(TRIG, HIGH); delayMicroseconds(10);\n  digitalWrite(TRIG, LOW);\n  long dur = pulseIn(ECHO, HIGH, 30000UL); \/\/ 30ms\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8\n  if (dur == 0) return 400; \/\/ \u8a08\u6e2c\u5931\u6557\uff1d\u9060\u3044\u6271\u3044\n  long cm = dur * 0.034 \/ 2;\n  return cm;\n}\n\nvoid setMotorRaw(int in1, int in2, int pwmPin, int spd) {\n  if (spd &lt; 0) { \/\/ \u5f8c\u9000\n    digitalWrite(in1, LOW);\n    digitalWrite(in2, HIGH);\n    analogWrite(pwmPin, constrain(-spd, 0, 255));\n  } else {       \/\/ \u524d\u9032\/\u505c\u6b62\n    digitalWrite(in1, HIGH);\n    digitalWrite(in2, LOW);\n    analogWrite(pwmPin, constrain(spd, 0, 255));\n  }\n}\n\n\/\/ \u5de6\u53f3\u901f\u5ea6\uff08-255\uff5e255\uff09\nvoid drive(int left, int right) {\n  setMotorRaw(AIN1, AIN2, PWMA, left);\n  setMotorRaw(BIN1, BIN2, PWMB, right);\n}\n\nvoid stopAll() { drive(0, 0); }\n\nvoid setup() {\n  pinMode(AIN1, OUTPUT); pinMode(AIN2, OUTPUT); pinMode(PWMA, OUTPUT);\n  pinMode(BIN1, OUTPUT); pinMode(BIN2, OUTPUT); pinMode(PWMB, OUTPUT);\n  pinMode(TRIG, OUTPUT); pinMode(ECHO, INPUT);\n\n  \/\/ \u4e71\u6570\u521d\u671f\u5316\uff08\u6d6e\u904a\u30d4\u30f3\u304b\u3089\uff09\n  randomSeed(analogRead(A0));\n\n  stopAll();\n}\n\nvoid loop() {\n  long d = readDistanceCm();\n\n  if (d &lt; OBST_CM) {\n    \/\/ \u969c\u5bb3\u7269\u3042\u308a\uff1a\u505c\u6b62\u2192\u5f8c\u9000\u2192\u30e9\u30f3\u30c0\u30e0\u65cb\u56de\n    stopAll(); delay(100);\n    drive(-SPD_BACK, -SPD_BACK); delay(300);\n    stopAll(); delay(50);\n\n    bool turnLeft = random(0, 2) == 0;\n    if (turnLeft) {\n      drive(-SPD_TURN, SPD_TURN); \/\/ \u5de6\u65cb\u56de\n    } else {\n      drive(SPD_TURN, -SPD_TURN); \/\/ \u53f3\u65cb\u56de\n    }\n    delay(300);\n    stopAll(); delay(50);\n  } else {\n    \/\/ \u524d\u9032\n    drive(SPD_FWD, SPD_FWD);\n  }\n\n  delay(20);\n}\n<\/pre>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\">5) \u52d5\u4f5c\u30c1\u30a7\u30c3\u30af\u624b\u9806\uff08\u77ed\u7e2e\u7248\uff09<\/h1>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7247\u8f2a\u305a\u3064<\/strong>\u56de\u308b\u304b\u78ba\u8a8d\uff08\u7247\u65b9\u306ePWM\u3060\u3051<code>analogWrite<\/code>\u3057\u3066\u6b63\u9006\u8ee2\u3092\u30c1\u30a7\u30c3\u30af\uff09<\/li>\n\n\n\n<li>\u4e21\u8f2a\u524d\u9032\u2192\u5f8c\u9000\u2192\u65cb\u56de\u304c\u6b63\u3057\u3044\u304b<\/li>\n\n\n\n<li>\u8d85\u97f3\u6ce2\u306e\u8ddd\u96e2\u304c\u5909\u5316\u3059\u308b\u304b\uff08\u624b\u3092\u8fd1\u3065\u3051\u3066<code>OBST_CM<\/code>\u672a\u6e80\u3067\u56de\u907f\u3059\u308b\u304b\uff09<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\">6) \u3088\u304f\u3042\u308b\u30cf\u30de\u308a\u3069\u3053\u308d<\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>GND\u5171\u901a\u5fd8\u308c<\/strong>\uff1aArduino\u3068\u30e2\u30fc\u30bf\u96fb\u6e90\u306eGND\u306f\u5fc5\u305a\u5171\u901a<\/li>\n\n\n\n<li><strong>\u96fb\u5727\u4e0d\u8db3<\/strong>\uff1a\u30e2\u30fc\u30bf\u3068\u30ed\u30b8\u30c3\u30af\u306f<strong>\u5206\u96e2\u96fb\u6e90<\/strong>\u304c\u5b89\u5b9a\uff08\u964d\u57275V\u3067Arduino\uff09<\/li>\n\n\n\n<li><strong>\u914d\u7dda\u9006<\/strong>\uff1aAIN1\/AIN2, BIN1\/BIN2\u304c\u9006\u3060\u3068\u56de\u8ee2\u65b9\u5411\u304c\u53cd\u8ee2\uff08\u30b3\u30fc\u30c9\u5074\u3067\u7b26\u53f7\u3092\u5165\u308c\u66ff\u3048\u3066\u3082OK\uff09<\/li>\n\n\n\n<li><strong>\u8d85\u97f3\u6ce2\u306e\u8aa4\u8a08\u6e2c<\/strong>\uff1a\u5c4b\u5916\/\u67d4\u3089\u304b\u3044\u7269\u4f53\u306f\u53cd\u5c04\u5f31\u3044\u2192\u95be\u5024\u3092\u4e0a\u3052\u308b\/IR\u30bb\u30f3\u30b5\u4f75\u7528<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h1 class=\"wp-block-heading\">7) \u767a\u5c55\uff08\u3084\u308a\u305f\u3044\u9806\u306b\u8ffd\u52a0\uff09<\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u30e9\u30a4\u30f3\u8ffd\u5f93<\/strong>\uff1aIR\u30bb\u30f3\u30b5\uff08TCRT5000\uff09\u30922\uff5e5\u500b<\/li>\n\n\n\n<li><strong>\u30a8\u30f3\u30b3\u30fc\u30c0<\/strong>\uff1a\u901f\u5ea6\/\u8ddd\u96e2\u306e\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\uff08PID\uff09<\/li>\n\n\n\n<li><strong>IMU<\/strong>\uff1a\u59ff\u52e2\u5b89\u5b9a\uff08MPU-6050\/9250\uff09<\/li>\n\n\n\n<li><strong>Raspberry Pi + ROS2<\/strong>\uff1a\u30ab\u30e1\u30e9\u642d\u8f09\u3001\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\/SLAM\u3001\u30b9\u30de\u30db\u304b\u3089\u64cd\u4f5c<\/li>\n\n\n\n<li><strong>\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0<\/strong>\uff1a\u30b5\u30fc\u30dc\uff08MG996R\u7b49\uff09\uff0b\u30b0\u30ea\u30c3\u30d1\u3067\u30d4\u30c3\u30af\uff06\u30d7\u30ec\u30fc\u30b9<\/li>\n\n\n\n<li><strong>\u901a\u4fe1<\/strong>\uff1aESP32\u3067Wi-Fi\/BLE\u30ea\u30e2\u30b3\u30f3\u3001Web UI \u64cd\u4f5c<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>\u5fc5\u8981\u306a\u3089\u3001<strong>\u914d\u7dda\u56f3\u306e\u7c21\u6613\u56f3<\/strong>\u3084<strong>\u30e9\u30a4\u30f3\u8ffd\u5f93\uff0fBluetooth\u64cd\u4f5c\u306e\u8ffd\u52a0\u30b3\u30fc\u30c9<\/strong>\u3082\u3053\u306e\u307e\u307e\u51fa\u305b\u307e\u3059\u3002\u3069\u306e\u65b9\u5411\uff08\u30ab\u30e1\u30e9\/\u30a2\u30fc\u30e0\/ROS2 \u306a\u3069\uff09\u306b\u4f38\u3070\u3057\u305f\u3044\u304b\u3060\u3051\u6559\u3048\u3066\u304f\u308c\u305f\u3089\u3001\u305d\u306e\u30eb\u30fc\u30c8\u306b\u6700\u9069\u5316\u3057\u305f\u8a2d\u8a08\u3068\u30b3\u30fc\u30c9\u3092\u7528\u610f\u3059\u308b\u3088\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1) \u307e\u305a\u306f\u30bf\u30a4\u30d7\u3092\u6c7a\u3081\u308b\uff08\u304a\u3059\u3059\u3081\uff09 \u4ee5\u4e0b\u306f\u300c2\u8f2a\u30ed\u30fc\u30d0\u30fc\u300d\u306e\u5177\u4f53\u4f8b\u3067\u3059\u3002 2) \u5fc5\u8981\u306a\u90e8\u54c1\uff08\u4f8b\uff09 3) \u914d\u7dda\uff08TB6612FNG\uff0bArduino\uff09 \u96fb\u6e90\u7cfb \u5236\u5fa1\u30d4\u30f3\uff08\u4f8b\uff09 \u8d85\u97f3\u6ce2 HC-SR04 4) \u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9 &hellip; <a href=\"http:\/\/www.tyosuke20xx.com\/blog\/?p=26144\" class=\"more-link\"><span class=\"screen-reader-text\">&#8220;\u30ed\u30dc\u30c3\u30c8\u306e\u4f5c\u308a\u65b9&#8221; \u306e<\/span>\u7d9a\u304d\u3092\u8aad\u3080<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_uf_show_specific_survey":0,"_uf_disable_surveys":false,"footnotes":""},"categories":[153],"tags":[3],"class_list":["post-26144","post","type-post","status-publish","format-standard","hentry","category-153","tag-programming"],"aioseo_notices":[],"jetpack_featured_media_url":"","_links":{"self":[{"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/26144","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=26144"}],"version-history":[{"count":1,"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/26144\/revisions"}],"predecessor-version":[{"id":26145,"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/26144\/revisions\/26145"}],"wp:attachment":[{"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=26144"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=26144"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.tyosuke20xx.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=26144"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}