$B>BDE9b@l(B $BEE;R@)8f9)3X2J(B

$B$^$?I8=`%W%m%0%i%`$NB>$K!Z(B$B0[>oAv9TJd@54X?t![!ZL58B%k!<%WC&=P4X?t![!Z:GC;%k!<%H;;=P4X?t![!Z(B7seg LED$B@)8f4X?t![!Z(B$B2sE>HW@)8f4X?t![(B$B$rDI2C!"I8=`%W%m%0%i%`$rI,MW$K1~$8$FJQ99$7!"(BMIRS0702$B$N%7%9%F%`$rK~$?$9$3$H$rL\I8$H$9$k!#(B

2$B!%:n@.%W%m%0%i%`35MW(B

$B0J2<$K:n@.$9$k%W%m%0%i%`$N35MW$r<($9!#$^$?!"I8=`%W%m%0%i%`!"I8=`%W%m%0%i%`JQ99FbMF$K$D$$$F$O>JN,$9$k!#(B

2.1 $B0[>oAv9TJd@54X?t(B

$B4X?tL>(B	$B0[>oAv9TJd@54X?t(B
$B=q<0(B	int abnormal()
$B0z?t(B	$B6nF07O%m!<%?%j!<%(%s%3!<%@$NCM(B
$BLa$jCM(B	$B@5>oF0:n$G(B0$B!"0[>oF0:n$G(B-1
$B35MW(B	$B%(%s%3!<%@$NCM$+$i3QB.EY$r;;=P$7!"4p=`$H$J$k3QB.EY$HHf3S!#(B $B6a;w$G$"$l$P@5>oF0:n$H$9$k!#0[>o$G$"$l$PJd@5$r9T$&!#(B

2.2 $B:GC;%k!<%H;;=P4X?t(B

$B4X?tL>(B	$B:GC;%k!<%H;;=P4X?t#1(B
$B=q<0(B	int route1()
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$B%]%9%HC5:w$N7k2L!"(B2$B$D0J>e$N%]%9%H$rH/8+$7$?>l9g$N:GC;%k!<%H$N;;=P$r9T$&!#;;=P7k2L$O30ItG[Ns$K=PNO$9$k!#(B

$B4X?tL>(B	$B:GC;%k!<%H;;=P4X?t#2(B
$B=q<0(B	int route2()
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$BF0:n#12sL\$N:G8e$K;HMQ$9$k!#(B $BF0:n(B1$B2sL\$GF@$i$l$?%]%9%H$N:BI8$+$i!"%]%9%H$rHV9f=g$K3MF@$9$k:GC;%k!<%H$r5a$a$k!#%k!<%H$N>pJs$O30ItG[Ns$K=PNO$9$k!#(B

$B4X?tL>(B	$B:GC;%k!<%H;;=P4X?t#3(B
$B=q<0(B	int route3()
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$B8=:_$N0LCV>pJs$+$i

$B4X?tL>(B	$B:GC;%k!<%H;;=P4X?t#4(B
$B=q<0(B	int route4()
$B0z?t(B	$B%]%9%H$N5wN%>pJs!!%]%9%H$N3QEY>pJs(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$BF@$i$l$?%]%9%H>pJs$,6%5;>lFb$NJ*$+$I$&$+$N<1JL$9$k!#(B

$B4X?tL>(B	$B:GC;%k!<%H;;=P4X?t#5(B
$B=q<0(B	int route5()
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$BNc30=hM}F0:n$r9T$&!#(B $B#1$D$b%]%9%H$rH/8+$7$J$+$C$?>l9g$NF0:n$H!"A*Br$7$?%]%9%H>pJs$,56l9g$NF0:n$r9T$&!#(B

2.3 LED$B@)8f4X?t(B

$B4X?tL>(B	LED$B@)8f4X?t(B
$B=q<0(B	int 7seg()
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$BLED$B$rE@Et$9$k!#(B

2.4 $B2sE>HW@)8f4X?t(B

$B4X?tL>(B	$B2sE>HW@)8f4X?t#1(B
$B=q<0(B	int rot1()
$B0z?t(B	$B%Q%k%9$rH/@8$5$;$kIC?t!"2sE>J}8~$N?.9f(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$B2sE>HW$N@)8f$r9T$&!#2sE>$5$;$k3QEY$K1~$8$F%Q%k%9$rH/@8$5$;$k!#

$B4X?tL>(B	$B2sE>HW@)8f4X?t#2(B
$B=q<0(B	int rot2()
$B0z?t(B	$B%Q%k%9$rH/@8$5$;$kIC?t!!2sE>J}8~$N?.9f(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$B2sE>HW$N@)8f$HF1;~$KD62;GH$r5/F0$5$;!"2sE>HW$K$h$k%]%9%HC5:w$r9T$&!#(B

2.5 $B%]%9%H>pJsA*JL4X?t(B

$B4X?tL>(B	$B%]%9%H>pJsA*JL4X?t#1(B
$B=q<0(B	int select_post()
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$B<~2sCf$K3MF@$7$?D62;GH%G!<%?$+$i!"%]%9%H>pJs$rA*JL$9$k!#(B

$B4X?tL>(B	$B%]%9%H>pJsA*JL4X?t#2(B
$B=q<0(B	int select_post2()
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$B<~2sCf$K3MF@$7$?D62;GH%G!<%?$+$i!"%]%9%H>pJs$rA*JL$9$k!#$?$@$7!"2sE>D>8r:BI87O$G%]%9%HC5:w$r9T$C$?>l9g$KMQ$$$k!#(B

2.6 main2

$B4X?tL>(B	main2
$B=q<0(B	int main2(void)
$B0z?t(B	$B$J$7(B
$BLa$jCM(B	$B$J$7(B
$B35MW(B	$BF0:n(B2$B2sL\$N%a%$%s4X?t!#(B $BF0:n(B1$B2sL\$GF@$i$l$?%k!<%H>e$r0\F0$9$k!#(B

3$B!%:n@.%W%m%0%i%`J,3d(B

$B?75,$K:n@.$9$k4X?t$O

$B%U%!%$%kL>(B

$B4X?tL>(B

main.c

main1

main2

abnormal.c

abnormal

escape.c

escape

route.c

route1

route2

7seg.c

7seg

rot.c

rot1

rot2

4$B!%%0%m!<%P%kJQ?t(B

$B?75,$K:n@.$9$k%0%m!<%P%kJQ?t!JG[Ns!K$r0J2<$K<($9!#$3$l$i$N4X?t$N@k8@$OA4$F(Bcontrol.h$BFb$G9T$&!#(B

$BJQ?tL>(B	$B@k8@J}K!(B	$B;HMQMQES(B
post_number_code	int post_number_code[5]	$B%]%9%HHV9f$rH/8+$7$?=g$K5-O?(B
post_dis	double post_dis[5]	$BF0:n$ND>@~5wN%$N5-O?(B
post_ang	double post_ang[5]	$BF0:n$N0\F03QEY$N5-O?(B
short_dis[5]	double short_dis[5]	$B%9%?!<%HCOE@$H3F%]%9%H$r7k$VD>@~$N5wN%>pJs$N5-O?(B
short_ang[5]	double short_ang[5]	$B%9%?!<%HCOE@$H3F%]%9%H$r7k$VD>@~$N3QEY>pJs$N5-O?(B
m_s_dis[5]	double m_s_dis[5]	$B:GC;%k!<%H$N5wN%>pJs$N5-O?(B
m_s_ang[5]	double m_s_ang[5]	$B:GC;%k!<%H$N3QEY>pJs$N5-O?(B
dis_now	int dis_now	$B:#$N0\F0NL$N5wN%>pJs$N0l;~J]B8(B
ang_now	int ang_now	$B:#$N0\F0NL$N3QEY>pJs$N0l;~J]B8(B
dis_before	int dis_before	$B$R$H$DA0$N0\F0NL$N5wN%>pJs$N0l;~J]B8(B
ang_before	int ang_before	$B$R$H$DA0$N0\F0NL$N3QEY>pJs$N0l;~J]B8(B
ang_now_1st	int ang_now_1st	$B:G=i$K0\F0$7$?$H$-$N3QEY>pJs$N5-O?(B
search_try_count	int search_try_count	$B%]%9%HC5:w2s?t$N5-O?(B
kosuu	int kosuu	$BC5:w;~$ND62;GH>pJs$N8D?t$N5-O?(B
search_post	int search_post	$BH/8+$7$?%]%9%H$N8D?t$N5-O?(B
angle_now	int angle_now	$B2sE>HW$N8=:_$N3QEY$N5-O?(B
dis_info[1000]	double dis_info[1000]	$B%]%9%HC5:w;~$N5wN%>pJs$NJ]B8(B
ang_info[1000]	double ang_info[1000]	$B%]%9%HC5:w;~$N3QEY>pJs$NJ]B8(B
dis_select[100]	int dis_select[100]	$BH/8+$7$?%]%9%H$N5wN%>pJs$NJ]B8(B
ang_select[100]	int ang_select[100]	$BH/8+$7$?%]%9%H$N3QEY>pJs$NJ]B8(B
dis_approach	int dis_approach	$B%]%9%H4V0\F0;~$N5wN%>pJs$NJ]B8(B
ang_approach	int ang_approach	$B%]%9%H4V0\F0;~$N3QEY>pJs$NJ]B8(B
warning_point	int warning_point	$BNc30=hM}

5$B!%F0:n%b!<%I35MW(B

$B0J2<$KJ,N`$7$?F0:n%b!<%I$r<($9!#(B

$B#1!%(B$B2sE>HW%]%9%HC5:w%b!<%I(B

1$B2sL\$NF0:n3+;OD>8e$K9T$&%]%9%HC5:w!#(B

$B2sE>HW$r(B180$BEY2sE>$5$;!"2sE>HW$K

$B%]%9%H$rH/8+$7$?>l9g!"$=$N5wN%$H0\F03Q$r5-O?$9$k!#(B

$BC5:w%(%j%"Fb$K>/$J$/$H$b#1$D%]%9%H$,H/8+$G$-$?>l9g!"=*N;$9$k!#(B

$B#2!%(B$B%]%9%H4V0\F0%b!<%I(B

$BL\I8%]%9%H$X@\6a$9$k!#$3$N$H$-!"2sE>HW$KMIRS$B8eJ}$X8~$1$k!#(B

$B!V(BMIRS$BA0J}$ND62;GH%;%s%5$NCM!\(BMIRS$B8eJ}$ND62;GH%;%s%5$NCM!\(BMIRS$BK\BN$ND>7B!a0\F0$9$k5wN%!W$rK~$?$9$h$&$KF0:n$9$k!#(B

$BK~$?$5$J$$>l9g!J%k!<%H$+$i30$l$?Ey!K$O!"%U%#!<%I%P%C%/$5$;Jd@5$9$k!#(B

$BL\I8%]%9%H$K@5BPJd@5$r9T$$!"=*N;$9$k!#(B

$B#3!%(B$B%]%9%H<~2s%b!<%I(B

$B$=$N>l$G1&$K(B90$BEY2sE>$7!"%]%9%H$r<~2s!"(BMIRS$BB&LL$N@V30@~%;%s%5$K$h$j?.9f$rC5:w$9$k!#(B

$B<~2sCf(BMIRS$BB&LL$ND62;GH%;%s%5$r5/F0$5$;%]%9%HC5:w$rF1;~$K9T$&!#%]%9%H$rH/8+$7$?>l9g!"$=$N5wN%$H0\F03Q$r5-O?$9$k!#(B

1$B<~$7!"85$N>l=j$KLa$C$?$i=*N;!#(B

$B#4!%(B$B%]%9%HHV9fH=JL%b!<%I(B

MIRS$BB&LL$N@V30@~%;%s%5$G%]%9%H$+$i$N?.9f$r

$B#5!%(B$B%]%9%H3MF@%b!<%I(B

$B$=$N>l$G:8$K(B90$BEY2sE>$7!"@5BPJd@5$r9T$&!#$=$N8e%?%C%A%;%s%5$,H?1~$9$k$^$GA0?J!"A0LL$N@V30@~%;%s%5$G%]%9%H3MF@$NH=CG$r$9$k!#(B

$B%]%9%H3MF@8e!"85$N0LCV$^$G8e?J$7!"1&$K(B90$BEY2sE>!"=*N;$9$k!#(B

$B#6!%(B$B%k!<%H7W;;%b!<%I(B

$BF0:nCf$KF@$?%]%9%H$N>pJs$r85$K!"6%5;3+;OE@!J$^$?$OG$0U$N%]%9%H!K$H3F%]%9%H$H$N:GC;5wN%$H0\F03Q$r5a$a!"30It%U%!%$%k$K3JG<$9$k!#(B

$B#7!%(B$B%]%9%H%G!<%?5-21%b!<%I(B

$BF0:n(B1$B2sL\$GF@$?%]%9%H$N0LCV%G!<%?!"HV9f$r30It%U%!%$%k$KJ]B8$9$k!#(B

$B@5>o$KJ]B8$7=*$($?$i=*N;!#(B

$B#8!%(B$B%]%9%H%G!<%?FI$_

$B%]%9%H%G!<%?5-21%b!<%I$G5-O?$7$?%G!<%?$rFI$_

$B3JG<$7=*$($?$i=*N;!#(B

6$B!%%U%m!<%A%c!<%H(B

$B$3$3$G$O(B 5.$BF0:n%b!<%I$N35MW(B $B$G=R$Y$?%b!<%I$K$D$$$F%U%m!<%A%c!<%H$r<($9!#(B

$B#1!%(B$B2sE>HW%]%9%HC5:w%b!<%I(B

$B#2!%(B$B%]%9%H4V0\F0%b!<%I(B

$B#3!%(B$B%]%9%H<~2s%b!<%I(B

$B4XO"J8=q(B

MIRS0702 $B%7%9%F%`Ds0F=q(B$B!J(BMIRS0702-DSGN-0001$B!K(B

MIRS0702 $B5;=QD4::=q(B$B!J(BMIRS0702-TECH-0001$B!K(B

$B%U%!%$%kL>(B	$B4X?tL>(B
main.c	main1
main.c	main2
abnormal.c	abnormal
escape.c	escape
route.c	route1
route.c	route2
7seg.c	7seg
rot.c	rot1
rot.c	rot2

$BL\

1$B!%%=%U%H%&%'%"$N9=@.(B

2$B!%:n@.%W%m%0%i%`35MW(B

2.1 $B0[>oAv9TJd@54X?t(B

2.2 $B:GC;%k!<%H;;=P4X?t(B

2.3 LED$B@)8f4X?t(B

2.4 $B2sE>HW@)8f4X?t(B

2.5 $B%]%9%H>pJsA*JL4X?t(B

2.6 main2

3$B!%:n@.%W%m%0%i%`J,3d(B

4$B!%%0%m!<%P%kJQ?t(B

5$B!%F0:n%b!<%I35MW(B

6$B!%%U%m!<%A%c!<%H(B

$BL\

1$B!%%=%U%H%&%'%"$N9=@.(B