{"id":7525,"date":"2015-11-09T11:58:01","date_gmt":"2015-11-09T02:58:01","guid":{"rendered":"http:\/\/www.moonmile.net\/blog\/?p=7525"},"modified":"2015-11-09T12:03:14","modified_gmt":"2015-11-09T03:03:14","slug":"%e5%80%92%e7%ab%8b%e6%8c%af%e5%ad%90%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e3%82%92-monobrick-%e3%81%a7%e4%bd%9c%e6%88%90%e3%81%99%e3%82%8b%ef%bc%88c%e7%b7%a8%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.moonmile.net\/blog\/archives\/7525","title":{"rendered":"\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\u3092 MonoBrick \u3067\u4f5c\u6210\u3059\u308b\uff08C#\u7de8\uff09"},"content":{"rendered":"<p>\u3053\u30532\u9031\u9593\u307b\u3069\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\u306b\u30cf\u30de\u3063\u3066\u3044\u305f\u306e\u304c\u3088\u3046\u3084\u304f\u5f62\u306b\u306a\u3063\u3066\u6765\u305f\u306e\u3067\u3001\u30e1\u30e2\u4ee3\u308f\u308a\u306b\u6b8b\u3057\u3066\u304a\u304d\u307e\u3059\u3002\u521d\u624b\u306f ET \u30ed\u30dc\u30b3\u30f3\u306e <a href=\"http:\/\/sourceforge.net\/p\/etroboev3\/wiki\/sample_program\/\">EV3Way\u7528\u306e\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0<\/a> \u306a\u306e\u3067\u3059\u304c\u3001\u305d\u306e\u307e\u307e\u3060\u3068\u3046\u307e\u304f\u52d5\u304b\u304b\u306a\u3063\u305f\u306e\u3067\uff08\u4eca\u8003\u3048\u308b\u3068\u8eca\u8f2a\u306e\u5f84\u306e\u8a2d\u5b9a\u7b49\u304c\u5fc5\u8981\u3060\u3063\u305f\uff09\u3001\u3082\u3046\u3061\u3087\u3063\u3068\u7c21\u5358\u306b\u7d44\u307f\u7acb\u3066\u3066\u52d5\u304f\u3068\u3053\u308d\u304b\u3089\u59cb\u3081\u3089\u308c\u308b\u3088\u3046\u306b\u3001<a href=\"http:\/\/robotsquare.com\/2014\/06\/23\/tutorial-building-balanc3r\/\">BALANC3R<\/a> \u306b\u3042\u308b LabVIEW \u306e\u30b3\u30fc\u30c9\u304b\u3089 C# \u306b\u79fb\u690d\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>moonmile\/MonoBalancer<br \/>\n<a href=\"https:\/\/github.com\/moonmile\/MonoBalancer\">https:\/\/github.com\/moonmile\/MonoBalancer<\/a><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/pbs.twimg.com\/media\/CS-Xi4nUYAABlUO.png:large\" \/><\/p>\n<h2>\u79fb\u690d\u5148<\/h2>\n<p><a href=\"http:\/\/robotsquare.com\/2014\/06\/23\/tutorial-building-balanc3r\/\">Robot Square &#8211; Tutorial: Building BALANC3R &#8211; Robot Square<\/a> \u306e\u30b3\u30fc\u30c9\u3092\u5fe0\u5b9f\u306b C# \u306b\u79fb\u690d\u3057\u3066\u3044\u308b\u3064\u3082\u308a\u3067\u3059\u3002\u300c\u3064\u3082\u308a\u300d\u3068\u3044\u3046\u306e\u306f\u3001\u30b3\u30fc\u30c9\u306e\u610f\u5473\u3092\u3044\u307e\u3044\u3061\u628a\u63e1\u3057\u3066\u3044\u306a\u3044\u304b\u3089\u3067\u3059\u306d\u3002\u3044\u304f\u3064\u304b\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u610f\u5473\u3082\u308f\u304b\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u305d\u306e\u307e\u307e C# \u306b\u79fb\u3057\u3066\u30d1\u30e9\u30e1\u30fc\u30bf\u3082\u305d\u306e\u307e\u307e\u6301\u3063\u3066\u304d\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u3088\u304f\u77e5\u3089\u306a\u304b\u3063\u305f\u306e\u3067\u3059\u304c\u3001\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\u306f\u5236\u5fa1\u5de5\u5b66\u3067\u306f\u5b9a\u756a\u306e\u6559\u6750\u3067\u8272\u3005\u306a\u3082\u306e\u304c\u3042\u308a\u307e\u3059\u3002\u30b8\u30e3\u30a4\u30ed\u30bb\u30f3\u30b5\u3084\u3001\u30e2\u30fc\u30bf\u30fc\u306e\u7279\u6027\uff08\u89d2\u901f\u5ea6\u3001\u30ae\u30a2\u30dc\u30c3\u30af\u30b9\u306e\u6bd4\u7387\u3001\u30c8\u30eb\u30af\u306a\u3069\uff09\u3001\u91cd\u5fc3\u4f4d\u7f6e\u3001\u8eca\u8f2a\u306e\u534a\u5f84\u306a\u3069\u3001\u3044\u308d\u3044\u308d\u306a\u8981\u7d20\u304c\u7d61\u307f\u5408\u3063\u3066\u5012\u7acb\u3059\u308b\u3088\u3046\u306b\uff08\u5012\u308c\u306a\u3044\u3088\u3046\u306b\uff09\u3059\u308b\u8a33\u3067\u3059\u304c\u3001\u305d\u308c\u3089\u3092\u30e2\u30c7\u30eb\u5316\u3057\u3066\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u56de\u8def\u306b\u3059\u308b\u3068\u3053\u308d\u304c\u30df\u30bd\u3067\u3059\u3002\u8907\u96d1\u306a\u8981\u7d20\u3092\u3046\u307e\u304f\u30e2\u30c7\u30eb\u5316\u3057\u3066\u6642\u9593\u8ef8\u3067\u5b9a\u5e38\u5024\u306b\u8fd1\u3065\u3051\u307e\u3059\u2026\u3068\u4eca\u306e\u3068\u3053\u308d\u7406\u89e3\u3057\u3066\u3044\u307e\u3059\uff08\u307e\u3060\u3001\u6559\u79d1\u66f8\u3067PID\u5236\u5fa1\u306e\u3042\u305f\u308a\u307e\u3067\u3057\u304b\u884c\u3063\u3066\u306a\u3044\u306e\u3067\uff09\u3002<\/p>\n<h2>MonoBrick<\/h2>\n<p>LEGO Mindstorms EV3 \u306f\u4e3b\u306b LabVIEW \u3092\u4f7f\u3063\u3066\u30b3\u30fc\u30c9\u30d6\u30ed\u30c3\u30af\u3092\u7d44\u307f\u5408\u308f\u305b\u3066\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3092\u3057\u3066\u3044\u304d\u307e\u3059\u3002\u304c\u3001\u305d\u306e\u307e\u307e\u3067\u306f\u666e\u901a\u306e\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u304c\u3057\u305a\u3089\u3044\u306e\u3067\u3001<a href=\"http:\/\/www.monobrick.dk\/\">MonoBrick.DK | Home of MonoBrick<\/a> \u3092\u4f7f\u3044\u307e\u3059\u3002Linux \u306b Mono \u3092\u5165\u308c\u3066 C# \u3067\u3082\u52d5\u304b\u305d\u3046\uff08F#\/VB\u7b49\u3067\u3082\u52d5\u304d\u307e\u3059\uff09\u3068\u3044\u3046\u65b9\u6cd5\u3067\u3059\u3002EV3 \u3078\u306e\u5236\u5fa1\u306f MonoBrickFirmware \u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u901a\u3057\u3066\u4f7f\u3044\u307e\u3059\u3002<\/p>\n<p>MonoBrickFirmware \u306e\u30b3\u30fc\u30c9\u306f\u3001<a href=\"https:\/\/github.com\/Larsjep\/monoev3\">Larsjep\/monoev3<\/a> \u306b\u3042\u308a\u307e\u3059\u3002\u8c4a\u5bcc\u306a\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u304c\u3042\u308b\u306e\u3067\u8272\u3005\u306a\u6a5f\u80fd\u3092\u52d5\u304b\u3059\u306b\u306f\u82e6\u52b4\u3057\u306a\u3044\u3067\u3057\u3087\u3046\u3002MonoBrickFirmware \u3092\u898b\u3066\u3044\u304f\u3068\u3001\u4e2d\u9593\u30b3\u30fc\u30c9\u751f\u6210\u3057\u3066 EV3 \u306b\u6e21\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002\u3053\u3053\u306e\u4e2d\u9593\u30b3\u30fc\u30c9\u306e\u5f62\u5f0f\u306a\u3069\u306f\u3001<a href=\"http:\/\/www.lego.com\/ja-jp\/mindstorms\/downloads\">\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9 &#8211; \u30ec\u30b4\u00ae\u30de\u30a4\u30f3\u30c9\u30b9\u30c8\u30fc\u30e0 LEGO.com<\/a> \u306b\u3042\u308b EV3 Firmware Developer Kit \u7b49\u3067\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<h2>\u3061\u3087\u3063\u3068\u3057\u305f\u30b3\u30fc\u30c9\u306e\u89e3\u8aac<\/h2>\n<p>\u5236\u5fa1\u5de5\u5b66\u7684\u306a\u8a71\u306f\u52c9\u5f37\u4e2d\u306a\u306e\u3067\u3001\u3061\u3087\u3063\u3068\u3060\u3051\u30b3\u30fc\u30c9\u306e\u89e3\u8aac\u3092\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n<p>\u30bb\u30f3\u30b5\u30fc\u3068\u3057\u3066\u306f\u300c\u30b8\u30e3\u30a4\u30ed\u30bb\u30f3\u30b5\u30fc\u300d\u3068\u300c\u30e2\u30fc\u30bf\u30fc\u306e\u89d2\u901f\u5ea6\u300d\u3060\u3051\u3092\u4f7f\u3044\u307e\u3059\u3002\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\u3092\u4f5c\u308b\u969b\u306e\u30bb\u30f3\u30b5\u30fc\u306f\u300c\u30b8\u30e3\u30a4\u30ed\u300d\u300c\u30ed\u30fc\u30bf\u30ea\u30fc\u30a8\u30f3\u30b3\u30fc\u30c0\u300d\u300c\u30c8\u30eb\u30af\u30bb\u30f3\u30b5\u300d\u304c\u5fc5\u8981\u306a\u3053\u3068\u304c\u591a\u3044\u3089\u3057\u3044\u306e\u3067\u3059\u304c\u3001EV3 \u306e\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\u306f2\u3064\u3060\u3051\u3067\u3059\u3002<\/p>\n<pre class=\"brush: csharp; title: ; notranslate\" title=\"\">\r\ndouble GAIN_ANGLE_VELOCITY = 1.3;\r\nint GAIN_ANGLE = 25;\r\nint GAIN_WHEEL_SPEED = 75 ;\r\nint GAIN_WHEEL_POSITION = 350;\r\n\r\nba.Initialize(\r\n    0,  \/\/ LEGO Jyro \r\n    42, \/\/ wheel 42 mm\r\n    22);\/\/ sample time 22msec\r\nba.SetConstants(\r\n    0.6,    \/\/ Kp\r\n    14,     \/\/ Ki\r\n    0.005,  \/\/ Kd\r\n    GAIN_ANGLE_VELOCITY,    \/\/ Gain Angular Velocity \r\n    GAIN_ANGLE,     \/\/ Gain Angle    \r\n    GAIN_WHEEL_SPEED,     \/\/ Gain Wheel speed \r\n    GAIN_WHEEL_POSITION);   \/\/ Gain Wheel position \r\n<\/pre>\n<p>ba.Initialize \u3067\u6307\u5b9a\u3059\u308b\u306e\u306f\u30bf\u30a4\u30e4\u306e\u76f4\u5f84\u3068\u3001\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u30bf\u30a4\u30e0\u3067\u3059\u3002\u91cd\u5fc3\u4f4d\u7f6e\u306f\u5bc4\u4e0e\u3057\u3066\u3044\u306a\u3044\u306e\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002\u8a08\u6e2c\u9593\u9694\u306f 2,3msec \u3068\u77ed\u3044\u3082\u306e\u304c\u591a\u3044\u306e\u3067\u3059\u304c\u3001Baranc3R \u3067\u306f 22msec\uff08\u5185\u90e8\u7684\u306b\u88dc\u6b63\u3057\u3066 20msec\uff09\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3067\u3082\u30d0\u30e9\u30f3\u30b9\u304c\u53d6\u308c\u3066\u3044\u308b\u306e\u3067\u3001C# \u306a\u3069\u3067\u5236\u5fa1\u3059\u308b\u3068\u304d\u306b\u306f\u975e\u5e38\u306b\u697d\u3067\u3059\u3002\u3061\u306a\u307f\u306b .NET Framwork \u7b49\u3067\u306f Timer \u30af\u30e9\u30b9\u3092\u4f7f\u3046\u3068 30msec \u4ee5\u4e0a\u306b\u306a\u3063\u3066\u3057\u307e\u3046\u306e\u3067\u3001\u3061\u3087\u3063\u3068\u624b\u3092\u5165\u308c\u3066\u3044\u307e\u3059\u3002\u5143\u306e LabVIEW \u306e\u30b3\u30fc\u30c9\u3067 2msec \u88dc\u6b63\u3057\u3066\u3044\u308b\u306e\u306f\u3001\u8a08\u7b97\u6642\u9593\uff082msec\uff09+ \u5f85\u3061\u9593\u9694\uff0820msec\uff09\u3068\u3044\u3046\u611f\u3058\u306a\u3093\u3060\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n<p>ba.SetConstants \u3067\u6307\u5b9a\u3057\u3066\u3044\u308b\u306e\u306f PID \u30d1\u30e9\u30e1\u30fc\u30bf\u3068\u3001\u30b2\u30a4\u30f3\u3067\u3059\u3002\u3053\u306e\u5024\u306f\u5236\u5fa1\u5de5\u5b66\u3092\u7d10\u89e3\u304f\u306e\u3068\u5b9f\u6e2c\u5024\u3092\u8abf\u7bc0\u3057\u306a\u3044\u3068\u99c4\u76ee\u306a\u306e\u3067\u3001\u305d\u306e\u307e\u307e\u4f7f\u3044\u307e\u3059\u3002\u901a\u5e38\u306f\u3001\u30e2\u30c7\u30eb\u5316\u2192 \u30d6\u30ed\u30c3\u30af\u7dda\u56f3 \u2192 \u4f1d\u9054\u56de\u8def \u2192 \u30e9\u30d7\u30e9\u30b9\u5909\u63db \u2192 PID \u5236\u5fa1 \u306b\u76f4\u3057\u3066\u5b9a\u5e38\u5024\u3092\u8a08\u7b97\u3059\u308b\uff08\u3089\u3057\u3044\uff09\u306e\u3067\u3059\u304c\u3001\u3053\u306e\u3042\u305f\u308a\u306f\u307e\u3060\u52c9\u5f37\u4e2d\u3002<\/p>\n<pre class=\"brush: csharp; title: ; notranslate\" title=\"\">\r\ndouble motorPosition = Position();\r\ndouble robotPosition = 0.0;\r\ndouble robotSpeed = 0.0;\r\nReadEncoders(out robotPosition, out robotSpeed);\r\ndouble angle = 0.0;\r\ndouble angleVelocity = 0.0;\r\nReadGyro(out angle, out angleVelocity);\r\ndouble inputVal = CombineSensorValues(angleVelocity, angle, robotSpeed, robotPosition, motorPosition);\r\ndouble pid = PID(_kp, _ki, _kd, _dt, 0.0, inputVal);\r\nErrors(pid); \/\/ \u30a8\u30e9\u30fc\u306e\u5834\u5408\u306f\u4f8b\u5916\u304c\u767a\u751f\u3059\u308b\r\nSetMotorPower(_steering, pid);\r\n<\/pre>\n<p>\u5236\u5fa1\u30eb\u30fc\u30d7\u306e\u4e2d\u3067\u3001CombineSensorValues \u95a2\u6570\u304c\u5165\u529b\u5024\u3092\u8a08\u7b97\u3057\u3066\u3044\u308b\u3068\u3053\u308d\u3067\u3059\u3002\u53c2\u7167\u5024\u306f\u3001\u5012\u7acb\u3055\u305b\u308b\u305f\u3081\u306b\u5e38\u306b 0.0 \u3067\u3059\u3002\u305f\u3060\u3057\u3001\u30ea\u30d5\u30a1\u30ec\u30f3\u30b9\u5024\u3092 0.0 \u306b\u3057\u3066\u3057\u307e\u3046\u3068\u3001\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u3068\u30ed\u30dc\u30c3\u30c8\u306e\u30b9\u30d4\u30fc\u30c9\u3082\u6bba\u3055\u308c\u3066\u3057\u307e\u3046\u3088\u3046\u306a\u6c17\u304c\u3059\u308b\u3093\u3067\u3059\u3051\u3069\u3001\u3069\u3046\u306a\u3093\u3067\u3057\u3087\u3046\u306d\u3002\u79c1\u306e\u30b3\u30fc\u30c9\u306e\u79fb\u690d\u304c\u5909\u306a\u306e\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002<\/p>\n<p>PID \u95a2\u6570\u3067\u30e2\u30fc\u30bf\u30fc\u306b\u4e0e\u3048\u308b\u30d1\u30ef\u30fc\uff08PWD\u5024\u3001-100%\u304b\u3089100%\u306e\u9593\uff09\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u3053\u306e\u3042\u305f\u308a\u306e\u5b9a\u6570\u5024\u306f Arduino \u3084 Raspberry Pi \u3067\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\u3092\u4f5c\u3063\u305f\u3068\u304d\u306b\u7570\u306a\u3063\u3066\u304f\u308b\u3068\u3053\u308d\u3067\u3059\u3002\u307e\u3042\u3001\u305d\u306e\u3042\u305f\u308a\u3082\u7406\u89e3\u3057\u3066\u4f5c\u308a\u305f\u3044\u306a\u3068\u601d\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u3084\u3063\u3071\u308a\u5236\u5fa1\u5de5\u5b66\u306e\u77e5\u8b58\u306f\u5fc5\u8981\u3067\u3059\u306d\u3002<\/p>\n<p>\u3042\u3068\u3001\u5e73\u5747\u30b9\u30d4\u30fc\u30c9\u306e\u8a08\u7b97\u65b9\u6cd5\u3068\u304b\u30b8\u30e3\u30a4\u30ed\u30bb\u30f3\u30b5\u30fc\u306e\u53d6\u5f97\u65b9\u6cd5\u3068\u304b\u304c\u5c11\u3057\u5de5\u592b\u3057\u3066\u3042\u308a\u307e\u3059\u3002\u30b8\u30e3\u30a4\u30ed\u30bb\u30f3\u30b5\u30fc\u306e\u63fa\u308c\u306b\u904e\u654f\u306b\u306a\u3089\u306a\u3044\u3088\u3046\u306b\u8fd1\u508d\u306e\u5e73\u5747\u5024\u3092\u4f7f\u3063\u3066\u3044\u307e\u3059\u306d\u3002<\/p>\n<p>\u6570\u5f0f\u306b\u76f4\u3059\u306e\u3068\u3001\u30e2\u30c7\u30eb\u5316\u306b\u623b\u3059\u306e\u306f\u5f8c\u3067\u3002<\/p>\n<h2>\u53c2\u8003\u5148<\/h2>\n<p>\u59ff\u52e2\u5236\u5fa1\u306e\u30b3\u30fc\u30c9\u3092\u7406\u89e3\u3057\u3066\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f8\u304d\u305f\u304b\u3063\u305f\u306e\u3067\u3001\u65e2\u5b58\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u8aad\u307f\u76f4\u3057\u3066\u3044\u308b\u9014\u4e2d\u3067\u3059\u3002\u7d50\u5c40\u306e\u3068\u3053\u308d\u3001\u5236\u5fa1\u5de5\u5b66\u306e\u6559\u79d1\u66f8 <a href=\"http:\/\/www.amazon.co.jp\/ebook\/dp\/B00TZ8X61I\/ref=tmm_kin_swatch_0?_encoding=UTF8&amp;qid=&amp;sr=\">\u306f\u3058\u3081\u3066\u306e\u5236\u5fa1\u5de5\u5b66 (\uff2b\uff33\u7406\u5de5\u5b66\u5c02\u9580\u66f8) [Kindle\u7248]<\/a> \u306b\u884c\u304d\u3064\u3044\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>etroboEV3 \/ Wiki \/ Home<br \/>\n<a href=\"http:\/\/sourceforge.net\/p\/etroboev3\/wiki\/Home\/\">http:\/\/sourceforge.net\/p\/etroboev3\/wiki\/Home\/<\/a><br \/>\nLEGO Mindstorms EV3\u3067Gyro Boy\u3092\u52d5\u304b\u3057\u3066\u307f\u305f\u3002(\u305d\u306e\uff11) &#8211; robo8080\u306e\u30d6\u30ed\u30b0<br \/>\n<a href=\"http:\/\/blog.goo.ne.jp\/roboz80\/e\/455074cc58e99474d4daf6a24d5ebcc0\">http:\/\/blog.goo.ne.jp\/roboz80\/e\/455074cc58e99474d4daf6a24d5ebcc0<\/a><br \/>\n\uff12\u8f2a\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\uff12\u53f7\u6a5f\u4f5c\u6210\u3002 &#8211; robo8080\u306e\u30d6\u30ed\u30b0<br \/>\n<a href=\"http:\/\/blog.goo.ne.jp\/roboz80\/e\/e485f7efa259e44baaa298fd6989c556\">http:\/\/blog.goo.ne.jp\/roboz80\/e\/e485f7efa259e44baaa298fd6989c556<\/a><br \/>\nRobot Square &#8211; Tutorial: Building BALANC3R &#8211; Robot Square<br \/>\n<a href=\"http:\/\/robotsquare.com\/2014\/06\/23\/tutorial-building-balanc3r\/\">http:\/\/robotsquare.com\/2014\/06\/23\/tutorial-building-balanc3r\/<\/a><br \/>\nNXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design &#8211; File Exchange &#8211; MATLAB Central<br \/>\n<a href=\"http:\/\/www.mathworks.com\/matlabcentral\/fileexchange\/19147-nxtway-gs--self-balancing-two-wheeled-robot--controller-design\">http:\/\/www.mathworks.com\/matlabcentral\/fileexchange\/19147-nxtway-gs&#8211;self-balancing-two-wheeled-robot&#8211;controller-design<\/a><br \/>\n\u5012\u7acb\u632f\u5b50\u306e\u7814\u7a76<br \/>\n<a href=\"http:\/\/www.instructables.com\/id\/%E5%80%92%E7%AB%8B%E6%8C%AF%E5%AD%90%E3%81%AE%E7%A0%94%E7%A9%B6\/\">http:\/\/www.instructables.com\/id\/%E5%80%92%E7%AB%8B%E6%8C%AF%E5%AD%90%E3%81%AE%E7%A0%94%E7%A9%B6\/<\/a><br \/>\n\u307f\u306e\u304f\u3089\u30ed\u30dc\u30c3\u30c8<br \/>\n<a href=\"http:\/\/minokura.net\/works\/wheelpendulum.html\">http:\/\/minokura.net\/works\/wheelpendulum.html<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3053\u30532\u9031\u9593\u307b\u3069\u5012\u7acb\u632f\u5b50\u30ed\u30dc\u30c3\u30c8\u306b\u30cf\u30de\u3063\u3066\u3044\u305f\u306e\u304c\u3088\u3046\u3084\u304f\u5f62\u306b\u306a\u3063\u3066\u6765\u305f\u306e\u3067\u3001\u30e1\u30e2\u4ee3\u308f\u308a\u306b\u6b8b\u3057\u3066\u304a\u304d\u307e\u3059\u3002\u521d\u624b\u306f ET \u30ed\u30dc\u30b3\u30f3\u306e EV3Way\u7528\u306e\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0 \u306a\u306e\u3067\u3059\u304c\u3001\u305d\u306e\u307e\u307e\u3060\u3068\u3046\u307e\u304f\u52d5\u304b\u304b\u306a\u3063\u305f\u306e\u3067\uff08\u4eca\u8003\u3048 &hellip; <a href=\"https:\/\/www.moonmile.net\/blog\/archives\/7525\">\u7d9a\u304d\u3092\u8aad\u3080 <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[23,83,84],"tags":[],"class_list":["post-7525","post","type-post","status-publish","format-standard","hentry","category-csharp","category-ev3","category-monobrick"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/7525","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/comments?post=7525"}],"version-history":[{"count":5,"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/7525\/revisions"}],"predecessor-version":[{"id":7530,"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/7525\/revisions\/7530"}],"wp:attachment":[{"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/media?parent=7525"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/categories?post=7525"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/tags?post=7525"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}