diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/GPS.h b/Archives/2020-02-22_Fukui/02_TsurugaA/GPS.h
new file mode 100644
index 0000000..385f8b5
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/GPS.h
@@ -0,0 +1,26 @@
+#ifndef GPS_H
+#define GPS_H
+
+#include <SoftwareSerial.h>
+#include "./PIN_ASSIGN.h"
+
+/*
+http://akizukidenshi.com/catalog/g/gK-09991/
+*/
+
+// #################### GPS ####################
+
+void GPS_Init();
+void GPS_Update();
+void GPS_Print();
+
+typedef struct {
+	float lat;
+	float lng;
+	float height;
+	uint16_t last_received_time;
+} Gps_t;
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/GPS.ino b/Archives/2020-02-22_Fukui/02_TsurugaA/GPS.ino
new file mode 100644
index 0000000..7b3ece3
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/GPS.ino
@@ -0,0 +1,160 @@
+#include "./GPS.h"
+
+Gps_t gps;
+
+SoftwareSerial GpsSerial(PIN_GPS_TX, PIN_GPS_RX);
+
+// 非公開関数
+// String GPS_NMEA2DMS_(float val);
+// String GPS_NMEA2DM_(float val);
+// String GPS_NMEA2DD_(float val);
+float GPS_NMEA2DDf_(float val);
+// String GPS_UTC2GMT900_(String str);
+
+
+
+void GPS_Init() {
+	GpsSerial.begin(9600);
+	gps.lat = 0.0;
+	gps.lng = 0.0;
+	gps.height = 0.0;
+	gps.last_received_time = 0;
+	Serial.println(F("GPS init done"));
+}
+
+
+void GPS_Update() {
+	// 1つのセンテンスを読み込む
+	String line = GpsSerial.readStringUntil('\n');
+
+	if(line != ""){
+		uint16_t i;
+		uint8_t  index = 0;
+		uint16_t len = line.length();
+		String   str = "";
+
+		// StringListの生成(簡易)
+		// const uint8_t MAX_LIST = 30;		// メモリ節約のために，極限まで小さくしたい！
+		const uint8_t MAX_LIST = 12;		// メモリ節約のために，極限まで小さくしたい！ [9]までしか使わないから小さくしても良いはず．
+		String list[MAX_LIST];
+		for (i = 0; i < MAX_LIST; i++) {
+			list[i] = "";
+		}
+
+		// 「,」を区切り文字として文字列を配列にする
+		for (i = 0; i < len; i++) {
+			if (index >= MAX_LIST) {
+				break;
+			}
+			if (line[i] == ',') {
+				list[index++] = str;
+				str = "";
+				continue;
+			}
+			str += line[i];
+		}
+
+		// $GPGGAセンテンスのみ読み込む
+		if (list[0] == "$GPGGA") {
+
+			// ステータス
+			if(list[6] != "0") {
+				// // 現在時刻
+				// Serial.print(GPS_UTC2GMT900_(list[1]));
+
+				// 緯度
+				// Serial.print(F(" 緯度:"));
+				// // Serial.print(GPS_NMEA2DMS_(list[2].toFloat()));
+				// Serial.print(F("("));
+				// Serial.print(GPS_NMEA2DD_(list[2].toFloat()));
+				// Serial.print(F(")"));
+
+				gps.lat = GPS_NMEA2DDf_(list[2].toFloat());
+
+				// 経度
+				// Serial.print(F(" 経度:"));
+				// // Serial.print(GPS_NMEA2DMS_(list[4].toFloat()));
+				// Serial.print(F("("));
+				// Serial.print(GPS_NMEA2DD_(list[4].toFloat()));
+				// Serial.print(F(")"));
+
+				gps.lng = GPS_NMEA2DDf_(list[4].toFloat());
+
+				// 海抜
+				// Serial.print(F(" 海抜:"));
+				// Serial.print(list[9]);
+				// // list[10].toLowerCase();
+				// // Serial.print(list[10]);
+				// Serial.print(F(" m"));
+
+				gps.height = list[9].toFloat();
+
+				gps.last_received_time = millis() / 1000;
+				// Serial.print(F("測位成功"));
+				Serial.print(F("GPS OK"));
+			} else {
+				// Serial.print(F("測位失敗"));
+				Serial.print(F("GPS NG"));
+			}
+
+			Serial.println(F(""));
+		}
+	}
+}
+
+void GPS_Print() {
+	Serial.print(F("GPS: Lat="));
+	Serial.print(gps.lat,6);
+	Serial.print(F(", Lng="));
+	Serial.print(gps.lng,6);
+	Serial.print(F(", Height="));
+	Serial.print(gps.height,2);
+	Serial.print(F(", RecTime="));
+	Serial.print(gps.last_received_time);
+	Serial.println(F(""));
+}
+
+
+
+
+
+// // NMEAの緯度経度を「度分秒」(DMS)の文字列に変換する
+// String GPS_NMEA2DMS_(float val) {
+// 	int d = val / 100;
+// 	int m = ((val / 100.0) - d) * 100.0;
+// 	float s = ((((val / 100.0) - d) * 100.0) - m) * 60;
+// 	return String(d) + "度" + String(m) + "分" + String(s, 1) + "秒";
+// }
+
+// // (未使用)NMEAの緯度経度を「度分」(DM)の文字列に変換する
+// String GPS_NMEA2DM_(float val) {
+// 	int d = val / 100;
+// 	float m = ((val / 100.0) - d) * 100.0;
+// 	return String(d) + "度" + String(m, 4) + "分";
+// }
+
+// // NMEAの緯度経度を「度」(DD)の文字列に変換する
+// String GPS_NMEA2DD_(float val) {
+// 	int d = val / 100;
+// 	int m = (((val / 100.0) - d) * 100.0) / 60;
+// 	float s = (((((val / 100.0) - d) * 100.0) - m) * 60) / (60 * 60);
+// 	return String(d + m + s, 6);
+// }
+
+// NMEAの緯度経度を「度」(DD)のfloatに変換する
+// dddmm.mmmmmm
+float GPS_NMEA2DDf_(float val) {
+	int   d = (int)(val / 100);
+	float m = (((val / 100.0) - d) * 100.0) / 60;
+	// float s = (((((val / 100.0) - d) * 100.0) - m) * 60) / (60 * 60);
+	// return d + m + s;
+	return d + m;
+}
+
+// // UTC時刻から日本の標準時刻に変換する(GMT+9:00)
+// String GPS_UTC2GMT900_(String str) {
+// 	int hh = (str.substring(0,2).toInt()) + 9;
+// 	if(hh > 24) hh = hh - 24;
+// 	return String(hh,DEC) + ":" + str.substring(2,4) + ":" + str.substring(4,6);
+// }
+
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/IMU.h b/Archives/2020-02-22_Fukui/02_TsurugaA/IMU.h
new file mode 100644
index 0000000..85f26a6
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/IMU.h
@@ -0,0 +1,67 @@
+#ifndef IMU_H
+#define IMU_H
+
+
+/*
+
+http://akizukidenshi.com/catalog/g/gK-13010/
+
+//================================================================//
+//  AE-BMX055             Arduino UNO                             //
+//    VCC                    +5V                                  //
+//    GND                    GND                                  //
+//    SDA                    A4(SDA)                              //
+//    SCL                    A5(SCL)                              //
+//                                                                //
+//   (JP6,JP4,JP5はショートした状態)                              //
+//   http://akizukidenshi.com/catalog/g/gK-13010/                 //
+//================================================================//
+*/
+
+// #################### 9AXIS ####################
+#include "./PIN_ASSIGN.h"
+
+
+#include<Wire.h>
+// BMX055 加速度センサのI2Cアドレス
+#define IMU_ADDR_ACCL 0x19  // (JP1,JP2,JP3 = Openの時)
+// BMX055 ジャイロセンサのI2Cアドレス
+#define IMU_ADDR_GYRO 0x69  // (JP1,JP2,JP3 = Openの時)
+// BMX055 磁気センサのI2Cアドレス
+#define IMU_ADDR_MAG 0x13   // (JP1,JP2,JP3 = Openの時)
+
+
+void IMU_Init();
+void IMU_UpdateAll();
+void IMU_UpdateAcc();
+void IMU_UpdateGyr();
+void IMU_UpdateMag();
+void IMU_PrintAcc();
+void IMU_PrintGyr();
+void IMU_PrintMag();
+
+float IMU_GetAccX();
+float IMU_GetAccY();
+float IMU_GetAccZ();
+float IMU_GetGyrX();
+float IMU_GetGyrY();
+float IMU_GetGyrZ();
+int IMU_GetMagX();
+int IMU_GetMagY();
+int IMU_GetMagZ();
+
+
+typedef struct {
+	float xAccl;
+	float yAccl;
+	float zAccl;
+	float xGyro;
+	float yGyro;
+	float zGyro;
+	int   xMag ;
+	int   yMag ;
+	int   zMag ;
+} Imu_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/IMU.ino b/Archives/2020-02-22_Fukui/02_TsurugaA/IMU.ino
new file mode 100644
index 0000000..90dc9d8
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/IMU.ino
@@ -0,0 +1,236 @@
+#include "./IMU.h"
+
+Imu_t imu;
+
+
+
+void IMU_Init() {
+	imu.xAccl = 0.0;
+	imu.yAccl = 0.0;
+	imu.zAccl = 0.0;
+	imu.xGyro = 0.0;
+	imu.yGyro = 0.0;
+	imu.zGyro = 0.0;
+	imu.xMag  = 0;
+	imu.yMag  = 0;
+	imu.zMag  = 0;
+
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x0F); // Select PMU_Range register
+	Wire.write(0x03);   // Range = +/- 2g
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x10);  // Select PMU_BW register
+	Wire.write(0x08);  // Bandwidth = 7.81 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x11);  // Select PMU_LPW register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 0.5ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x0F);  // Select Range register
+	Wire.write(0x04);  // Full scale = +/- 125 degree/s
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x10);  // Select Bandwidth register
+	Wire.write(0x07);  // ODR = 100 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x11);  // Select LPM1 register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 2ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x83);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x01);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4C);  // Select Mag register
+	Wire.write(0x00);  // Normal Mode, ODR = 10 Hz
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4E);  // Select Mag register
+	Wire.write(0x84);  // X, Y, Z-Axis enabled
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x51);  // Select Mag register
+	Wire.write(0x04);  // No. of Repetitions for X-Y Axis = 9
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x52);  // Select Mag register
+	Wire.write(0x16);  // No. of Repetitions for Z-Axis = 15
+	Wire.endTransmission();
+
+	Serial.println(F("IMU init done"));
+}
+
+
+void IMU_UpdateAll() {
+	IMU_UpdateAcc();
+	IMU_UpdateGyr();
+	IMU_UpdateMag();
+}
+
+
+void IMU_UpdateAcc() {
+	// int data[6];
+	uint8_t data[6];
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_ACCL);
+		Wire.write((2 + i));// Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_ACCL, 1);// Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xAccl lsb, imu.xAccl msb, imu.yAccl lsb, imu.yAccl msb, imu.zAccl lsb, imu.zAccl msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data to 12-bits
+	imu.xAccl = ((data[1] * 256) + (data[0] & 0xF0)) / 16;
+	if (imu.xAccl > 2047)  imu.xAccl -= 4096;
+	imu.yAccl = ((data[3] * 256) + (data[2] & 0xF0)) / 16;
+	if (imu.yAccl > 2047)  imu.yAccl -= 4096;
+	imu.zAccl = ((data[5] * 256) + (data[4] & 0xF0)) / 16;
+	if (imu.zAccl > 2047)  imu.zAccl -= 4096;
+	imu.xAccl = imu.xAccl * 0.0098; // renge +-2g
+	imu.yAccl = imu.yAccl * 0.0098; // renge +-2g
+	imu.zAccl = imu.zAccl * 0.0098; // renge +-2g
+}
+
+
+void IMU_UpdateGyr() {
+	// int data[6];
+	uint8_t data[6];
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_GYRO);
+		Wire.write((2 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_GYRO, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xGyro lsb, imu.xGyro msb, imu.yGyro lsb, imu.yGyro msb, imu.zGyro lsb, imu.zGyro msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	imu.xGyro = (data[1] * 256) + data[0];
+	if (imu.xGyro > 32767)  imu.xGyro -= 65536;
+	imu.yGyro = (data[3] * 256) + data[2];
+	if (imu.yGyro > 32767)  imu.yGyro -= 65536;
+	imu.zGyro = (data[5] * 256) + data[4];
+	if (imu.zGyro > 32767)  imu.zGyro -= 65536;
+
+	imu.xGyro = imu.xGyro * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.yGyro = imu.yGyro * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.zGyro = imu.zGyro * 0.0038; //  Full scale = +/- 125 degree/s
+}
+
+
+void IMU_UpdateMag() {
+	// int data[8];
+	uint8_t data[8];
+	for (uint8_t i = 0; i < 8; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_MAG);
+		Wire.write((0x42 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_MAG, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xMag lsb, imu.xMag msb, imu.yMag lsb, imu.yMag msb, imu.zMag lsb, imu.zMag msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	imu.xMag = ((data[1] <<8) | (data[0]>>3));
+	if (imu.xMag > 4095)  imu.xMag -= 8192;
+	imu.yMag = ((data[3] <<8) | (data[2]>>3));
+	if (imu.yMag > 4095)  imu.yMag -= 8192;
+	imu.zMag = ((data[5] <<8) | (data[4]>>3));
+	if (imu.zMag > 16383)  imu.zMag -= 32768;
+}
+
+
+void IMU_PrintAcc() {
+	Serial.print(F("Acc= "));
+	Serial.print(imu.xAccl);
+	Serial.print(F(","));
+	Serial.print(imu.yAccl);
+	Serial.print(F(","));
+	Serial.print(imu.zAccl);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintGyr() {
+	Serial.print(F("Gyr= "));
+	Serial.print(imu.xGyro);
+	Serial.print(F(","));
+	Serial.print(imu.yGyro);
+	Serial.print(F(","));
+	Serial.print(imu.zGyro);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintMag() {
+	Serial.print(F("Mag= "));
+	Serial.print(imu.xMag);
+	Serial.print(F(","));
+	Serial.print(imu.yMag);
+	Serial.print(F(","));
+	Serial.print(imu.zMag);
+	Serial.println(F(""));
+}
+
+
+float IMU_GetAccX() {
+	return imu.xAccl;
+}
+float IMU_GetAccY() {
+	return imu.yAccl;
+}
+float IMU_GetAccZ() {
+	return imu.zAccl;
+}
+float IMU_GetGyrX() {
+	return imu.xGyro;
+}
+float IMU_GetGyrY() {
+	return imu.yGyro;
+}
+float IMU_GetGyrZ() {
+	return imu.zGyro;
+}
+int IMU_GetMagX() {
+	return imu.xMag;
+}
+int IMU_GetMagY() {
+	return imu.yMag;
+}
+int IMU_GetMagZ() {
+	return imu.zMag;
+}
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/PIN_ASSIGN.h b/Archives/2020-02-22_Fukui/02_TsurugaA/PIN_ASSIGN.h
new file mode 100644
index 0000000..966d5ab
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/PIN_ASSIGN.h
@@ -0,0 +1,29 @@
+
+#ifndef PIN_ASSIGN_H
+#define PIN_ASSIGN_H
+
+
+#define PIN_SRV 4
+#define PIN_SRV2 5
+
+#define PIN_LIT A0
+
+#define PIN_GPS_TX 8
+#define PIN_GPS_RX 9
+#define PIN_SD_SS  10
+// SD MOSI 11
+// SD MISO 12
+// SD CLK  13
+
+#define PIN_CAM_TX 2
+#define PIN_CAM_RX 3
+
+#define PIN_SW 5
+
+
+// #define SDA A4
+// #define SCL A5
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/Servo.h b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo.h
new file mode 100644
index 0000000..5ea55f9
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo.h
@@ -0,0 +1,27 @@
+#ifndef SRV_H
+#define SRV_H
+
+#include "./PIN_ASSIGN.h"
+#include <Servo.h>
+
+/*
+http://akizukidenshi.com/catalog/g/gM-08914/
+*/
+
+// #################### Servo ####################
+
+
+void SRV_Init();
+void SRV_SetPosition(uint8_t pos);
+uint8_t SRV_GetPosition();
+void SRV_Run();
+
+typedef struct {
+	Servo servo;
+	uint8_t setPosition;
+	uint8_t position;
+} Servo_t;
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/Servo.ino b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo.ino
new file mode 100644
index 0000000..98d43a5
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo.ino
@@ -0,0 +1,25 @@
+#include "./Servo.h"
+
+
+Servo_t servo;
+
+void SRV_Init() {
+	servo.position = 0;
+	servo.setPosition = 0;
+
+	servo.servo.attach(PIN_SRV);
+	delay(1000);
+
+	// Serial.println(F("SRV init done"));
+	Serial.println(F("SRV init done"));
+}
+
+void SRV_SetPosition(uint8_t pos) {
+	servo.setPosition = pos;
+}
+
+
+void SRV_Run() {
+	servo.servo.write(servo.setPosition);
+	servo.position = servo.setPosition;
+}
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/Servo2.h b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo2.h
new file mode 100644
index 0000000..5cd25ce
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo2.h
@@ -0,0 +1,26 @@
+#ifndef SRV2_H
+#define SRV2_H
+
+#include "./PIN_ASSIGN.h"
+#include <Servo.h>
+
+/*
+http://akizukidenshi.com/catalog/g/gM-08914/
+*/
+
+// #################### Servo ####################
+
+
+void SRV2_Init();
+void SRV2_SetPosition(uint8_t pos);
+uint8_t SRV2_GetPosition();
+void SRV2_Run();
+
+// typedef struct {
+// 	Servo servo;
+// 	uint8_t setPosition;
+// 	uint8_t position;
+// } Servo_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/Servo2.ino b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo2.ino
new file mode 100644
index 0000000..5afdb40
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/Servo2.ino
@@ -0,0 +1,26 @@
+#include "./Servo.h"
+#include "./Servo2.h"
+
+
+Servo_t servo2;
+
+void SRV2_Init() {
+	servo2.position = 0;
+	servo2.setPosition = 0;
+
+	servo2.servo.attach(PIN_SRV2);
+	delay(1000);
+
+	// Serial.println(F("SRV2 init done"));
+	Serial.println(F("SRV2 init done"));
+}
+
+void SRV2_SetPosition(uint8_t pos) {
+	servo2.setPosition = pos;
+}
+
+
+void SRV2_Run(){
+	servo2.servo.write(servo2.setPosition);
+	servo2.position = servo2.setPosition;
+}
diff --git a/Archives/2020-02-22_Fukui/02_TsurugaA/Test.ino b/Archives/2020-02-22_Fukui/02_TsurugaA/Test.ino
new file mode 100644
index 0000000..4a1a21a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/02_TsurugaA/Test.ino
@@ -0,0 +1,74 @@
+#include "./IMU.h"
+//#include "./GPS.h"
+#include "./Servo.h"
+#include "./Servo2.h"
+
+
+void setup()
+{
+  // Wire(Arduino-I2C)の初期化
+  Wire.begin();
+  // デバック用シリアル通信は9600bps
+  Serial.begin(9600);
+
+  IMU_Init();
+  //GPS_Init();
+  SRV_Init();
+  SRV2_Init();
+
+      Serial.println(F("Pos=0"));
+      SRV_SetPosition(0);
+      SRV2_SetPosition(180);
+      SRV_Run();
+      SRV2_Run();
+      delay(2000);
+
+  Serial.println(F("Init done"));
+  delay(300);
+}
+
+void loop(){
+  IMU_UpdateAll();
+  IMU_PrintAcc();
+  //IMU_PrintGyr();
+  //IMU_PrintMag();
+  //GPS_Update();
+  //GPS_Print();
+
+float Acc = IMU_GetAccZ();
+  if((Acc>9.7)&&(Acc<10)){
+
+
+      Serial.println(F("Pos=0"));
+      SRV_SetPosition(0);
+      SRV2_SetPosition(180);
+      SRV_Run();
+      SRV2_Run();
+      delay(2000);
+
+      Serial.println(F("Pos=180"));
+      SRV_SetPosition(180);
+      SRV2_SetPosition(0);
+      SRV_Run();
+      SRV2_Run();
+      delay(2000);
+
+
+//    Serial.println(F("Move Up!"));
+//    for(int pos = 0; pos <= 180; pos = pos + 180) {
+//      Serial.print(F("pos:"));
+//      Serial.println(pos);
+//      SRV_SetPosition(pos);
+//      SRV2_SetPosition(180-pos);
+//      SRV_Run();
+//      SRV2_Run();
+//      delay(1000);
+//    }
+
+
+  }
+
+   Serial.println(F("END"));
+   while (1) {
+   }
+}
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/Adafruit_VC0706.cpp b/Archives/2020-02-22_Fukui/03_TsurugaB/Adafruit_VC0706.cpp
new file mode 100644
index 0000000..e2a383a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/Adafruit_VC0706.cpp
@@ -0,0 +1,484 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#include "Adafruit_VC0706.h"
+
+// Initialization code used by all constructor types
+void Adafruit_VC0706::common_init(void) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	swSerial  = NULL;
+#endif
+	hwSerial  = NULL;
+	frameptr  = 0;
+	bufferLen = 0;
+	serialNum = 0;
+}
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+// Constructor when using SoftwareSerial or NewSoftSerial
+	#if ARDUINO >= 100
+		Adafruit_VC0706::Adafruit_VC0706(SoftwareSerial *ser) {
+	#else
+		Adafruit_VC0706::Adafruit_VC0706(NewSoftSerial *ser) {
+	#endif
+	common_init();  // Set everything to common state, then...
+	swSerial = ser; // ...override swSerial with value passed.
+}
+#endif
+
+
+// Constructor when using HardwareSerial
+Adafruit_VC0706::Adafruit_VC0706(HardwareSerial *ser) {
+	common_init();  // Set everything to common state, then...
+	hwSerial = ser; // ...override hwSerial with value passed.
+}
+
+boolean Adafruit_VC0706::begin(uint16_t baud) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	if(swSerial) swSerial->begin(baud);
+	else
+#endif
+		hwSerial->begin(baud);
+	return reset();
+}
+
+boolean Adafruit_VC0706::reset() {
+	uint8_t args[] = {0x0};
+
+	return runCommand(VC0706_RESET, args, 1, 5);
+}
+
+// boolean Adafruit_VC0706::motionDetected() {
+//   if (readResponse(4, 200) != 4) {
+//     return false;
+//   }
+//   if (! verifyResponse(VC0706_COMM_MOTION_DETECTED))
+//     return false;
+
+//   return true;
+// }
+
+
+// boolean Adafruit_VC0706::setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2) {
+//   uint8_t args[] = {0x03, x, d1, d2};
+
+//   return runCommand(VC0706_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+// uint8_t Adafruit_VC0706::getMotionStatus(uint8_t x) {
+//   uint8_t args[] = {0x01, x};
+
+//   return runCommand(VC0706_MOTION_STATUS, args, sizeof(args), 5);
+// }
+
+
+// boolean Adafruit_VC0706::setMotionDetect(boolean flag) {
+//   if (! setMotionStatus(VC0706_MOTIONCONTROL, 
+// 			VC0706_UARTMOTION, VC0706_ACTIVATEMOTION))
+//     return false;
+
+//   uint8_t args[] = {0x01, flag};
+	
+//   runCommand(VC0706_COMM_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+
+// boolean Adafruit_VC0706::getMotionDetect(void) {
+//   uint8_t args[] = {0x0};
+
+//   if (! runCommand(VC0706_COMM_MOTION_STATUS, args, 1, 6))
+//     return false;
+
+//   return camerabuff[5];
+// }
+
+// uint8_t Adafruit_VC0706::getImageSize() {
+//   uint8_t args[] = {0x4, 0x4, 0x1, 0x00, 0x19};
+//   if (! runCommand(VC0706_READ_DATA, args, sizeof(args), 6))
+//     return -1;
+
+//   return camerabuff[5];
+// }
+
+boolean Adafruit_VC0706::setImageSize(uint8_t x) {
+	uint8_t args[] = {0x05, 0x04, 0x01, 0x00, 0x19, x};
+
+	return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+}
+
+/****************** downsize image control */
+
+// uint8_t Adafruit_VC0706::getDownsize(void) {
+//   uint8_t args[] = {0x0};
+//   if (! runCommand(VC0706_DOWNSIZE_STATUS, args, 1, 6)) 
+//     return -1;
+
+//    return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setDownsize(uint8_t newsize) {
+//   uint8_t args[] = {0x01, newsize};
+
+//   return runCommand(VC0706_DOWNSIZE_CTRL, args, 2, 5);
+// }
+
+/***************** other high level commands */
+
+// char * Adafruit_VC0706::getVersion(void) {
+//   uint8_t args[] = {0x01};
+	
+//   sendCommand(VC0706_GEN_VERSION, args, 1);
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+
+/***************** baud rate commands */
+
+// char* Adafruit_VC0706::setBaud9600() {
+//   uint8_t args[] = {0x03, 0x01, 0xAE, 0xC8};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+
+// }
+
+// char* Adafruit_VC0706::setBaud19200() {
+//   uint8_t args[] = {0x03, 0x01, 0x56, 0xE4};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud38400() {
+//   uint8_t args[] = {0x03, 0x01, 0x2A, 0xF2};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud57600() {
+//   uint8_t args[] = {0x03, 0x01, 0x1C, 0x1C};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud115200() {
+//   uint8_t args[] = {0x03, 0x01, 0x0D, 0xA6};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+/****************** high level photo comamnds */
+
+// void Adafruit_VC0706::OSD(uint8_t x, uint8_t y, char *str) {
+//   if (strlen(str) > 14) { str[13] = 0; }
+
+//   uint8_t args[17] = {strlen(str), strlen(str)-1, (y & 0xF) | ((x & 0x3) << 4)};
+
+//   for (uint8_t i=0; i<strlen(str); i++) {
+//     char c = str[i];
+//     if ((c >= '0') && (c <= '9')) {
+//       str[i] -= '0';
+//     } else if ((c >= 'A') && (c <= 'Z')) {
+//       str[i] -= 'A';
+//       str[i] += 10;
+//     } else if ((c >= 'a') && (c <= 'z')) {
+//       str[i] -= 'a';
+//       str[i] += 36;
+//     }
+
+//     args[3+i] = str[i];
+//   }
+
+//    runCommand(VC0706_OSD_ADD_CHAR, args, strlen(str)+3, 5);
+//    printBuff();
+// }
+
+// boolean Adafruit_VC0706::setCompression(uint8_t c) {
+//   uint8_t args[] = {0x5, 0x1, 0x1, 0x12, 0x04, c};
+//   return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+// }
+
+// uint8_t Adafruit_VC0706::getCompression(void) {
+//   uint8_t args[] = {0x4, 0x1, 0x1, 0x12, 0x04};
+//   runCommand(VC0706_READ_DATA, args, sizeof(args), 6);
+//   printBuff();
+//   return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt) {
+//   uint8_t args[] = {0x08, wz >> 8, wz, 
+// 		    hz >> 8, wz, 
+// 		    pan>>8, pan, 
+// 		    tilt>>8, tilt};
+
+//   return (! runCommand(VC0706_SET_ZOOM, args, sizeof(args), 5));
+// }
+
+
+// boolean Adafruit_VC0706::getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt) {
+//   uint8_t args[] = {0x0};
+	
+//   if (! runCommand(VC0706_GET_ZOOM, args, sizeof(args), 16))
+//     return false;
+//   printBuff();
+
+//   w = camerabuff[5];
+//   w <<= 8;
+//   w |= camerabuff[6];
+
+//   h = camerabuff[7];
+//   h <<= 8;
+//   h |= camerabuff[8];
+
+//   wz = camerabuff[9];
+//   wz <<= 8;
+//   wz |= camerabuff[10];
+
+//   hz = camerabuff[11];
+//   hz <<= 8;
+//   hz |= camerabuff[12];
+
+//   pan = camerabuff[13];
+//   pan <<= 8;
+//   pan |= camerabuff[14];
+
+//   tilt = camerabuff[15];
+//   tilt <<= 8;
+//   tilt |= camerabuff[16];
+
+//   return true;
+// }
+
+
+boolean Adafruit_VC0706::takePicture() {
+	frameptr = 0;
+	return cameraFrameBuffCtrl(VC0706_STOPCURRENTFRAME);
+}
+
+// boolean Adafruit_VC0706::resumeVideo() {
+//   return cameraFrameBuffCtrl(VC0706_RESUMEFRAME);
+// }
+
+// boolean Adafruit_VC0706::TVon() {
+//   uint8_t args[] = {0x1, 0x1};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+// boolean Adafruit_VC0706::TVoff() {
+//   uint8_t args[] = {0x1, 0x0};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+
+boolean Adafruit_VC0706::cameraFrameBuffCtrl(uint8_t command) {
+	uint8_t args[] = {0x1, command};
+	return runCommand(VC0706_FBUF_CTRL, args, sizeof(args), 5);
+}
+
+uint32_t Adafruit_VC0706::frameLength(void) {
+	uint8_t args[] = {0x01, 0x00};
+	if (!runCommand(VC0706_GET_FBUF_LEN, args, sizeof(args), 9))
+		return 0;
+
+	uint32_t len;
+	len = camerabuff[5];
+	len <<= 8;
+	len |= camerabuff[6];
+	len <<= 8;
+	len |= camerabuff[7];
+	len <<= 8;
+	len |= camerabuff[8];
+
+	return len;
+}
+
+
+uint8_t Adafruit_VC0706::available(void) {
+	return bufferLen;
+}
+
+
+uint8_t * Adafruit_VC0706::readPicture(uint8_t n) {
+	uint8_t args[] = {0x0C, 0x0, 0x0A,
+										0, 0, frameptr >> 8, frameptr & 0xFF,
+										0, 0, 0, n,
+										CAMERADELAY >> 8, CAMERADELAY & 0xFF};
+
+	if (! runCommand(VC0706_READ_FBUF, args, sizeof(args), 5, false))
+		return 0;
+
+
+	// read into the buffer PACKETLEN!
+	if (readResponse(n+5, CAMERADELAY) == 0)
+		return 0;
+
+
+	frameptr += n;
+
+	return camerabuff;
+}
+
+/**************** low level commands */
+
+
+boolean Adafruit_VC0706::runCommand(uint8_t cmd, uint8_t *args, uint8_t argn, 
+				 uint8_t resplen, boolean flushflag) {
+	// flush out anything in the buffer?
+	if (flushflag) {
+		// readResponse(100, 10);
+		// ●●● 変えた！！！ ●●●
+		readResponse(CAMERABUFFSIZ, 10);
+	}
+
+	sendCommand(cmd, args, argn);
+	if (readResponse(resplen, 200) != resplen)
+		return false;
+	if (! verifyResponse(cmd))
+		return false;
+	return true;
+}
+
+void Adafruit_VC0706::sendCommand(uint8_t cmd, uint8_t args[] = 0, uint8_t argn = 0) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		if(swSerial) {
+#if ARDUINO >= 100
+		swSerial->write((byte)0x56);
+		swSerial->write((byte)serialNum);
+		swSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		swSerial->print(0x56, BYTE);
+		swSerial->print(serialNum, BYTE);
+		swSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+		else
+#endif
+	{
+#if ARDUINO >= 100
+		hwSerial->write((byte)0x56);
+		hwSerial->write((byte)serialNum);
+		hwSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		hwSerial->print(0x56, BYTE);
+		hwSerial->print(serialNum, BYTE);
+		hwSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+//Serial.println();
+}
+
+uint8_t Adafruit_VC0706::readResponse(uint8_t numbytes, uint8_t timeout) {
+	uint8_t counter = 0;
+	bufferLen = 0;
+	int avail;
+
+	while ((timeout != counter) && (bufferLen != numbytes)){
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		avail = swSerial ? swSerial->available() : hwSerial->available();
+#else
+		avail = hwSerial->available();
+#endif
+		if (avail <= 0) {
+			delay(1);
+			counter++;
+			continue;
+		}
+		counter = 0;
+		// there's a byte!
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		camerabuff[bufferLen++] = swSerial ? swSerial->read() : hwSerial->read();
+#else
+		camerabuff[bufferLen++] = hwSerial->read();
+#endif
+		// ●●● 安全コード．足した！！！●●●
+		if (bufferLen > (CAMERABUFFSIZ - 1)) {
+			Serial.println(F("CAM BUF WARNING!!!"));
+		}
+	}
+	//printBuff();
+//camerabuff[bufferLen] = 0;
+//Serial.println((char*)camerabuff);
+	return bufferLen;
+}
+
+boolean Adafruit_VC0706::verifyResponse(uint8_t command) {
+	if ((camerabuff[0] != 0x76) ||
+			(camerabuff[1] != serialNum) ||
+			(camerabuff[2] != command) ||
+			(camerabuff[3] != 0x0))
+			return false;
+	return true;
+}
+
+// void Adafruit_VC0706::printBuff() {
+//   for (uint8_t i = 0; i< bufferLen; i++) {
+//     Serial.print(" 0x");
+//     Serial.print(camerabuff[i], HEX);
+//   }
+//   Serial.println();
+// }
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/Adafruit_VC0706.h b/Archives/2020-02-22_Fukui/03_TsurugaB/Adafruit_VC0706.h
new file mode 100644
index 0000000..8ac62e8
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/Adafruit_VC0706.h
@@ -0,0 +1,132 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+ #if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#include <SoftwareSerial.h>
+ #endif
+#else
+ #include "WProgram.h"
+ #include "NewSoftSerial.h"
+#endif
+
+#define VC0706_RESET  0x26
+// #define VC0706_GEN_VERSION 0x11
+// #define VC0706_SET_PORT 0x24
+#define VC0706_READ_FBUF 0x32
+#define VC0706_GET_FBUF_LEN 0x34
+#define VC0706_FBUF_CTRL 0x36
+// #define VC0706_DOWNSIZE_CTRL 0x54
+// #define VC0706_DOWNSIZE_STATUS 0x55
+// #define VC0706_READ_DATA 0x30
+#define VC0706_WRITE_DATA 0x31
+// #define VC0706_COMM_MOTION_CTRL 0x37
+// #define VC0706_COMM_MOTION_STATUS 0x38
+// #define VC0706_COMM_MOTION_DETECTED 0x39
+// #define VC0706_MOTION_CTRL 0x42
+// #define VC0706_MOTION_STATUS 0x43
+// #define VC0706_TVOUT_CTRL 0x44
+// #define VC0706_OSD_ADD_CHAR 0x45
+
+#define VC0706_STOPCURRENTFRAME 0x0
+// #define VC0706_STOPNEXTFRAME 0x1
+// #define VC0706_RESUMEFRAME 0x3
+// #define VC0706_STEPFRAME 0x2
+
+#define VC0706_640x480 0x00
+#define VC0706_320x240 0x11
+#define VC0706_160x120 0x22
+
+// #define VC0706_MOTIONCONTROL 0x0
+// #define VC0706_UARTMOTION 0x01
+// #define VC0706_ACTIVATEMOTION 0x01
+
+// #define VC0706_SET_ZOOM 0x52
+// #define VC0706_GET_ZOOM 0x53
+
+// #define CAMERABUFFSIZ 100
+#define CAMERABUFFSIZ 50      // 減らした．多分問題ないが，怖いので安全コードも足した． L.370, L.458あたり
+#define CAMERADELAY 10
+
+
+class Adafruit_VC0706 {
+ public:
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		Adafruit_VC0706(SoftwareSerial *ser); // Constructor when using SoftwareSerial
+	#else
+		Adafruit_VC0706(NewSoftSerial  *ser); // Constructor when using NewSoftSerial
+	#endif
+#endif
+	Adafruit_VC0706(HardwareSerial *ser); // Constructor when using HardwareSerial
+	boolean begin(uint16_t baud = 38400);
+	boolean reset(void);
+	// boolean TVon(void);
+	// boolean TVoff(void);
+	boolean takePicture(void);
+	uint8_t *readPicture(uint8_t n);
+	// boolean resumeVideo(void);
+	uint32_t frameLength(void);
+	// char *getVersion(void);
+	uint8_t available();
+	// uint8_t getDownsize(void);
+	// boolean setDownsize(uint8_t);
+	// uint8_t getImageSize();
+	boolean setImageSize(uint8_t);
+	// boolean getMotionDetect();
+	// uint8_t getMotionStatus(uint8_t);
+	// boolean motionDetected();
+	// boolean setMotionDetect(boolean f);
+	// boolean setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2);
+	boolean cameraFrameBuffCtrl(uint8_t command);
+	// uint8_t getCompression();
+	// boolean setCompression(uint8_t c);
+
+	// boolean getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt);
+	// boolean setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt);
+
+	// void OSD(uint8_t x, uint8_t y, char *s); // isnt supported by the chip :(
+
+// char* setBaud9600();
+// char* setBaud19200();
+// char* setBaud38400();
+// char* setBaud57600();
+// char* setBaud115200();
+
+ private:
+	uint8_t  serialNum;
+	uint8_t  camerabuff[CAMERABUFFSIZ+1];
+	uint8_t  bufferLen;
+	uint16_t frameptr;
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		SoftwareSerial *swSerial;
+	#else
+		NewSoftSerial  *swSerial;
+	#endif
+#endif
+	HardwareSerial *hwSerial;
+
+	void common_init(void);
+	boolean runCommand(uint8_t cmd, uint8_t args[], uint8_t argn, uint8_t resp, boolean flushflag = true); 
+	void sendCommand(uint8_t cmd, uint8_t args[], uint8_t argn); 
+	uint8_t readResponse(uint8_t numbytes, uint8_t timeout);
+	boolean verifyResponse(uint8_t command);
+	// void printBuff(void);
+};
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/Camera.h b/Archives/2020-02-22_Fukui/03_TsurugaB/Camera.h
new file mode 100644
index 0000000..f5b2aee
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/Camera.h
@@ -0,0 +1,27 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+/*
+https://www.switch-science.com/catalog/1241/
+https://www.adafruit.com/product/397
+*/
+
+// #################### CAMERA ####################
+
+
+#include "./PIN_ASSIGN.h"
+
+#include "./Adafruit_VC0706.h"
+#include <SPI.h>
+#include <SoftwareSerial.h>
+// #include <SD.h>
+
+
+void CAM_Init();
+void CAM_TakePic();
+
+typedef struct {
+} Camera_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/Camera.ino b/Archives/2020-02-22_Fukui/03_TsurugaB/Camera.ino
new file mode 100644
index 0000000..11ec1e7
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/Camera.ino
@@ -0,0 +1,105 @@
+#include "./Camera.h"
+#include "./SD.h"
+
+Camera_t camera;
+
+// SoftwareSerial と Adafruit_VC0706 は初期値なしの初期化ができないので，仕方なくstructにはいれない．
+SoftwareSerial CamSerial = SoftwareSerial(PIN_CAM_TX, PIN_CAM_RX);
+Adafruit_VC0706 cam = Adafruit_VC0706(&CamSerial);
+
+
+void CAM_Init() {
+	// Try to locate the camera
+	if (cam.begin()) {
+		Serial.println(F("Cam Found"));
+	} else {
+		Serial.println(F("No cam!!"));
+		return;
+	}
+	// // Print out the camera version information (optional)
+	// char *reply = cam.getVersion();
+	// if (reply == 0) {
+	// 	Serial.println(F("Failed to get version"));
+	// } else {
+	// 	Serial.println(F("-----------------"));
+	// 	Serial.print(reply);
+	// 	Serial.println(F("-----------------"));
+	// }
+
+	cam.setImageSize(VC0706_640x480);        // biggest
+	// cam.setImageSize(VC0706_320x240);        // medium
+	// cam.setImageSize(VC0706_160x120);        // small
+
+
+	// バッファークリアの意味も兼ねて一発撮る
+	// 壊れた画像になるので確認．
+	CAM_TakePic();
+}
+
+
+void CAM_TakePic() {
+	SD_Write(F("TakePic"));
+
+	// You can read the size back from the camera (optional, but maybe useful?)
+	// uint8_t imgsize = cam.getImageSize();
+	// Serial.print("Image size: ");
+	// if (imgsize == VC0706_640x480) Serial.println("640x480");
+	// if (imgsize == VC0706_320x240) Serial.println("320x240");
+	// if (imgsize == VC0706_160x120) Serial.println("160x120");
+
+	if (! cam.takePicture()) {
+		Serial.println(F("Snap NG"));
+		// return;
+	} else {
+		Serial.println(F("Snap OK"));
+	}
+
+	// Create an image with the name IMGxx.JPG
+	char filename[12];
+	strcpy(filename, "000.JPG");
+	for (uint16_t i = 0; i < 1000; i++) {
+		filename[0] = '0' + i/100;
+		filename[1] = '0' + (i/10)%10;
+		filename[2] = '0' + i%10;
+		// create if does not exist, do not open existing, write, sync after write
+		if ( ! SD.exists(SD_GetDirName() + String(filename)) ) {
+			break;
+		}
+	}
+
+	SD_Write("picname:" + SD_GetDirName() + String(filename));
+	Serial.println(SD_GetDirName() + String(filename));
+
+	// Open the file for writing
+	File imgFile = SD.open(SD_GetDirName() + String(filename), FILE_WRITE);
+
+	// Get the size of the image (frame) taken
+	uint16_t jpglen = cam.frameLength();
+	Serial.print(F("Storing "));
+	Serial.print(jpglen, DEC);
+	Serial.print(F(" byte."));
+
+	// int32_t time = millis();
+	// pinMode(8, OUTPUT);
+	// Read all the data up to # bytes!
+	byte wCount = 0; // For counting # of writes
+	while (jpglen > 0) {
+		// read 32 bytes at a time;
+		uint8_t *buffer;
+		uint8_t bytesToRead = min(32, jpglen); // change 32 to 64 for a speedup but may not work with all setups!
+		buffer = cam.readPicture(bytesToRead);
+		imgFile.write(buffer, bytesToRead);
+		if(++wCount >= 64) { // Every 2K, give a little feedback so it doesn't appear locked up
+			Serial.print('.');
+			wCount = 0;
+		}
+		//Serial.print("Read ");  Serial.print(bytesToRead, DEC); Serial.println(" bytes");
+		jpglen -= bytesToRead;
+	}
+	imgFile.close();
+
+	// time = millis() - time;
+	Serial.println(F("done!"));
+	// Serial.print(time);
+	// Serial.println(F(" ms elapsed"));
+}
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/CanSat_Tsuruga_last.ino b/Archives/2020-02-22_Fukui/03_TsurugaB/CanSat_Tsuruga_last.ino
new file mode 100644
index 0000000..8878535
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/CanSat_Tsuruga_last.ino
@@ -0,0 +1,37 @@
+#include "./IMU.h"
+#include "./GPS.h"
+#include "./SD.h"
+#include "./Camera.h"
+
+void setup()
+{
+  // Wire(Arduino-I2C)の初期化
+  Wire.begin();
+  // デバック用シリアル通信は9600bps
+  Serial.begin(9600);
+
+  SD_Init();    // これは絶対最初に初期化！
+  CAM_Init();   // SDの後！
+  IMU_Init();
+  GPS_Init();
+
+  Serial.println(F("Init done"));
+  delay(300);
+}
+
+void loop()
+{
+  IMU_UpdateAll();
+  IMU_PrintAcc();
+  IMU_PrintGyr();
+  IMU_PrintMag();
+  GPS_Update();
+  float lat = GPS_GetLat();
+  float lng = GPS_GetLng(); 
+  GPS_Print();
+  if ((lat > 36.1242) && (lat < 36.1244)) {
+    if ((lng > 136.220310) && (lng < 136.220330)) {
+      CAM_TakePic();
+    }
+  }
+}
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/GPS.h b/Archives/2020-02-22_Fukui/03_TsurugaB/GPS.h
new file mode 100644
index 0000000..75bc976
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/GPS.h
@@ -0,0 +1,28 @@
+#ifndef GPS_H
+#define GPS_H
+
+#include <SoftwareSerial.h>
+#include "./PIN_ASSIGN.h"
+
+/*
+http://akizukidenshi.com/catalog/g/gK-09991/
+*/
+
+// #################### GPS ####################
+
+void GPS_Init();
+void GPS_Update();
+void GPS_Print();
+float GPS_GetLat();
+float GPS_GetLng();
+float GPS_GetHeight();
+
+typedef struct {
+  float lat;
+  float lng;
+  float height;
+  uint16_t last_received_time;
+} Gps_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/GPS.ino b/Archives/2020-02-22_Fukui/03_TsurugaB/GPS.ino
new file mode 100644
index 0000000..14e4dc5
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/GPS.ino
@@ -0,0 +1,171 @@
+#include "./GPS.h"
+
+Gps_t gps;
+
+SoftwareSerial GpsSerial(PIN_GPS_TX, PIN_GPS_RX);
+
+// 非公開関数
+// String GPS_NMEA2DMS_(float val);
+// String GPS_NMEA2DM_(float val);
+// String GPS_NMEA2DD_(float val);
+float GPS_NMEA2DDf_(float val);
+// String GPS_UTC2GMT900_(String str);
+
+
+
+void GPS_Init() {
+  GpsSerial.begin(9600);
+  gps.lat = 0.0;
+  gps.lng = 0.0;
+  gps.height = 0.0;
+  gps.last_received_time = 0;
+  Serial.println(F("GPS init done"));
+}
+
+
+void GPS_Update() {
+  // 1つのセンテンスを読み込む
+  String line = GpsSerial.readStringUntil('\n');
+  Serial.println(line);
+
+  if(line != ""){
+    uint16_t i;
+    uint8_t  index = 0;
+    uint16_t len = line.length();
+    String   str = "";
+
+    // StringListの生成(簡易)
+    // const uint8_t MAX_LIST = 30;   // メモリ節約のために，極限まで小さくしたい！
+    const uint8_t MAX_LIST = 12;    // メモリ節約のために，極限まで小さくしたい！ [9]までしか使わないから小さくしても良いはず．
+    String list[MAX_LIST];
+    for (i = 0; i < MAX_LIST; i++) {
+      list[i] = "";
+    }
+
+    // 「,」を区切り文字として文字列を配列にする
+    for (i = 0; i < len; i++) {
+      if (index >= MAX_LIST) {
+        break;
+      }
+      if (line[i] == ',') {
+        list[index++] = str;
+        str = "";
+        continue;
+      }
+      str += line[i];
+    }
+
+    // $GPGGAセンテンスのみ読み込む
+    if (list[0] == "$GPGGA") {
+
+      // ステータス
+      if(list[6] != "0") {
+        // // 現在時刻
+        // Serial.print(GPS_UTC2GMT900_(list[1]));
+
+        // 緯度
+        // Serial.print(F(" 緯度:"));
+        // // Serial.print(GPS_NMEA2DMS_(list[2].toFloat()));
+        // Serial.print(F("("));
+        // Serial.print(GPS_NMEA2DD_(list[2].toFloat()));
+        // Serial.print(F(")"));
+
+        gps.lat = GPS_NMEA2DDf_(list[2].toFloat());
+
+        // 経度
+        // Serial.print(F(" 経度:"));
+        // // Serial.print(GPS_NMEA2DMS_(list[4].toFloat()));
+        // Serial.print(F("("));
+        // Serial.print(GPS_NMEA2DD_(list[4].toFloat()));
+        // Serial.print(F(")"));
+
+        gps.lng = GPS_NMEA2DDf_(list[4].toFloat());
+
+        // 海抜
+        // Serial.print(F(" 海抜:"));
+        // Serial.print(list[9]);
+        // // list[10].toLowerCase();
+        // // Serial.print(list[10]);
+        // Serial.print(F(" m"));
+
+        gps.height = list[9].toFloat();
+
+        gps.last_received_time = millis() / 1000;
+        Serial.print(F("測位成功"));
+        // Serial.print(F("GPS OK"));
+      } else {
+        Serial.print(F("測位失敗"));
+        // Serial.print(F("GPS NG"));
+      }
+
+      Serial.println(F(""));
+    }
+  }
+}
+
+void GPS_Print() {
+  Serial.print(F("測位結果："));
+  Serial.print(F("GPS: Lat="));
+  Serial.print(GPS_GetLat(),6);
+  Serial.print(F(", Lng="));
+  Serial.print(GPS_GetLng(),6);
+  Serial.print(F(", Height="));
+  Serial.print(GPS_GetHeight(),2);
+  Serial.print(F(", RecTime="));
+  Serial.print(gps.last_received_time);
+  Serial.println(F(""));
+}
+
+float GPS_GetLat() {
+  return gps.lat;
+}
+float GPS_GetLng() {
+  return gps.lng;
+}
+float GPS_GetHeight() {
+  return gps.height;
+}
+
+
+
+
+
+// // NMEAの緯度経度を「度分秒」(DMS)の文字列に変換する
+// String GPS_NMEA2DMS_(float val) {
+//  int d = val / 100;
+//  int m = ((val / 100.0) - d) * 100.0;
+//  float s = ((((val / 100.0) - d) * 100.0) - m) * 60;
+//  return String(d) + "度" + String(m) + "分" + String(s, 1) + "秒";
+// }
+
+// // (未使用)NMEAの緯度経度を「度分」(DM)の文字列に変換する
+// String GPS_NMEA2DM_(float val) {
+//  int d = val / 100;
+//  float m = ((val / 100.0) - d) * 100.0;
+//  return String(d) + "度" + String(m, 4) + "分";
+// }
+
+// // NMEAの緯度経度を「度」(DD)の文字列に変換する
+// String GPS_NMEA2DD_(float val) {
+//  int d = val / 100;
+//  int m = (((val / 100.0) - d) * 100.0) / 60;
+//  float s = (((((val / 100.0) - d) * 100.0) - m) * 60) / (60 * 60);
+//  return String(d + m + s, 6);
+// }
+
+// NMEAの緯度経度を「度」(DD)のfloatに変換する
+// dddmm.mmmmmm
+float GPS_NMEA2DDf_(float val) {
+  int   d = (int)(val / 100);
+  float m = (((val / 100.0) - d) * 100.0) / 60;
+  // float s = (((((val / 100.0) - d) * 100.0) - m) * 60) / (60 * 60);
+  // return d + m + s;
+  return d + m;
+}
+
+// // UTC時刻から日本の標準時刻に変換する(GMT+9:00)
+// String GPS_UTC2GMT900_(String str) {
+//  int hh = (str.substring(0,2).toInt()) + 9;
+//  if(hh > 24) hh = hh - 24;
+//  return String(hh,DEC) + ":" + str.substring(2,4) + ":" + str.substring(4,6);
+// }
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/IMU.h b/Archives/2020-02-22_Fukui/03_TsurugaB/IMU.h
new file mode 100644
index 0000000..b7be749
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/IMU.h
@@ -0,0 +1,70 @@
+#ifndef IMU_H
+#define IMU_H
+
+
+/*
+
+http://akizukidenshi.com/catalog/g/gK-13010/
+
+//================================================================//
+//  AE-BMX055             Arduino UNO                             //
+//    VCC                    +5V                                  //
+//    GND                    GND                                  //
+//    SDA                    A4(SDA)                              //
+//    SCL                    A5(SCL)                              //
+//                                                                //
+//   (JP6,JP4,JP5はショートした状態)                              //
+//   http://akizukidenshi.com/catalog/g/gK-13010/                 //
+//================================================================//
+*/
+
+// #################### 9AXIS ####################
+#include "./PIN_ASSIGN.h"
+
+
+#include<Wire.h>
+// BMX055 加速度センサのI2Cアドレス
+#define IMU_ADDR_ACCL 0x19  // (JP1,JP2,JP3 = Openの時)
+// BMX055 ジャイロセンサのI2Cアドレス
+#define IMU_ADDR_GYRO 0x69  // (JP1,JP2,JP3 = Openの時)
+// BMX055 磁気センサのI2Cアドレス
+#define IMU_ADDR_MAG 0x13   // (JP1,JP2,JP3 = Openの時)
+
+
+#define IMU_COEF  (100.0)
+
+void IMU_Init();
+void IMU_UpdateAll();
+void IMU_UpdateAcc();
+void IMU_UpdateGyr();
+void IMU_UpdateMag();
+void IMU_PrintAcc();
+void IMU_PrintGyr();
+void IMU_PrintMag();
+
+float IMU_GetAccX();
+float IMU_GetAccY();
+float IMU_GetAccZ();
+float IMU_GetGyrX();
+float IMU_GetGyrY();
+float IMU_GetGyrZ();
+int16_t IMU_GetMagX();
+int16_t IMU_GetMagY();
+int16_t IMU_GetMagZ();
+
+
+typedef struct {
+	// floatだとメモリを多く消費するので，intで保持し，Getterで変換
+	int16_t xAccl;
+	int16_t yAccl;
+	int16_t zAccl;
+	int16_t xGyro;
+	int16_t yGyro;
+	int16_t zGyro;
+	int16_t xMag ;
+	int16_t yMag ;
+	int16_t zMag ;
+} Imu_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/IMU.ino b/Archives/2020-02-22_Fukui/03_TsurugaB/IMU.ino
new file mode 100644
index 0000000..4e0c3fa
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/IMU.ino
@@ -0,0 +1,248 @@
+#include "./IMU.h"
+
+Imu_t imu;
+
+
+
+void IMU_Init() {
+	// Wire.begin();はされている前提！
+	imu.xAccl = 0;
+	imu.yAccl = 0;
+	imu.zAccl = 0;
+	imu.xGyro = 0;
+	imu.yGyro = 0;
+	imu.zGyro = 0;
+	imu.xMag  = 0;
+	imu.yMag  = 0;
+	imu.zMag  = 0;
+
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x0F); // Select PMU_Range register
+	Wire.write(0x03);   // Range = +/- 2g
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x10);  // Select PMU_BW register
+	Wire.write(0x08);  // Bandwidth = 7.81 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x11);  // Select PMU_LPW register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 0.5ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x0F);  // Select Range register
+	Wire.write(0x04);  // Full scale = +/- 125 degree/s
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x10);  // Select Bandwidth register
+	Wire.write(0x07);  // ODR = 100 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x11);  // Select LPM1 register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 2ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x83);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x01);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4C);  // Select Mag register
+	Wire.write(0x00);  // Normal Mode, ODR = 10 Hz
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4E);  // Select Mag register
+	Wire.write(0x84);  // X, Y, Z-Axis enabled
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x51);  // Select Mag register
+	Wire.write(0x04);  // No. of Repetitions for X-Y Axis = 9
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x52);  // Select Mag register
+	Wire.write(0x16);  // No. of Repetitions for Z-Axis = 15
+	Wire.endTransmission();
+
+	Serial.println(F("IMU init done"));
+}
+
+
+void IMU_UpdateAll() {
+	IMU_UpdateAcc();
+	IMU_UpdateGyr();
+	IMU_UpdateMag();
+}
+
+
+void IMU_UpdateAcc() {
+	// int data[6];
+	uint8_t data[6];
+	float temp;
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_ACCL);
+		Wire.write((2 + i));// Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_ACCL, 1);// Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xAccl lsb, imu.xAccl msb, imu.yAccl lsb, imu.yAccl msb, imu.zAccl lsb, imu.zAccl msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data to 12-bits
+	temp = ((data[1] * 256) + (data[0] & 0xF0)) / 16;
+	if (temp > 2047)  temp -= 4096;
+	temp = temp * 0.0098; // renge +-2g
+	imu.xAccl = (int16_t)(temp * IMU_COEF);
+
+	temp = ((data[3] * 256) + (data[2] & 0xF0)) / 16;
+	if (temp > 2047)  temp -= 4096;
+	temp = temp * 0.0098; // renge +-2g
+	imu.yAccl = (int16_t)(temp * IMU_COEF);
+
+	temp = ((data[5] * 256) + (data[4] & 0xF0)) / 16;
+	if (temp > 2047)  temp -= 4096;
+	temp = temp * 0.0098; // renge +-2g
+	imu.zAccl = (int16_t)(temp * IMU_COEF);
+}
+
+
+void IMU_UpdateGyr() {
+	// int data[6];
+	uint8_t data[6];
+	float temp;
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_GYRO);
+		Wire.write((2 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_GYRO, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xGyro lsb, imu.xGyro msb, imu.yGyro lsb, imu.yGyro msb, imu.zGyro lsb, imu.zGyro msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	temp = (data[1] * 256) + data[0];
+	if (temp > 32767)  temp -= 65536;
+	temp = temp * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.xGyro = (int16_t)(temp * IMU_COEF);
+
+	temp = (data[3] * 256) + data[2];
+	if (temp > 32767)  temp -= 65536;
+	temp = temp * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.yGyro = (int16_t)(temp * IMU_COEF);
+
+	temp = (data[5] * 256) + data[4];
+	if (temp > 32767)  temp -= 65536;
+	temp = temp * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.zGyro = (int16_t)(temp * IMU_COEF);
+}
+
+
+void IMU_UpdateMag() {
+	// int data[8];
+	uint8_t data[8];
+	for (uint8_t i = 0; i < 8; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_MAG);
+		Wire.write((0x42 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_MAG, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xMag lsb, imu.xMag msb, imu.yMag lsb, imu.yMag msb, imu.zMag lsb, imu.zMag msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	imu.xMag = ((data[1] <<8) | (data[0]>>3));
+	if (imu.xMag > 4095)  imu.xMag -= 8192;
+	imu.yMag = ((data[3] <<8) | (data[2]>>3));
+	if (imu.yMag > 4095)  imu.yMag -= 8192;
+	imu.zMag = ((data[5] <<8) | (data[4]>>3));
+	if (imu.zMag > 16383)  imu.zMag -= 32768;
+}
+
+
+void IMU_PrintAcc() {
+	Serial.print(F("Acc= "));
+	Serial.print(imu.xAccl);
+	Serial.print(F(","));
+	Serial.print(imu.yAccl);
+	Serial.print(F(","));
+	Serial.print(imu.zAccl);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintGyr() {
+	Serial.print(F("Gyr= "));
+	Serial.print(imu.xGyro);
+	Serial.print(F(","));
+	Serial.print(imu.yGyro);
+	Serial.print(F(","));
+	Serial.print(imu.zGyro);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintMag() {
+	Serial.print(F("Mag= "));
+	Serial.print(imu.xMag);
+	Serial.print(F(","));
+	Serial.print(imu.yMag);
+	Serial.print(F(","));
+	Serial.print(imu.zMag);
+	Serial.println(F(""));
+}
+
+
+float IMU_GetAccX() {
+	return imu.xAccl / IMU_COEF;
+}
+float IMU_GetAccY() {
+	return imu.yAccl / IMU_COEF;
+}
+float IMU_GetAccZ() {
+	return imu.zAccl / IMU_COEF;
+}
+float IMU_GetGyrX() {
+	return imu.xGyro / IMU_COEF;
+}
+float IMU_GetGyrY() {
+	return imu.yGyro / IMU_COEF;
+}
+float IMU_GetGyrZ() {
+	return imu.zGyro / IMU_COEF;
+}
+int16_t IMU_GetMagX() {
+	return imu.xMag;
+}
+int16_t IMU_GetMagY() {
+	return imu.yMag;
+}
+int16_t IMU_GetMagZ() {
+	return imu.zMag;
+}
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/PIN_ASSIGN.h b/Archives/2020-02-22_Fukui/03_TsurugaB/PIN_ASSIGN.h
new file mode 100644
index 0000000..09b9108
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/PIN_ASSIGN.h
@@ -0,0 +1,27 @@
+
+#ifndef PIN_ASSIGN_H
+#define PIN_ASSIGN_H
+
+
+#define PIN_SRV 4
+
+#define PIN_LIT A0
+
+#define PIN_GPS_TX 8
+#define PIN_GPS_RX 9
+#define PIN_SD_SS  10
+// SD MOSI 11
+// SD MISO 12
+// SD CLK  13
+
+#define PIN_CAM_TX 2
+#define PIN_CAM_RX 3
+
+#define PIN_SW 5
+
+
+// #define SDA A4
+// #define SCL A5
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/SD.h b/Archives/2020-02-22_Fukui/03_TsurugaB/SD.h
new file mode 100644
index 0000000..ef9e367
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/SD.h
@@ -0,0 +1,33 @@
+#ifndef SD_H
+#define SD_H
+
+
+#include <SPI.h>
+#include <SD.h>
+#include<Wire.h>
+
+
+/*
+http://akizukidenshi.com/catalog/g/gK-14015/
+http://akizukidenshi.com/download/ds/akizuki/AE-microSD-LLCNV_sch_20190218_01.pdf
+*/
+
+// #################### SD ####################
+#include "./PIN_ASSIGN.h"
+
+
+
+
+void SD_Init();
+void SD_Write(String str);
+String SD_GetDirName();
+
+typedef struct {
+	String  logFileName;
+	// char    logFileName[8];
+	char    DirName[6];
+	// File    logFile;
+} Sd_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/03_TsurugaB/SD.ino b/Archives/2020-02-22_Fukui/03_TsurugaB/SD.ino
new file mode 100644
index 0000000..aa8650b
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/03_TsurugaB/SD.ino
@@ -0,0 +1,82 @@
+#include "./SD.h"
+
+Sd_t sd;
+
+
+// フォルダ分け or 接頭辞
+// #define SD_IS_MKDIR
+
+
+void SD_Init() {
+	sd.logFileName = "log.txt";
+
+	pinMode(PIN_SD_SS, OUTPUT);
+
+	if (!SD.begin(PIN_SD_SS)) {
+		Serial.println(F("SD: init failed!"));
+		while (1);
+	}
+
+
+	strcpy(sd.DirName, "D000");
+	for (uint16_t i = 0; i <= 1000; i++) {
+		if (i == 1000) {
+			Serial.println(F("SD: Number of Folder is MAX!"));
+			while (1);
+		}
+
+		sd.DirName[1] = '0' + i/100;
+		sd.DirName[2] = '0' + (i/10)%10;
+		sd.DirName[3] = '0' + i%10;
+		if (! SD.exists(SD_GetDirName() + sd.logFileName) ) {
+			#ifdef SD_IS_MKDIR
+				SD.mkdir(sd.DirName);		// フォルダわけではなく，接頭辞の場合コメントアウト！
+			#else
+			#endif
+			break;
+		}
+	}
+
+
+	// File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+	// if (logFile) {
+	// 	// logFile.println("testing 1, 2, 3.");
+	// 	logFile.println(F("START UP!!"));
+	// 	// logFile.close();
+	// 	Serial.println(F("SD: Write done"));
+	// } else {
+	// 	// if the file didn't open, print an error:
+	// 	Serial.println(F("SD: error opening file"));
+	// }
+	// logFile.close();
+
+	SD_Write(F("START UP!!"));
+
+	Serial.println(F("SD init done."));
+}
+
+
+void SD_Write(String str) {
+	File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+
+	if (logFile) {
+		logFile.println("[" + String(millis()) + "]\t" + str);
+		// close the file:
+		logFile.close();
+		Serial.println(F("SD: Write OK"));
+	} else {
+		// if the file didn't open, print an error:
+		Serial.println(F("SD: Open Error"));
+	}
+
+	logFile.close();
+}
+
+
+String SD_GetDirName() {
+	#ifdef SD_IS_MKDIR
+		return (String(sd.DirName) + "/");
+	#else
+		return (String(sd.DirName) + "_");
+	#endif
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/Adafruit_VC0706.cpp b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Adafruit_VC0706.cpp
new file mode 100644
index 0000000..e2a383a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Adafruit_VC0706.cpp
@@ -0,0 +1,484 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#include "Adafruit_VC0706.h"
+
+// Initialization code used by all constructor types
+void Adafruit_VC0706::common_init(void) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	swSerial  = NULL;
+#endif
+	hwSerial  = NULL;
+	frameptr  = 0;
+	bufferLen = 0;
+	serialNum = 0;
+}
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+// Constructor when using SoftwareSerial or NewSoftSerial
+	#if ARDUINO >= 100
+		Adafruit_VC0706::Adafruit_VC0706(SoftwareSerial *ser) {
+	#else
+		Adafruit_VC0706::Adafruit_VC0706(NewSoftSerial *ser) {
+	#endif
+	common_init();  // Set everything to common state, then...
+	swSerial = ser; // ...override swSerial with value passed.
+}
+#endif
+
+
+// Constructor when using HardwareSerial
+Adafruit_VC0706::Adafruit_VC0706(HardwareSerial *ser) {
+	common_init();  // Set everything to common state, then...
+	hwSerial = ser; // ...override hwSerial with value passed.
+}
+
+boolean Adafruit_VC0706::begin(uint16_t baud) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	if(swSerial) swSerial->begin(baud);
+	else
+#endif
+		hwSerial->begin(baud);
+	return reset();
+}
+
+boolean Adafruit_VC0706::reset() {
+	uint8_t args[] = {0x0};
+
+	return runCommand(VC0706_RESET, args, 1, 5);
+}
+
+// boolean Adafruit_VC0706::motionDetected() {
+//   if (readResponse(4, 200) != 4) {
+//     return false;
+//   }
+//   if (! verifyResponse(VC0706_COMM_MOTION_DETECTED))
+//     return false;
+
+//   return true;
+// }
+
+
+// boolean Adafruit_VC0706::setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2) {
+//   uint8_t args[] = {0x03, x, d1, d2};
+
+//   return runCommand(VC0706_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+// uint8_t Adafruit_VC0706::getMotionStatus(uint8_t x) {
+//   uint8_t args[] = {0x01, x};
+
+//   return runCommand(VC0706_MOTION_STATUS, args, sizeof(args), 5);
+// }
+
+
+// boolean Adafruit_VC0706::setMotionDetect(boolean flag) {
+//   if (! setMotionStatus(VC0706_MOTIONCONTROL, 
+// 			VC0706_UARTMOTION, VC0706_ACTIVATEMOTION))
+//     return false;
+
+//   uint8_t args[] = {0x01, flag};
+	
+//   runCommand(VC0706_COMM_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+
+// boolean Adafruit_VC0706::getMotionDetect(void) {
+//   uint8_t args[] = {0x0};
+
+//   if (! runCommand(VC0706_COMM_MOTION_STATUS, args, 1, 6))
+//     return false;
+
+//   return camerabuff[5];
+// }
+
+// uint8_t Adafruit_VC0706::getImageSize() {
+//   uint8_t args[] = {0x4, 0x4, 0x1, 0x00, 0x19};
+//   if (! runCommand(VC0706_READ_DATA, args, sizeof(args), 6))
+//     return -1;
+
+//   return camerabuff[5];
+// }
+
+boolean Adafruit_VC0706::setImageSize(uint8_t x) {
+	uint8_t args[] = {0x05, 0x04, 0x01, 0x00, 0x19, x};
+
+	return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+}
+
+/****************** downsize image control */
+
+// uint8_t Adafruit_VC0706::getDownsize(void) {
+//   uint8_t args[] = {0x0};
+//   if (! runCommand(VC0706_DOWNSIZE_STATUS, args, 1, 6)) 
+//     return -1;
+
+//    return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setDownsize(uint8_t newsize) {
+//   uint8_t args[] = {0x01, newsize};
+
+//   return runCommand(VC0706_DOWNSIZE_CTRL, args, 2, 5);
+// }
+
+/***************** other high level commands */
+
+// char * Adafruit_VC0706::getVersion(void) {
+//   uint8_t args[] = {0x01};
+	
+//   sendCommand(VC0706_GEN_VERSION, args, 1);
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+
+/***************** baud rate commands */
+
+// char* Adafruit_VC0706::setBaud9600() {
+//   uint8_t args[] = {0x03, 0x01, 0xAE, 0xC8};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+
+// }
+
+// char* Adafruit_VC0706::setBaud19200() {
+//   uint8_t args[] = {0x03, 0x01, 0x56, 0xE4};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud38400() {
+//   uint8_t args[] = {0x03, 0x01, 0x2A, 0xF2};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud57600() {
+//   uint8_t args[] = {0x03, 0x01, 0x1C, 0x1C};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud115200() {
+//   uint8_t args[] = {0x03, 0x01, 0x0D, 0xA6};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+/****************** high level photo comamnds */
+
+// void Adafruit_VC0706::OSD(uint8_t x, uint8_t y, char *str) {
+//   if (strlen(str) > 14) { str[13] = 0; }
+
+//   uint8_t args[17] = {strlen(str), strlen(str)-1, (y & 0xF) | ((x & 0x3) << 4)};
+
+//   for (uint8_t i=0; i<strlen(str); i++) {
+//     char c = str[i];
+//     if ((c >= '0') && (c <= '9')) {
+//       str[i] -= '0';
+//     } else if ((c >= 'A') && (c <= 'Z')) {
+//       str[i] -= 'A';
+//       str[i] += 10;
+//     } else if ((c >= 'a') && (c <= 'z')) {
+//       str[i] -= 'a';
+//       str[i] += 36;
+//     }
+
+//     args[3+i] = str[i];
+//   }
+
+//    runCommand(VC0706_OSD_ADD_CHAR, args, strlen(str)+3, 5);
+//    printBuff();
+// }
+
+// boolean Adafruit_VC0706::setCompression(uint8_t c) {
+//   uint8_t args[] = {0x5, 0x1, 0x1, 0x12, 0x04, c};
+//   return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+// }
+
+// uint8_t Adafruit_VC0706::getCompression(void) {
+//   uint8_t args[] = {0x4, 0x1, 0x1, 0x12, 0x04};
+//   runCommand(VC0706_READ_DATA, args, sizeof(args), 6);
+//   printBuff();
+//   return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt) {
+//   uint8_t args[] = {0x08, wz >> 8, wz, 
+// 		    hz >> 8, wz, 
+// 		    pan>>8, pan, 
+// 		    tilt>>8, tilt};
+
+//   return (! runCommand(VC0706_SET_ZOOM, args, sizeof(args), 5));
+// }
+
+
+// boolean Adafruit_VC0706::getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt) {
+//   uint8_t args[] = {0x0};
+	
+//   if (! runCommand(VC0706_GET_ZOOM, args, sizeof(args), 16))
+//     return false;
+//   printBuff();
+
+//   w = camerabuff[5];
+//   w <<= 8;
+//   w |= camerabuff[6];
+
+//   h = camerabuff[7];
+//   h <<= 8;
+//   h |= camerabuff[8];
+
+//   wz = camerabuff[9];
+//   wz <<= 8;
+//   wz |= camerabuff[10];
+
+//   hz = camerabuff[11];
+//   hz <<= 8;
+//   hz |= camerabuff[12];
+
+//   pan = camerabuff[13];
+//   pan <<= 8;
+//   pan |= camerabuff[14];
+
+//   tilt = camerabuff[15];
+//   tilt <<= 8;
+//   tilt |= camerabuff[16];
+
+//   return true;
+// }
+
+
+boolean Adafruit_VC0706::takePicture() {
+	frameptr = 0;
+	return cameraFrameBuffCtrl(VC0706_STOPCURRENTFRAME);
+}
+
+// boolean Adafruit_VC0706::resumeVideo() {
+//   return cameraFrameBuffCtrl(VC0706_RESUMEFRAME);
+// }
+
+// boolean Adafruit_VC0706::TVon() {
+//   uint8_t args[] = {0x1, 0x1};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+// boolean Adafruit_VC0706::TVoff() {
+//   uint8_t args[] = {0x1, 0x0};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+
+boolean Adafruit_VC0706::cameraFrameBuffCtrl(uint8_t command) {
+	uint8_t args[] = {0x1, command};
+	return runCommand(VC0706_FBUF_CTRL, args, sizeof(args), 5);
+}
+
+uint32_t Adafruit_VC0706::frameLength(void) {
+	uint8_t args[] = {0x01, 0x00};
+	if (!runCommand(VC0706_GET_FBUF_LEN, args, sizeof(args), 9))
+		return 0;
+
+	uint32_t len;
+	len = camerabuff[5];
+	len <<= 8;
+	len |= camerabuff[6];
+	len <<= 8;
+	len |= camerabuff[7];
+	len <<= 8;
+	len |= camerabuff[8];
+
+	return len;
+}
+
+
+uint8_t Adafruit_VC0706::available(void) {
+	return bufferLen;
+}
+
+
+uint8_t * Adafruit_VC0706::readPicture(uint8_t n) {
+	uint8_t args[] = {0x0C, 0x0, 0x0A,
+										0, 0, frameptr >> 8, frameptr & 0xFF,
+										0, 0, 0, n,
+										CAMERADELAY >> 8, CAMERADELAY & 0xFF};
+
+	if (! runCommand(VC0706_READ_FBUF, args, sizeof(args), 5, false))
+		return 0;
+
+
+	// read into the buffer PACKETLEN!
+	if (readResponse(n+5, CAMERADELAY) == 0)
+		return 0;
+
+
+	frameptr += n;
+
+	return camerabuff;
+}
+
+/**************** low level commands */
+
+
+boolean Adafruit_VC0706::runCommand(uint8_t cmd, uint8_t *args, uint8_t argn, 
+				 uint8_t resplen, boolean flushflag) {
+	// flush out anything in the buffer?
+	if (flushflag) {
+		// readResponse(100, 10);
+		// ●●● 変えた！！！ ●●●
+		readResponse(CAMERABUFFSIZ, 10);
+	}
+
+	sendCommand(cmd, args, argn);
+	if (readResponse(resplen, 200) != resplen)
+		return false;
+	if (! verifyResponse(cmd))
+		return false;
+	return true;
+}
+
+void Adafruit_VC0706::sendCommand(uint8_t cmd, uint8_t args[] = 0, uint8_t argn = 0) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		if(swSerial) {
+#if ARDUINO >= 100
+		swSerial->write((byte)0x56);
+		swSerial->write((byte)serialNum);
+		swSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		swSerial->print(0x56, BYTE);
+		swSerial->print(serialNum, BYTE);
+		swSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+		else
+#endif
+	{
+#if ARDUINO >= 100
+		hwSerial->write((byte)0x56);
+		hwSerial->write((byte)serialNum);
+		hwSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		hwSerial->print(0x56, BYTE);
+		hwSerial->print(serialNum, BYTE);
+		hwSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+//Serial.println();
+}
+
+uint8_t Adafruit_VC0706::readResponse(uint8_t numbytes, uint8_t timeout) {
+	uint8_t counter = 0;
+	bufferLen = 0;
+	int avail;
+
+	while ((timeout != counter) && (bufferLen != numbytes)){
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		avail = swSerial ? swSerial->available() : hwSerial->available();
+#else
+		avail = hwSerial->available();
+#endif
+		if (avail <= 0) {
+			delay(1);
+			counter++;
+			continue;
+		}
+		counter = 0;
+		// there's a byte!
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		camerabuff[bufferLen++] = swSerial ? swSerial->read() : hwSerial->read();
+#else
+		camerabuff[bufferLen++] = hwSerial->read();
+#endif
+		// ●●● 安全コード．足した！！！●●●
+		if (bufferLen > (CAMERABUFFSIZ - 1)) {
+			Serial.println(F("CAM BUF WARNING!!!"));
+		}
+	}
+	//printBuff();
+//camerabuff[bufferLen] = 0;
+//Serial.println((char*)camerabuff);
+	return bufferLen;
+}
+
+boolean Adafruit_VC0706::verifyResponse(uint8_t command) {
+	if ((camerabuff[0] != 0x76) ||
+			(camerabuff[1] != serialNum) ||
+			(camerabuff[2] != command) ||
+			(camerabuff[3] != 0x0))
+			return false;
+	return true;
+}
+
+// void Adafruit_VC0706::printBuff() {
+//   for (uint8_t i = 0; i< bufferLen; i++) {
+//     Serial.print(" 0x");
+//     Serial.print(camerabuff[i], HEX);
+//   }
+//   Serial.println();
+// }
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/Adafruit_VC0706.h b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Adafruit_VC0706.h
new file mode 100644
index 0000000..8ac62e8
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Adafruit_VC0706.h
@@ -0,0 +1,132 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+ #if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#include <SoftwareSerial.h>
+ #endif
+#else
+ #include "WProgram.h"
+ #include "NewSoftSerial.h"
+#endif
+
+#define VC0706_RESET  0x26
+// #define VC0706_GEN_VERSION 0x11
+// #define VC0706_SET_PORT 0x24
+#define VC0706_READ_FBUF 0x32
+#define VC0706_GET_FBUF_LEN 0x34
+#define VC0706_FBUF_CTRL 0x36
+// #define VC0706_DOWNSIZE_CTRL 0x54
+// #define VC0706_DOWNSIZE_STATUS 0x55
+// #define VC0706_READ_DATA 0x30
+#define VC0706_WRITE_DATA 0x31
+// #define VC0706_COMM_MOTION_CTRL 0x37
+// #define VC0706_COMM_MOTION_STATUS 0x38
+// #define VC0706_COMM_MOTION_DETECTED 0x39
+// #define VC0706_MOTION_CTRL 0x42
+// #define VC0706_MOTION_STATUS 0x43
+// #define VC0706_TVOUT_CTRL 0x44
+// #define VC0706_OSD_ADD_CHAR 0x45
+
+#define VC0706_STOPCURRENTFRAME 0x0
+// #define VC0706_STOPNEXTFRAME 0x1
+// #define VC0706_RESUMEFRAME 0x3
+// #define VC0706_STEPFRAME 0x2
+
+#define VC0706_640x480 0x00
+#define VC0706_320x240 0x11
+#define VC0706_160x120 0x22
+
+// #define VC0706_MOTIONCONTROL 0x0
+// #define VC0706_UARTMOTION 0x01
+// #define VC0706_ACTIVATEMOTION 0x01
+
+// #define VC0706_SET_ZOOM 0x52
+// #define VC0706_GET_ZOOM 0x53
+
+// #define CAMERABUFFSIZ 100
+#define CAMERABUFFSIZ 50      // 減らした．多分問題ないが，怖いので安全コードも足した． L.370, L.458あたり
+#define CAMERADELAY 10
+
+
+class Adafruit_VC0706 {
+ public:
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		Adafruit_VC0706(SoftwareSerial *ser); // Constructor when using SoftwareSerial
+	#else
+		Adafruit_VC0706(NewSoftSerial  *ser); // Constructor when using NewSoftSerial
+	#endif
+#endif
+	Adafruit_VC0706(HardwareSerial *ser); // Constructor when using HardwareSerial
+	boolean begin(uint16_t baud = 38400);
+	boolean reset(void);
+	// boolean TVon(void);
+	// boolean TVoff(void);
+	boolean takePicture(void);
+	uint8_t *readPicture(uint8_t n);
+	// boolean resumeVideo(void);
+	uint32_t frameLength(void);
+	// char *getVersion(void);
+	uint8_t available();
+	// uint8_t getDownsize(void);
+	// boolean setDownsize(uint8_t);
+	// uint8_t getImageSize();
+	boolean setImageSize(uint8_t);
+	// boolean getMotionDetect();
+	// uint8_t getMotionStatus(uint8_t);
+	// boolean motionDetected();
+	// boolean setMotionDetect(boolean f);
+	// boolean setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2);
+	boolean cameraFrameBuffCtrl(uint8_t command);
+	// uint8_t getCompression();
+	// boolean setCompression(uint8_t c);
+
+	// boolean getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt);
+	// boolean setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt);
+
+	// void OSD(uint8_t x, uint8_t y, char *s); // isnt supported by the chip :(
+
+// char* setBaud9600();
+// char* setBaud19200();
+// char* setBaud38400();
+// char* setBaud57600();
+// char* setBaud115200();
+
+ private:
+	uint8_t  serialNum;
+	uint8_t  camerabuff[CAMERABUFFSIZ+1];
+	uint8_t  bufferLen;
+	uint16_t frameptr;
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		SoftwareSerial *swSerial;
+	#else
+		NewSoftSerial  *swSerial;
+	#endif
+#endif
+	HardwareSerial *hwSerial;
+
+	void common_init(void);
+	boolean runCommand(uint8_t cmd, uint8_t args[], uint8_t argn, uint8_t resp, boolean flushflag = true); 
+	void sendCommand(uint8_t cmd, uint8_t args[], uint8_t argn); 
+	uint8_t readResponse(uint8_t numbytes, uint8_t timeout);
+	boolean verifyResponse(uint8_t command);
+	// void printBuff(void);
+};
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/Camera.h b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Camera.h
new file mode 100644
index 0000000..f5b2aee
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Camera.h
@@ -0,0 +1,27 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+/*
+https://www.switch-science.com/catalog/1241/
+https://www.adafruit.com/product/397
+*/
+
+// #################### CAMERA ####################
+
+
+#include "./PIN_ASSIGN.h"
+
+#include "./Adafruit_VC0706.h"
+#include <SPI.h>
+#include <SoftwareSerial.h>
+// #include <SD.h>
+
+
+void CAM_Init();
+void CAM_TakePic();
+
+typedef struct {
+} Camera_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/Camera.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Camera.ino
new file mode 100644
index 0000000..69a009b
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Camera.ino
@@ -0,0 +1,112 @@
+#include "./Camera.h"
+#include "./SD.h"
+//#include "./Servo.h"
+
+
+Camera_t camera;
+
+// SoftwareSerial と Adafruit_VC0706 は初期値なしの初期化ができないので，仕方なくstructにはいれない．
+SoftwareSerial CamSerial = SoftwareSerial(PIN_CAM_TX, PIN_CAM_RX);
+Adafruit_VC0706 cam = Adafruit_VC0706(&CamSerial);
+
+
+void CAM_Init() {
+	// Try to locate the camera
+	if (cam.begin()) {
+		Serial.println(F("Cam Found"));
+	} else {
+		Serial.println(F("No cam!!"));
+		return;
+	}
+	// // Print out the camera version information (optional)
+	// char *reply = cam.getVersion();
+	// if (reply == 0) {
+	// 	Serial.println(F("Failed to get version"));
+	// } else {
+	// 	Serial.println(F("-----------------"));
+	// 	Serial.print(reply);
+	// 	Serial.println(F("-----------------"));
+	// }
+
+	cam.setImageSize(VC0706_640x480);        // biggest
+	// cam.setImageSize(VC0706_320x240);        // medium
+	// cam.setImageSize(VC0706_160x120);        // small
+
+
+	// バッファークリアの意味も兼ねて一発撮る
+	// 壊れた画像になるので確認．
+	CAM_TakePic();
+}
+
+
+void CAM_TakePic() {
+	SD_Write(F("TakePic"));
+
+	// You can read the size back from the camera (optional, but maybe useful?)
+	// uint8_t imgsize = cam.getImageSize();
+	// Serial.print("Image size: ");
+	// if (imgsize == VC0706_640x480) Serial.println("640x480");
+	// if (imgsize == VC0706_320x240) Serial.println("320x240");
+	// if (imgsize == VC0706_160x120) Serial.println("160x120");
+
+	if (! cam.takePicture()) {
+		Serial.println(F("Snap NG"));
+		// return;
+	} else {
+		Serial.println(F("Snap OK"));
+	}
+
+	// Create an image with the name IMGxx.JPG
+	char filename[12];
+	strcpy(filename, "000.JPG");
+	for (uint16_t i = 0; i < 1000; i++) {
+		filename[0] = '0' + i/100;
+		filename[1] = '0' + (i/10)%10;
+		filename[2] = '0' + i%10;
+		// create if does not exist, do not open existing, write, sync after write
+		if ( ! SD.exists(SD_GetDirName() + String(filename)) ) {
+			break;
+		}
+	}
+
+	SD_Write("picname:" + SD_GetDirName() + String(filename));
+	Serial.println(SD_GetDirName() + String(filename));
+
+	// Open the file for writing
+	File imgFile = SD.open(SD_GetDirName() + String(filename), FILE_WRITE);
+
+	// Get the size of the image (frame) taken
+	uint16_t jpglen = cam.frameLength();
+	Serial.print(F("Storing "));
+	Serial.print(jpglen, DEC);
+	Serial.print(F(" byte."));
+
+	// サーボのプルプルを防ぐ
+//	SRV_Detach();
+
+	// int32_t time = millis();
+	// pinMode(8, OUTPUT);
+	// Read all the data up to # bytes!
+	byte wCount = 0; // For counting # of writes
+	while (jpglen > 0) {
+		// read 32 bytes at a time;
+		uint8_t *buffer;
+		uint8_t bytesToRead = min(32, jpglen); // change 32 to 64 for a speedup but may not work with all setups!
+		buffer = cam.readPicture(bytesToRead);
+		imgFile.write(buffer, bytesToRead);
+		if(++wCount >= 64) { // Every 2K, give a little feedback so it doesn't appear locked up
+			Serial.print('.');
+			wCount = 0;
+		}
+		//Serial.print("Read ");  Serial.print(bytesToRead, DEC); Serial.println(" bytes");
+		jpglen -= bytesToRead;
+	}
+	imgFile.close();
+
+//	SRV_Attach();
+
+	// time = millis() - time;
+	Serial.println(F("done!"));
+	// Serial.print(time);
+	// Serial.println(F(" ms elapsed"));
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/IMU.h b/Archives/2020-02-22_Fukui/05_Koshi/Test01/IMU.h
new file mode 100644
index 0000000..b7be749
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/IMU.h
@@ -0,0 +1,70 @@
+#ifndef IMU_H
+#define IMU_H
+
+
+/*
+
+http://akizukidenshi.com/catalog/g/gK-13010/
+
+//================================================================//
+//  AE-BMX055             Arduino UNO                             //
+//    VCC                    +5V                                  //
+//    GND                    GND                                  //
+//    SDA                    A4(SDA)                              //
+//    SCL                    A5(SCL)                              //
+//                                                                //
+//   (JP6,JP4,JP5はショートした状態)                              //
+//   http://akizukidenshi.com/catalog/g/gK-13010/                 //
+//================================================================//
+*/
+
+// #################### 9AXIS ####################
+#include "./PIN_ASSIGN.h"
+
+
+#include<Wire.h>
+// BMX055 加速度センサのI2Cアドレス
+#define IMU_ADDR_ACCL 0x19  // (JP1,JP2,JP3 = Openの時)
+// BMX055 ジャイロセンサのI2Cアドレス
+#define IMU_ADDR_GYRO 0x69  // (JP1,JP2,JP3 = Openの時)
+// BMX055 磁気センサのI2Cアドレス
+#define IMU_ADDR_MAG 0x13   // (JP1,JP2,JP3 = Openの時)
+
+
+#define IMU_COEF  (100.0)
+
+void IMU_Init();
+void IMU_UpdateAll();
+void IMU_UpdateAcc();
+void IMU_UpdateGyr();
+void IMU_UpdateMag();
+void IMU_PrintAcc();
+void IMU_PrintGyr();
+void IMU_PrintMag();
+
+float IMU_GetAccX();
+float IMU_GetAccY();
+float IMU_GetAccZ();
+float IMU_GetGyrX();
+float IMU_GetGyrY();
+float IMU_GetGyrZ();
+int16_t IMU_GetMagX();
+int16_t IMU_GetMagY();
+int16_t IMU_GetMagZ();
+
+
+typedef struct {
+	// floatだとメモリを多く消費するので，intで保持し，Getterで変換
+	int16_t xAccl;
+	int16_t yAccl;
+	int16_t zAccl;
+	int16_t xGyro;
+	int16_t yGyro;
+	int16_t zGyro;
+	int16_t xMag ;
+	int16_t yMag ;
+	int16_t zMag ;
+} Imu_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/IMU.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test01/IMU.ino
new file mode 100644
index 0000000..4e0c3fa
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/IMU.ino
@@ -0,0 +1,248 @@
+#include "./IMU.h"
+
+Imu_t imu;
+
+
+
+void IMU_Init() {
+	// Wire.begin();はされている前提！
+	imu.xAccl = 0;
+	imu.yAccl = 0;
+	imu.zAccl = 0;
+	imu.xGyro = 0;
+	imu.yGyro = 0;
+	imu.zGyro = 0;
+	imu.xMag  = 0;
+	imu.yMag  = 0;
+	imu.zMag  = 0;
+
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x0F); // Select PMU_Range register
+	Wire.write(0x03);   // Range = +/- 2g
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x10);  // Select PMU_BW register
+	Wire.write(0x08);  // Bandwidth = 7.81 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x11);  // Select PMU_LPW register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 0.5ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x0F);  // Select Range register
+	Wire.write(0x04);  // Full scale = +/- 125 degree/s
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x10);  // Select Bandwidth register
+	Wire.write(0x07);  // ODR = 100 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x11);  // Select LPM1 register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 2ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x83);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x01);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4C);  // Select Mag register
+	Wire.write(0x00);  // Normal Mode, ODR = 10 Hz
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4E);  // Select Mag register
+	Wire.write(0x84);  // X, Y, Z-Axis enabled
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x51);  // Select Mag register
+	Wire.write(0x04);  // No. of Repetitions for X-Y Axis = 9
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x52);  // Select Mag register
+	Wire.write(0x16);  // No. of Repetitions for Z-Axis = 15
+	Wire.endTransmission();
+
+	Serial.println(F("IMU init done"));
+}
+
+
+void IMU_UpdateAll() {
+	IMU_UpdateAcc();
+	IMU_UpdateGyr();
+	IMU_UpdateMag();
+}
+
+
+void IMU_UpdateAcc() {
+	// int data[6];
+	uint8_t data[6];
+	float temp;
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_ACCL);
+		Wire.write((2 + i));// Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_ACCL, 1);// Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xAccl lsb, imu.xAccl msb, imu.yAccl lsb, imu.yAccl msb, imu.zAccl lsb, imu.zAccl msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data to 12-bits
+	temp = ((data[1] * 256) + (data[0] & 0xF0)) / 16;
+	if (temp > 2047)  temp -= 4096;
+	temp = temp * 0.0098; // renge +-2g
+	imu.xAccl = (int16_t)(temp * IMU_COEF);
+
+	temp = ((data[3] * 256) + (data[2] & 0xF0)) / 16;
+	if (temp > 2047)  temp -= 4096;
+	temp = temp * 0.0098; // renge +-2g
+	imu.yAccl = (int16_t)(temp * IMU_COEF);
+
+	temp = ((data[5] * 256) + (data[4] & 0xF0)) / 16;
+	if (temp > 2047)  temp -= 4096;
+	temp = temp * 0.0098; // renge +-2g
+	imu.zAccl = (int16_t)(temp * IMU_COEF);
+}
+
+
+void IMU_UpdateGyr() {
+	// int data[6];
+	uint8_t data[6];
+	float temp;
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_GYRO);
+		Wire.write((2 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_GYRO, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xGyro lsb, imu.xGyro msb, imu.yGyro lsb, imu.yGyro msb, imu.zGyro lsb, imu.zGyro msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	temp = (data[1] * 256) + data[0];
+	if (temp > 32767)  temp -= 65536;
+	temp = temp * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.xGyro = (int16_t)(temp * IMU_COEF);
+
+	temp = (data[3] * 256) + data[2];
+	if (temp > 32767)  temp -= 65536;
+	temp = temp * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.yGyro = (int16_t)(temp * IMU_COEF);
+
+	temp = (data[5] * 256) + data[4];
+	if (temp > 32767)  temp -= 65536;
+	temp = temp * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.zGyro = (int16_t)(temp * IMU_COEF);
+}
+
+
+void IMU_UpdateMag() {
+	// int data[8];
+	uint8_t data[8];
+	for (uint8_t i = 0; i < 8; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_MAG);
+		Wire.write((0x42 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_MAG, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xMag lsb, imu.xMag msb, imu.yMag lsb, imu.yMag msb, imu.zMag lsb, imu.zMag msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	imu.xMag = ((data[1] <<8) | (data[0]>>3));
+	if (imu.xMag > 4095)  imu.xMag -= 8192;
+	imu.yMag = ((data[3] <<8) | (data[2]>>3));
+	if (imu.yMag > 4095)  imu.yMag -= 8192;
+	imu.zMag = ((data[5] <<8) | (data[4]>>3));
+	if (imu.zMag > 16383)  imu.zMag -= 32768;
+}
+
+
+void IMU_PrintAcc() {
+	Serial.print(F("Acc= "));
+	Serial.print(imu.xAccl);
+	Serial.print(F(","));
+	Serial.print(imu.yAccl);
+	Serial.print(F(","));
+	Serial.print(imu.zAccl);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintGyr() {
+	Serial.print(F("Gyr= "));
+	Serial.print(imu.xGyro);
+	Serial.print(F(","));
+	Serial.print(imu.yGyro);
+	Serial.print(F(","));
+	Serial.print(imu.zGyro);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintMag() {
+	Serial.print(F("Mag= "));
+	Serial.print(imu.xMag);
+	Serial.print(F(","));
+	Serial.print(imu.yMag);
+	Serial.print(F(","));
+	Serial.print(imu.zMag);
+	Serial.println(F(""));
+}
+
+
+float IMU_GetAccX() {
+	return imu.xAccl / IMU_COEF;
+}
+float IMU_GetAccY() {
+	return imu.yAccl / IMU_COEF;
+}
+float IMU_GetAccZ() {
+	return imu.zAccl / IMU_COEF;
+}
+float IMU_GetGyrX() {
+	return imu.xGyro / IMU_COEF;
+}
+float IMU_GetGyrY() {
+	return imu.yGyro / IMU_COEF;
+}
+float IMU_GetGyrZ() {
+	return imu.zGyro / IMU_COEF;
+}
+int16_t IMU_GetMagX() {
+	return imu.xMag;
+}
+int16_t IMU_GetMagY() {
+	return imu.yMag;
+}
+int16_t IMU_GetMagZ() {
+	return imu.zMag;
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/PIN_ASSIGN.h b/Archives/2020-02-22_Fukui/05_Koshi/Test01/PIN_ASSIGN.h
new file mode 100644
index 0000000..0f3e877
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/PIN_ASSIGN.h
@@ -0,0 +1,28 @@
+
+#ifndef PIN_ASSIGN_H
+#define PIN_ASSIGN_H
+
+
+#define PIN_SRV 4
+
+#define PIN_LIT A0
+
+#define PIN_GPS_TX 8
+#define PIN_GPS_RX 9
+#define PIN_SD_SS  10
+// SD MOSI 11
+// SD MISO 12
+// SD CLK  13
+
+#define PIN_CAM_TX 2
+#define PIN_CAM_RX 3
+
+#define PIN_SW 5
+
+
+// #define SDA A4
+// #define SCL A5
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/SD.h b/Archives/2020-02-22_Fukui/05_Koshi/Test01/SD.h
new file mode 100644
index 0000000..ef9e367
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/SD.h
@@ -0,0 +1,33 @@
+#ifndef SD_H
+#define SD_H
+
+
+#include <SPI.h>
+#include <SD.h>
+#include<Wire.h>
+
+
+/*
+http://akizukidenshi.com/catalog/g/gK-14015/
+http://akizukidenshi.com/download/ds/akizuki/AE-microSD-LLCNV_sch_20190218_01.pdf
+*/
+
+// #################### SD ####################
+#include "./PIN_ASSIGN.h"
+
+
+
+
+void SD_Init();
+void SD_Write(String str);
+String SD_GetDirName();
+
+typedef struct {
+	String  logFileName;
+	// char    logFileName[8];
+	char    DirName[6];
+	// File    logFile;
+} Sd_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/SD.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test01/SD.ino
new file mode 100644
index 0000000..aa8650b
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/SD.ino
@@ -0,0 +1,82 @@
+#include "./SD.h"
+
+Sd_t sd;
+
+
+// フォルダ分け or 接頭辞
+// #define SD_IS_MKDIR
+
+
+void SD_Init() {
+	sd.logFileName = "log.txt";
+
+	pinMode(PIN_SD_SS, OUTPUT);
+
+	if (!SD.begin(PIN_SD_SS)) {
+		Serial.println(F("SD: init failed!"));
+		while (1);
+	}
+
+
+	strcpy(sd.DirName, "D000");
+	for (uint16_t i = 0; i <= 1000; i++) {
+		if (i == 1000) {
+			Serial.println(F("SD: Number of Folder is MAX!"));
+			while (1);
+		}
+
+		sd.DirName[1] = '0' + i/100;
+		sd.DirName[2] = '0' + (i/10)%10;
+		sd.DirName[3] = '0' + i%10;
+		if (! SD.exists(SD_GetDirName() + sd.logFileName) ) {
+			#ifdef SD_IS_MKDIR
+				SD.mkdir(sd.DirName);		// フォルダわけではなく，接頭辞の場合コメントアウト！
+			#else
+			#endif
+			break;
+		}
+	}
+
+
+	// File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+	// if (logFile) {
+	// 	// logFile.println("testing 1, 2, 3.");
+	// 	logFile.println(F("START UP!!"));
+	// 	// logFile.close();
+	// 	Serial.println(F("SD: Write done"));
+	// } else {
+	// 	// if the file didn't open, print an error:
+	// 	Serial.println(F("SD: error opening file"));
+	// }
+	// logFile.close();
+
+	SD_Write(F("START UP!!"));
+
+	Serial.println(F("SD init done."));
+}
+
+
+void SD_Write(String str) {
+	File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+
+	if (logFile) {
+		logFile.println("[" + String(millis()) + "]\t" + str);
+		// close the file:
+		logFile.close();
+		Serial.println(F("SD: Write OK"));
+	} else {
+		// if the file didn't open, print an error:
+		Serial.println(F("SD: Open Error"));
+	}
+
+	logFile.close();
+}
+
+
+String SD_GetDirName() {
+	#ifdef SD_IS_MKDIR
+		return (String(sd.DirName) + "/");
+	#else
+		return (String(sd.DirName) + "_");
+	#endif
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test01/Test01.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Test01.ino
new file mode 100644
index 0000000..6f0493e
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test01/Test01.ino
@@ -0,0 +1,35 @@
+#include "./IMU.h"
+#include "./SD.h"
+#include "./Camera.h"
+
+void setup()
+{
+  // Wire(Arduino-I2C)の初期化
+  Wire.begin();
+  // デバック用シリアル通信は9600bps
+  Serial.begin(9600);
+
+  SD_Init();    // これは絶対最初に初期化！
+  CAM_Init();   // SDの後！
+  IMU_Init();
+
+  Serial.println(F("Init done"));
+  delay(300);
+}
+
+void loop()
+{
+  IMU_UpdateAll();
+  IMU_PrintAcc();
+  IMU_PrintGyr();
+  IMU_PrintMag();
+
+  float zAcc = IMU_GetAccZ();
+
+  if (zAcc<-7) {
+    CAM_TakePic();
+  }
+  //SD_Write(String(loop_count));
+
+  delay(1000);
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/Adafruit_VC0706.cpp b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Adafruit_VC0706.cpp
new file mode 100644
index 0000000..e2a383a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Adafruit_VC0706.cpp
@@ -0,0 +1,484 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#include "Adafruit_VC0706.h"
+
+// Initialization code used by all constructor types
+void Adafruit_VC0706::common_init(void) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	swSerial  = NULL;
+#endif
+	hwSerial  = NULL;
+	frameptr  = 0;
+	bufferLen = 0;
+	serialNum = 0;
+}
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+// Constructor when using SoftwareSerial or NewSoftSerial
+	#if ARDUINO >= 100
+		Adafruit_VC0706::Adafruit_VC0706(SoftwareSerial *ser) {
+	#else
+		Adafruit_VC0706::Adafruit_VC0706(NewSoftSerial *ser) {
+	#endif
+	common_init();  // Set everything to common state, then...
+	swSerial = ser; // ...override swSerial with value passed.
+}
+#endif
+
+
+// Constructor when using HardwareSerial
+Adafruit_VC0706::Adafruit_VC0706(HardwareSerial *ser) {
+	common_init();  // Set everything to common state, then...
+	hwSerial = ser; // ...override hwSerial with value passed.
+}
+
+boolean Adafruit_VC0706::begin(uint16_t baud) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	if(swSerial) swSerial->begin(baud);
+	else
+#endif
+		hwSerial->begin(baud);
+	return reset();
+}
+
+boolean Adafruit_VC0706::reset() {
+	uint8_t args[] = {0x0};
+
+	return runCommand(VC0706_RESET, args, 1, 5);
+}
+
+// boolean Adafruit_VC0706::motionDetected() {
+//   if (readResponse(4, 200) != 4) {
+//     return false;
+//   }
+//   if (! verifyResponse(VC0706_COMM_MOTION_DETECTED))
+//     return false;
+
+//   return true;
+// }
+
+
+// boolean Adafruit_VC0706::setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2) {
+//   uint8_t args[] = {0x03, x, d1, d2};
+
+//   return runCommand(VC0706_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+// uint8_t Adafruit_VC0706::getMotionStatus(uint8_t x) {
+//   uint8_t args[] = {0x01, x};
+
+//   return runCommand(VC0706_MOTION_STATUS, args, sizeof(args), 5);
+// }
+
+
+// boolean Adafruit_VC0706::setMotionDetect(boolean flag) {
+//   if (! setMotionStatus(VC0706_MOTIONCONTROL, 
+// 			VC0706_UARTMOTION, VC0706_ACTIVATEMOTION))
+//     return false;
+
+//   uint8_t args[] = {0x01, flag};
+	
+//   runCommand(VC0706_COMM_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+
+// boolean Adafruit_VC0706::getMotionDetect(void) {
+//   uint8_t args[] = {0x0};
+
+//   if (! runCommand(VC0706_COMM_MOTION_STATUS, args, 1, 6))
+//     return false;
+
+//   return camerabuff[5];
+// }
+
+// uint8_t Adafruit_VC0706::getImageSize() {
+//   uint8_t args[] = {0x4, 0x4, 0x1, 0x00, 0x19};
+//   if (! runCommand(VC0706_READ_DATA, args, sizeof(args), 6))
+//     return -1;
+
+//   return camerabuff[5];
+// }
+
+boolean Adafruit_VC0706::setImageSize(uint8_t x) {
+	uint8_t args[] = {0x05, 0x04, 0x01, 0x00, 0x19, x};
+
+	return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+}
+
+/****************** downsize image control */
+
+// uint8_t Adafruit_VC0706::getDownsize(void) {
+//   uint8_t args[] = {0x0};
+//   if (! runCommand(VC0706_DOWNSIZE_STATUS, args, 1, 6)) 
+//     return -1;
+
+//    return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setDownsize(uint8_t newsize) {
+//   uint8_t args[] = {0x01, newsize};
+
+//   return runCommand(VC0706_DOWNSIZE_CTRL, args, 2, 5);
+// }
+
+/***************** other high level commands */
+
+// char * Adafruit_VC0706::getVersion(void) {
+//   uint8_t args[] = {0x01};
+	
+//   sendCommand(VC0706_GEN_VERSION, args, 1);
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+
+/***************** baud rate commands */
+
+// char* Adafruit_VC0706::setBaud9600() {
+//   uint8_t args[] = {0x03, 0x01, 0xAE, 0xC8};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+
+// }
+
+// char* Adafruit_VC0706::setBaud19200() {
+//   uint8_t args[] = {0x03, 0x01, 0x56, 0xE4};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud38400() {
+//   uint8_t args[] = {0x03, 0x01, 0x2A, 0xF2};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud57600() {
+//   uint8_t args[] = {0x03, 0x01, 0x1C, 0x1C};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud115200() {
+//   uint8_t args[] = {0x03, 0x01, 0x0D, 0xA6};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+/****************** high level photo comamnds */
+
+// void Adafruit_VC0706::OSD(uint8_t x, uint8_t y, char *str) {
+//   if (strlen(str) > 14) { str[13] = 0; }
+
+//   uint8_t args[17] = {strlen(str), strlen(str)-1, (y & 0xF) | ((x & 0x3) << 4)};
+
+//   for (uint8_t i=0; i<strlen(str); i++) {
+//     char c = str[i];
+//     if ((c >= '0') && (c <= '9')) {
+//       str[i] -= '0';
+//     } else if ((c >= 'A') && (c <= 'Z')) {
+//       str[i] -= 'A';
+//       str[i] += 10;
+//     } else if ((c >= 'a') && (c <= 'z')) {
+//       str[i] -= 'a';
+//       str[i] += 36;
+//     }
+
+//     args[3+i] = str[i];
+//   }
+
+//    runCommand(VC0706_OSD_ADD_CHAR, args, strlen(str)+3, 5);
+//    printBuff();
+// }
+
+// boolean Adafruit_VC0706::setCompression(uint8_t c) {
+//   uint8_t args[] = {0x5, 0x1, 0x1, 0x12, 0x04, c};
+//   return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+// }
+
+// uint8_t Adafruit_VC0706::getCompression(void) {
+//   uint8_t args[] = {0x4, 0x1, 0x1, 0x12, 0x04};
+//   runCommand(VC0706_READ_DATA, args, sizeof(args), 6);
+//   printBuff();
+//   return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt) {
+//   uint8_t args[] = {0x08, wz >> 8, wz, 
+// 		    hz >> 8, wz, 
+// 		    pan>>8, pan, 
+// 		    tilt>>8, tilt};
+
+//   return (! runCommand(VC0706_SET_ZOOM, args, sizeof(args), 5));
+// }
+
+
+// boolean Adafruit_VC0706::getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt) {
+//   uint8_t args[] = {0x0};
+	
+//   if (! runCommand(VC0706_GET_ZOOM, args, sizeof(args), 16))
+//     return false;
+//   printBuff();
+
+//   w = camerabuff[5];
+//   w <<= 8;
+//   w |= camerabuff[6];
+
+//   h = camerabuff[7];
+//   h <<= 8;
+//   h |= camerabuff[8];
+
+//   wz = camerabuff[9];
+//   wz <<= 8;
+//   wz |= camerabuff[10];
+
+//   hz = camerabuff[11];
+//   hz <<= 8;
+//   hz |= camerabuff[12];
+
+//   pan = camerabuff[13];
+//   pan <<= 8;
+//   pan |= camerabuff[14];
+
+//   tilt = camerabuff[15];
+//   tilt <<= 8;
+//   tilt |= camerabuff[16];
+
+//   return true;
+// }
+
+
+boolean Adafruit_VC0706::takePicture() {
+	frameptr = 0;
+	return cameraFrameBuffCtrl(VC0706_STOPCURRENTFRAME);
+}
+
+// boolean Adafruit_VC0706::resumeVideo() {
+//   return cameraFrameBuffCtrl(VC0706_RESUMEFRAME);
+// }
+
+// boolean Adafruit_VC0706::TVon() {
+//   uint8_t args[] = {0x1, 0x1};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+// boolean Adafruit_VC0706::TVoff() {
+//   uint8_t args[] = {0x1, 0x0};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+
+boolean Adafruit_VC0706::cameraFrameBuffCtrl(uint8_t command) {
+	uint8_t args[] = {0x1, command};
+	return runCommand(VC0706_FBUF_CTRL, args, sizeof(args), 5);
+}
+
+uint32_t Adafruit_VC0706::frameLength(void) {
+	uint8_t args[] = {0x01, 0x00};
+	if (!runCommand(VC0706_GET_FBUF_LEN, args, sizeof(args), 9))
+		return 0;
+
+	uint32_t len;
+	len = camerabuff[5];
+	len <<= 8;
+	len |= camerabuff[6];
+	len <<= 8;
+	len |= camerabuff[7];
+	len <<= 8;
+	len |= camerabuff[8];
+
+	return len;
+}
+
+
+uint8_t Adafruit_VC0706::available(void) {
+	return bufferLen;
+}
+
+
+uint8_t * Adafruit_VC0706::readPicture(uint8_t n) {
+	uint8_t args[] = {0x0C, 0x0, 0x0A,
+										0, 0, frameptr >> 8, frameptr & 0xFF,
+										0, 0, 0, n,
+										CAMERADELAY >> 8, CAMERADELAY & 0xFF};
+
+	if (! runCommand(VC0706_READ_FBUF, args, sizeof(args), 5, false))
+		return 0;
+
+
+	// read into the buffer PACKETLEN!
+	if (readResponse(n+5, CAMERADELAY) == 0)
+		return 0;
+
+
+	frameptr += n;
+
+	return camerabuff;
+}
+
+/**************** low level commands */
+
+
+boolean Adafruit_VC0706::runCommand(uint8_t cmd, uint8_t *args, uint8_t argn, 
+				 uint8_t resplen, boolean flushflag) {
+	// flush out anything in the buffer?
+	if (flushflag) {
+		// readResponse(100, 10);
+		// ●●● 変えた！！！ ●●●
+		readResponse(CAMERABUFFSIZ, 10);
+	}
+
+	sendCommand(cmd, args, argn);
+	if (readResponse(resplen, 200) != resplen)
+		return false;
+	if (! verifyResponse(cmd))
+		return false;
+	return true;
+}
+
+void Adafruit_VC0706::sendCommand(uint8_t cmd, uint8_t args[] = 0, uint8_t argn = 0) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		if(swSerial) {
+#if ARDUINO >= 100
+		swSerial->write((byte)0x56);
+		swSerial->write((byte)serialNum);
+		swSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		swSerial->print(0x56, BYTE);
+		swSerial->print(serialNum, BYTE);
+		swSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+		else
+#endif
+	{
+#if ARDUINO >= 100
+		hwSerial->write((byte)0x56);
+		hwSerial->write((byte)serialNum);
+		hwSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		hwSerial->print(0x56, BYTE);
+		hwSerial->print(serialNum, BYTE);
+		hwSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+//Serial.println();
+}
+
+uint8_t Adafruit_VC0706::readResponse(uint8_t numbytes, uint8_t timeout) {
+	uint8_t counter = 0;
+	bufferLen = 0;
+	int avail;
+
+	while ((timeout != counter) && (bufferLen != numbytes)){
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		avail = swSerial ? swSerial->available() : hwSerial->available();
+#else
+		avail = hwSerial->available();
+#endif
+		if (avail <= 0) {
+			delay(1);
+			counter++;
+			continue;
+		}
+		counter = 0;
+		// there's a byte!
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		camerabuff[bufferLen++] = swSerial ? swSerial->read() : hwSerial->read();
+#else
+		camerabuff[bufferLen++] = hwSerial->read();
+#endif
+		// ●●● 安全コード．足した！！！●●●
+		if (bufferLen > (CAMERABUFFSIZ - 1)) {
+			Serial.println(F("CAM BUF WARNING!!!"));
+		}
+	}
+	//printBuff();
+//camerabuff[bufferLen] = 0;
+//Serial.println((char*)camerabuff);
+	return bufferLen;
+}
+
+boolean Adafruit_VC0706::verifyResponse(uint8_t command) {
+	if ((camerabuff[0] != 0x76) ||
+			(camerabuff[1] != serialNum) ||
+			(camerabuff[2] != command) ||
+			(camerabuff[3] != 0x0))
+			return false;
+	return true;
+}
+
+// void Adafruit_VC0706::printBuff() {
+//   for (uint8_t i = 0; i< bufferLen; i++) {
+//     Serial.print(" 0x");
+//     Serial.print(camerabuff[i], HEX);
+//   }
+//   Serial.println();
+// }
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/Adafruit_VC0706.h b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Adafruit_VC0706.h
new file mode 100644
index 0000000..8ac62e8
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Adafruit_VC0706.h
@@ -0,0 +1,132 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+ #if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#include <SoftwareSerial.h>
+ #endif
+#else
+ #include "WProgram.h"
+ #include "NewSoftSerial.h"
+#endif
+
+#define VC0706_RESET  0x26
+// #define VC0706_GEN_VERSION 0x11
+// #define VC0706_SET_PORT 0x24
+#define VC0706_READ_FBUF 0x32
+#define VC0706_GET_FBUF_LEN 0x34
+#define VC0706_FBUF_CTRL 0x36
+// #define VC0706_DOWNSIZE_CTRL 0x54
+// #define VC0706_DOWNSIZE_STATUS 0x55
+// #define VC0706_READ_DATA 0x30
+#define VC0706_WRITE_DATA 0x31
+// #define VC0706_COMM_MOTION_CTRL 0x37
+// #define VC0706_COMM_MOTION_STATUS 0x38
+// #define VC0706_COMM_MOTION_DETECTED 0x39
+// #define VC0706_MOTION_CTRL 0x42
+// #define VC0706_MOTION_STATUS 0x43
+// #define VC0706_TVOUT_CTRL 0x44
+// #define VC0706_OSD_ADD_CHAR 0x45
+
+#define VC0706_STOPCURRENTFRAME 0x0
+// #define VC0706_STOPNEXTFRAME 0x1
+// #define VC0706_RESUMEFRAME 0x3
+// #define VC0706_STEPFRAME 0x2
+
+#define VC0706_640x480 0x00
+#define VC0706_320x240 0x11
+#define VC0706_160x120 0x22
+
+// #define VC0706_MOTIONCONTROL 0x0
+// #define VC0706_UARTMOTION 0x01
+// #define VC0706_ACTIVATEMOTION 0x01
+
+// #define VC0706_SET_ZOOM 0x52
+// #define VC0706_GET_ZOOM 0x53
+
+// #define CAMERABUFFSIZ 100
+#define CAMERABUFFSIZ 50      // 減らした．多分問題ないが，怖いので安全コードも足した． L.370, L.458あたり
+#define CAMERADELAY 10
+
+
+class Adafruit_VC0706 {
+ public:
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		Adafruit_VC0706(SoftwareSerial *ser); // Constructor when using SoftwareSerial
+	#else
+		Adafruit_VC0706(NewSoftSerial  *ser); // Constructor when using NewSoftSerial
+	#endif
+#endif
+	Adafruit_VC0706(HardwareSerial *ser); // Constructor when using HardwareSerial
+	boolean begin(uint16_t baud = 38400);
+	boolean reset(void);
+	// boolean TVon(void);
+	// boolean TVoff(void);
+	boolean takePicture(void);
+	uint8_t *readPicture(uint8_t n);
+	// boolean resumeVideo(void);
+	uint32_t frameLength(void);
+	// char *getVersion(void);
+	uint8_t available();
+	// uint8_t getDownsize(void);
+	// boolean setDownsize(uint8_t);
+	// uint8_t getImageSize();
+	boolean setImageSize(uint8_t);
+	// boolean getMotionDetect();
+	// uint8_t getMotionStatus(uint8_t);
+	// boolean motionDetected();
+	// boolean setMotionDetect(boolean f);
+	// boolean setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2);
+	boolean cameraFrameBuffCtrl(uint8_t command);
+	// uint8_t getCompression();
+	// boolean setCompression(uint8_t c);
+
+	// boolean getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt);
+	// boolean setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt);
+
+	// void OSD(uint8_t x, uint8_t y, char *s); // isnt supported by the chip :(
+
+// char* setBaud9600();
+// char* setBaud19200();
+// char* setBaud38400();
+// char* setBaud57600();
+// char* setBaud115200();
+
+ private:
+	uint8_t  serialNum;
+	uint8_t  camerabuff[CAMERABUFFSIZ+1];
+	uint8_t  bufferLen;
+	uint16_t frameptr;
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		SoftwareSerial *swSerial;
+	#else
+		NewSoftSerial  *swSerial;
+	#endif
+#endif
+	HardwareSerial *hwSerial;
+
+	void common_init(void);
+	boolean runCommand(uint8_t cmd, uint8_t args[], uint8_t argn, uint8_t resp, boolean flushflag = true); 
+	void sendCommand(uint8_t cmd, uint8_t args[], uint8_t argn); 
+	uint8_t readResponse(uint8_t numbytes, uint8_t timeout);
+	boolean verifyResponse(uint8_t command);
+	// void printBuff(void);
+};
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/Camera.h b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Camera.h
new file mode 100644
index 0000000..f5b2aee
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Camera.h
@@ -0,0 +1,27 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+/*
+https://www.switch-science.com/catalog/1241/
+https://www.adafruit.com/product/397
+*/
+
+// #################### CAMERA ####################
+
+
+#include "./PIN_ASSIGN.h"
+
+#include "./Adafruit_VC0706.h"
+#include <SPI.h>
+#include <SoftwareSerial.h>
+// #include <SD.h>
+
+
+void CAM_Init();
+void CAM_TakePic();
+
+typedef struct {
+} Camera_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/Camera.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Camera.ino
new file mode 100644
index 0000000..1571f3f
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Camera.ino
@@ -0,0 +1,108 @@
+#include "./Camera.h"
+#include "./SD.h"
+
+
+
+Camera_t camera;
+
+// SoftwareSerial と Adafruit_VC0706 は初期値なしの初期化ができないので，仕方なくstructにはいれない．
+SoftwareSerial CamSerial = SoftwareSerial(PIN_CAM_TX, PIN_CAM_RX);
+Adafruit_VC0706 cam = Adafruit_VC0706(&CamSerial);
+
+
+void CAM_Init() {
+  // Try to locate the camera
+  if (cam.begin()) {
+    Serial.println(F("Cam Found"));
+  } else {
+    Serial.println(F("No cam!!"));
+    return;
+  }
+  // // Print out the camera version information (optional)
+  // char *reply = cam.getVersion();
+  // if (reply == 0) {
+  //  Serial.println(F("Failed to get version"));
+  // } else {
+  //  Serial.println(F("-----------------"));
+  //  Serial.print(reply);
+  //  Serial.println(F("-----------------"));
+  // }
+
+  cam.setImageSize(VC0706_640x480);        // biggest
+  // cam.setImageSize(VC0706_320x240);        // medium
+  // cam.setImageSize(VC0706_160x120);        // small
+
+
+  // バッファークリアの意味も兼ねて一発撮る
+  // 壊れた画像になるので確認．
+  CAM_TakePic();
+}
+
+
+void CAM_TakePic() {
+  SD_Write(F("TakePic"));
+
+  // You can read the size back from the camera (optional, but maybe useful?)
+  // uint8_t imgsize = cam.getImageSize();
+  // Serial.print("Image size: ");
+  // if (imgsize == VC0706_640x480) Serial.println("640x480");
+  // if (imgsize == VC0706_320x240) Serial.println("320x240");
+  // if (imgsize == VC0706_160x120) Serial.println("160x120");
+
+  if (! cam.takePicture()) {
+    Serial.println(F("Snap NG"));
+    // return;
+  } else {
+    Serial.println(F("Snap OK"));
+  }
+
+  // Create an image with the name IMGxx.JPG
+  char filename[12];
+  strcpy(filename, "000.JPG");
+  for (uint16_t i = 0; i < 1000; i++) {
+    filename[0] = '0' + i/100;
+    filename[1] = '0' + (i/10)%10;
+    filename[2] = '0' + i%10;
+    // create if does not exist, do not open existing, write, sync after write
+    if ( ! SD.exists(SD_GetDirName() + String(filename)) ) {
+      break;
+    }
+  }
+
+  SD_Write("picname:" + SD_GetDirName() + String(filename));
+  Serial.println(SD_GetDirName() + String(filename));
+
+  // Open the file for writing
+  File imgFile = SD.open(SD_GetDirName() + String(filename), FILE_WRITE);
+
+  // Get the size of the image (frame) taken
+  uint16_t jpglen = cam.frameLength();
+  Serial.print(F("Storing "));
+  Serial.print(jpglen, DEC);
+  Serial.print(F(" byte."));
+
+  // int32_t time = millis();
+  // pinMode(8, OUTPUT);
+  // Read all the data up to # bytes!
+  byte wCount = 0; // For counting # of writes
+  while (jpglen > 0) {
+    // read 32 bytes at a time;
+    uint8_t *buffer;
+    uint8_t bytesToRead = min(32, jpglen); // change 32 to 64 for a speedup but may not work with all setups!
+    buffer = cam.readPicture(bytesToRead);
+    imgFile.write(buffer, bytesToRead);
+    if(++wCount >= 64) { // Every 2K, give a little feedback so it doesn't appear locked up
+      Serial.print('.');
+      wCount = 0;
+    }
+    //Serial.print("Read ");  Serial.print(bytesToRead, DEC); Serial.println(" bytes");
+    jpglen -= bytesToRead;
+  }
+  imgFile.close();
+
+
+  // time = millis() - time;
+  Serial.println(F("done!"));
+  // Serial.print(time);
+  // Serial.println(F(" ms elapsed"));
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/Light.h b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Light.h
new file mode 100644
index 0000000..76103b6
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Light.h
@@ -0,0 +1,23 @@
+#ifndef LIGHT_H
+#define LIGHT_H
+
+
+/*
+http://akizukidenshi.com/catalog/g/gI-00110/
+*/
+
+
+// #################### LIGHT ####################
+
+
+#include "./PIN_ASSIGN.h"
+
+void LIT_Init();
+int  LIT_Get();
+void LIT_Print();
+
+typedef struct {
+} Light_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/Light.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Light.ino
new file mode 100644
index 0000000..8bab4a1
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Light.ino
@@ -0,0 +1,21 @@
+#include "./Light.h"
+
+Light_t light;
+
+
+
+void LIT_Init() {
+}
+
+int  LIT_Get() {
+  // たくさんとって平均してもいいかも？
+  int value = analogRead(PIN_LIT);
+  return value;
+}
+
+void LIT_Print() {
+  int value = LIT_Get();
+  Serial.print(F("Lit= "));
+  Serial.print(value);
+  Serial.println(F(""));
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/PIN_ASSIGN.h b/Archives/2020-02-22_Fukui/05_Koshi/Test02/PIN_ASSIGN.h
new file mode 100644
index 0000000..0f3e877
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/PIN_ASSIGN.h
@@ -0,0 +1,28 @@
+
+#ifndef PIN_ASSIGN_H
+#define PIN_ASSIGN_H
+
+
+#define PIN_SRV 4
+
+#define PIN_LIT A0
+
+#define PIN_GPS_TX 8
+#define PIN_GPS_RX 9
+#define PIN_SD_SS  10
+// SD MOSI 11
+// SD MISO 12
+// SD CLK  13
+
+#define PIN_CAM_TX 2
+#define PIN_CAM_RX 3
+
+#define PIN_SW 5
+
+
+// #define SDA A4
+// #define SCL A5
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/SD.h b/Archives/2020-02-22_Fukui/05_Koshi/Test02/SD.h
new file mode 100644
index 0000000..ef9e367
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/SD.h
@@ -0,0 +1,33 @@
+#ifndef SD_H
+#define SD_H
+
+
+#include <SPI.h>
+#include <SD.h>
+#include<Wire.h>
+
+
+/*
+http://akizukidenshi.com/catalog/g/gK-14015/
+http://akizukidenshi.com/download/ds/akizuki/AE-microSD-LLCNV_sch_20190218_01.pdf
+*/
+
+// #################### SD ####################
+#include "./PIN_ASSIGN.h"
+
+
+
+
+void SD_Init();
+void SD_Write(String str);
+String SD_GetDirName();
+
+typedef struct {
+	String  logFileName;
+	// char    logFileName[8];
+	char    DirName[6];
+	// File    logFile;
+} Sd_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/SD.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test02/SD.ino
new file mode 100644
index 0000000..c7cf8ab
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/SD.ino
@@ -0,0 +1,82 @@
+#include "./SD.h"
+
+Sd_t sd;
+
+
+// フォルダ分け or 接頭辞
+// #define SD_IS_MKDIR
+
+
+void SD_Init() {
+  sd.logFileName = "log.txt";
+
+  pinMode(PIN_SD_SS, OUTPUT);
+
+  if (!SD.begin(PIN_SD_SS)) {
+    Serial.println(F("SD: init failed!"));
+    while (1);
+  }
+
+
+  strcpy(sd.DirName, "D000");
+  for (uint16_t i = 0; i <= 1000; i++) {
+    if (i == 1000) {
+      Serial.println(F("SD: Number of Folder is MAX!"));
+      while (1);
+    }
+
+    sd.DirName[1] = '0' + i/100;
+    sd.DirName[2] = '0' + (i/10)%10;
+    sd.DirName[3] = '0' + i%10;
+    if (! SD.exists(SD_GetDirName() + sd.logFileName) ) {
+      #ifdef SD_IS_MKDIR
+        SD.mkdir(sd.DirName);   // フォルダわけではなく，接頭辞の場合コメントアウト！
+      #else
+      #endif
+      break;
+    }
+  }
+
+
+  // File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+  // if (logFile) {
+  //  // logFile.println("testing 1, 2, 3.");
+  //  logFile.println(F("START UP!!"));
+  //  // logFile.close();
+  //  Serial.println(F("SD: Write done"));
+  // } else {
+  //  // if the file didn't open, print an error:
+  //  Serial.println(F("SD: error opening file"));
+  // }
+  // logFile.close();
+
+  SD_Write(F("START UP!!"));
+
+  Serial.println(F("SD init done."));
+}
+
+
+void SD_Write(String str) {
+  File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+
+  if (logFile) {
+    logFile.println("[" + String(millis()) + "]\t" + str);
+    // close the file:
+    logFile.close();
+    Serial.println(F("SD: Write OK"));
+  } else {
+    // if the file didn't open, print an error:
+    Serial.println(F("SD: Open Error"));
+  }
+
+  logFile.close();
+}
+
+
+String SD_GetDirName() {
+  #ifdef SD_IS_MKDIR
+    return (String(sd.DirName) + "/");
+  #else
+    return (String(sd.DirName) + "_");
+  #endif
+}
diff --git a/Archives/2020-02-22_Fukui/05_Koshi/Test02/Test02.ino b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Test02.ino
new file mode 100644
index 0000000..982ed0a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/05_Koshi/Test02/Test02.ino
@@ -0,0 +1,41 @@
+#include "./SD.h"
+#include "./Light.h"
+#include "./Camera.h"
+
+uint16_t loop_count = 0;
+
+void setup()
+{
+  // Wire(Arduino-I2C)の初期化
+  Wire.begin();
+  // デバック用シリアル通信は9600bps
+  Serial.begin(9600);
+
+  SD_Init();    // これは絶対最初に初期化！
+  CAM_Init();   // SDの後！
+  LIT_Init();
+
+
+  Serial.println(F("Init done"));
+  delay(10000);
+}
+
+void loop()
+{
+  uint32_t light = 0;
+
+  {
+    light = light + LIT_Get();
+  }
+
+  LIT_Print();
+  if (light <100) {
+    Serial.println(F("Light is low"));
+    CAM_TakePic();
+  } else {
+      Serial.println(F("Light is high"));
+  }
+  SD_Write(String(loop_count));
+}
+
+
diff --git a/Archives/2020-02-22_Fukui/06_Mikuni/Light.h b/Archives/2020-02-22_Fukui/06_Mikuni/Light.h
new file mode 100644
index 0000000..76103b6
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/06_Mikuni/Light.h
@@ -0,0 +1,23 @@
+#ifndef LIGHT_H
+#define LIGHT_H
+
+
+/*
+http://akizukidenshi.com/catalog/g/gI-00110/
+*/
+
+
+// #################### LIGHT ####################
+
+
+#include "./PIN_ASSIGN.h"
+
+void LIT_Init();
+int  LIT_Get();
+void LIT_Print();
+
+typedef struct {
+} Light_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/06_Mikuni/Light.ino b/Archives/2020-02-22_Fukui/06_Mikuni/Light.ino
new file mode 100644
index 0000000..769690d
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/06_Mikuni/Light.ino
@@ -0,0 +1,21 @@
+#include "./Light.h"
+
+Light_t light;
+
+
+
+void LIT_Init() {
+}
+
+int  LIT_Get() {
+	// たくさんとって平均してもいいかも？
+	int value = analogRead(PIN_LIT);
+	return value;
+}
+
+void LIT_Print() {
+	int value = LIT_Get();
+	Serial.print(F("Lit= "));
+	Serial.print(value);
+	Serial.println(F(""));
+}
diff --git a/Archives/2020-02-22_Fukui/06_Mikuni/PIN_ASSIGN.h b/Archives/2020-02-22_Fukui/06_Mikuni/PIN_ASSIGN.h
new file mode 100644
index 0000000..0f3e877
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/06_Mikuni/PIN_ASSIGN.h
@@ -0,0 +1,28 @@
+
+#ifndef PIN_ASSIGN_H
+#define PIN_ASSIGN_H
+
+
+#define PIN_SRV 4
+
+#define PIN_LIT A0
+
+#define PIN_GPS_TX 8
+#define PIN_GPS_RX 9
+#define PIN_SD_SS  10
+// SD MOSI 11
+// SD MISO 12
+// SD CLK  13
+
+#define PIN_CAM_TX 2
+#define PIN_CAM_RX 3
+
+#define PIN_SW 5
+
+
+// #define SDA A4
+// #define SCL A5
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/06_Mikuni/Servo.h b/Archives/2020-02-22_Fukui/06_Mikuni/Servo.h
new file mode 100644
index 0000000..979516a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/06_Mikuni/Servo.h
@@ -0,0 +1,29 @@
+#ifndef SRV_H
+#define SRV_H
+
+#include "./PIN_ASSIGN.h"
+#include <Servo.h>
+
+/*
+http://akizukidenshi.com/catalog/g/gM-08914/
+*/
+
+// #################### Servo ####################
+
+
+void SRV_Init();
+void SRV_SetPosition(uint8_t pos);
+uint8_t SRV_GetPosition();
+void SRV_Run();
+void SRV_Detach();
+void SRV_Attach();
+
+typedef struct {
+	Servo servo;
+	uint8_t setPosition;
+	uint8_t position;
+} Servo_t;
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/06_Mikuni/Servo.ino b/Archives/2020-02-22_Fukui/06_Mikuni/Servo.ino
new file mode 100644
index 0000000..51e3db5
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/06_Mikuni/Servo.ino
@@ -0,0 +1,38 @@
+#include "./Servo.h"
+
+
+Servo_t servo;
+
+void SRV_Init() {
+	servo.position = 0;
+	servo.setPosition = 0;
+
+	// servo.servo.attach(PIN_SRV);
+	SRV_Attach();
+	SRV_Run();
+
+	// Serial.println(F("SRV init done"));
+	Serial.println(F("SRV init done"));
+}
+
+void SRV_SetPosition(uint8_t pos) {
+	servo.setPosition = pos;
+}
+
+uint8_t SRV_GetPosition() {
+	return servo.position;
+}
+
+
+void SRV_Run() {
+	servo.servo.write(servo.setPosition);
+	servo.position = servo.setPosition;
+}
+
+void SRV_Detach() {
+	servo.servo.detach();
+}
+void SRV_Attach() {
+	servo.servo.attach(PIN_SRV);
+	delay(5000);
+}
\ No newline at end of file
diff --git a/Archives/2020-02-22_Fukui/06_Mikuni/Test02.ino b/Archives/2020-02-22_Fukui/06_Mikuni/Test02.ino
new file mode 100644
index 0000000..74390ba
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/06_Mikuni/Test02.ino
@@ -0,0 +1,66 @@
+// サーボモータのライブラリ（便利なコードまとめ）を使うよ！ と宣言
+#include "./Servo.h"
+// すると，
+// Servo.h に宣言されている
+//   void SRV_Init();
+//   void SRV_SetPosition(uint8_t pos);
+//   uint8_t SRV_GetPosition();
+//   void SRV_Run();
+//   void SRV_Detach();
+//   void SRV_Attach();
+// という関数が使えるようになる
+// 関数の中身は Servo.c にかかれている
+
+// 光センサのライブラリ（便利なコードまとめ）を使うよ！ と宣言
+#include "./Light.h"
+// すると，
+// Light.h に宣言されている
+//   void LIT_Init();
+//   int  LIT_Get();
+//   void LIT_Print();
+// という関数が使えるようになる
+// 関数の中身は Light.c にかかれている
+
+
+void setup()
+{
+  // デバック用シリアル通信は9600bps
+  Serial.begin(9600);
+
+  // サーボモータを初期化
+  SRV_Init();
+  // 光センサを初期化
+  LIT_Init();
+
+  Serial.println(F("Init done"));
+  delay(300);
+}
+
+void loop()
+{
+
+  while (1) {
+    Serial.print(F("Light: "));
+    Serial.println(LIT_Get());
+    if ( LIT_Get() > 300) {
+      break;
+    }
+    delay(100);
+  }
+
+  delay(1000);
+
+  SRV_SetPosition(180);
+  SRV_Run();
+
+  delay(1500);
+
+  SRV_SetPosition(0);
+  SRV_Run();
+
+
+
+  Serial.println(F("END"));
+  while (1) {
+  }
+}
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Adafruit_VC0706.cpp b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Adafruit_VC0706.cpp
new file mode 100644
index 0000000..e2a383a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Adafruit_VC0706.cpp
@@ -0,0 +1,484 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#include "Adafruit_VC0706.h"
+
+// Initialization code used by all constructor types
+void Adafruit_VC0706::common_init(void) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	swSerial  = NULL;
+#endif
+	hwSerial  = NULL;
+	frameptr  = 0;
+	bufferLen = 0;
+	serialNum = 0;
+}
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+// Constructor when using SoftwareSerial or NewSoftSerial
+	#if ARDUINO >= 100
+		Adafruit_VC0706::Adafruit_VC0706(SoftwareSerial *ser) {
+	#else
+		Adafruit_VC0706::Adafruit_VC0706(NewSoftSerial *ser) {
+	#endif
+	common_init();  // Set everything to common state, then...
+	swSerial = ser; // ...override swSerial with value passed.
+}
+#endif
+
+
+// Constructor when using HardwareSerial
+Adafruit_VC0706::Adafruit_VC0706(HardwareSerial *ser) {
+	common_init();  // Set everything to common state, then...
+	hwSerial = ser; // ...override hwSerial with value passed.
+}
+
+boolean Adafruit_VC0706::begin(uint16_t baud) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	if(swSerial) swSerial->begin(baud);
+	else
+#endif
+		hwSerial->begin(baud);
+	return reset();
+}
+
+boolean Adafruit_VC0706::reset() {
+	uint8_t args[] = {0x0};
+
+	return runCommand(VC0706_RESET, args, 1, 5);
+}
+
+// boolean Adafruit_VC0706::motionDetected() {
+//   if (readResponse(4, 200) != 4) {
+//     return false;
+//   }
+//   if (! verifyResponse(VC0706_COMM_MOTION_DETECTED))
+//     return false;
+
+//   return true;
+// }
+
+
+// boolean Adafruit_VC0706::setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2) {
+//   uint8_t args[] = {0x03, x, d1, d2};
+
+//   return runCommand(VC0706_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+// uint8_t Adafruit_VC0706::getMotionStatus(uint8_t x) {
+//   uint8_t args[] = {0x01, x};
+
+//   return runCommand(VC0706_MOTION_STATUS, args, sizeof(args), 5);
+// }
+
+
+// boolean Adafruit_VC0706::setMotionDetect(boolean flag) {
+//   if (! setMotionStatus(VC0706_MOTIONCONTROL, 
+// 			VC0706_UARTMOTION, VC0706_ACTIVATEMOTION))
+//     return false;
+
+//   uint8_t args[] = {0x01, flag};
+	
+//   runCommand(VC0706_COMM_MOTION_CTRL, args, sizeof(args), 5);
+// }
+
+
+
+// boolean Adafruit_VC0706::getMotionDetect(void) {
+//   uint8_t args[] = {0x0};
+
+//   if (! runCommand(VC0706_COMM_MOTION_STATUS, args, 1, 6))
+//     return false;
+
+//   return camerabuff[5];
+// }
+
+// uint8_t Adafruit_VC0706::getImageSize() {
+//   uint8_t args[] = {0x4, 0x4, 0x1, 0x00, 0x19};
+//   if (! runCommand(VC0706_READ_DATA, args, sizeof(args), 6))
+//     return -1;
+
+//   return camerabuff[5];
+// }
+
+boolean Adafruit_VC0706::setImageSize(uint8_t x) {
+	uint8_t args[] = {0x05, 0x04, 0x01, 0x00, 0x19, x};
+
+	return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+}
+
+/****************** downsize image control */
+
+// uint8_t Adafruit_VC0706::getDownsize(void) {
+//   uint8_t args[] = {0x0};
+//   if (! runCommand(VC0706_DOWNSIZE_STATUS, args, 1, 6)) 
+//     return -1;
+
+//    return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setDownsize(uint8_t newsize) {
+//   uint8_t args[] = {0x01, newsize};
+
+//   return runCommand(VC0706_DOWNSIZE_CTRL, args, 2, 5);
+// }
+
+/***************** other high level commands */
+
+// char * Adafruit_VC0706::getVersion(void) {
+//   uint8_t args[] = {0x01};
+	
+//   sendCommand(VC0706_GEN_VERSION, args, 1);
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+
+/***************** baud rate commands */
+
+// char* Adafruit_VC0706::setBaud9600() {
+//   uint8_t args[] = {0x03, 0x01, 0xAE, 0xC8};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+
+// }
+
+// char* Adafruit_VC0706::setBaud19200() {
+//   uint8_t args[] = {0x03, 0x01, 0x56, 0xE4};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud38400() {
+//   uint8_t args[] = {0x03, 0x01, 0x2A, 0xF2};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud57600() {
+//   uint8_t args[] = {0x03, 0x01, 0x1C, 0x1C};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+// char* Adafruit_VC0706::setBaud115200() {
+//   uint8_t args[] = {0x03, 0x01, 0x0D, 0xA6};
+
+//   sendCommand(VC0706_SET_PORT, args, sizeof(args));
+//   // get reply
+//   if (!readResponse(CAMERABUFFSIZ, 200)) 
+//     return 0;
+//   camerabuff[bufferLen] = 0;  // end it!
+//   return (char *)camerabuff;  // return it!
+// }
+
+/****************** high level photo comamnds */
+
+// void Adafruit_VC0706::OSD(uint8_t x, uint8_t y, char *str) {
+//   if (strlen(str) > 14) { str[13] = 0; }
+
+//   uint8_t args[17] = {strlen(str), strlen(str)-1, (y & 0xF) | ((x & 0x3) << 4)};
+
+//   for (uint8_t i=0; i<strlen(str); i++) {
+//     char c = str[i];
+//     if ((c >= '0') && (c <= '9')) {
+//       str[i] -= '0';
+//     } else if ((c >= 'A') && (c <= 'Z')) {
+//       str[i] -= 'A';
+//       str[i] += 10;
+//     } else if ((c >= 'a') && (c <= 'z')) {
+//       str[i] -= 'a';
+//       str[i] += 36;
+//     }
+
+//     args[3+i] = str[i];
+//   }
+
+//    runCommand(VC0706_OSD_ADD_CHAR, args, strlen(str)+3, 5);
+//    printBuff();
+// }
+
+// boolean Adafruit_VC0706::setCompression(uint8_t c) {
+//   uint8_t args[] = {0x5, 0x1, 0x1, 0x12, 0x04, c};
+//   return runCommand(VC0706_WRITE_DATA, args, sizeof(args), 5);
+// }
+
+// uint8_t Adafruit_VC0706::getCompression(void) {
+//   uint8_t args[] = {0x4, 0x1, 0x1, 0x12, 0x04};
+//   runCommand(VC0706_READ_DATA, args, sizeof(args), 6);
+//   printBuff();
+//   return camerabuff[5];
+// }
+
+// boolean Adafruit_VC0706::setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt) {
+//   uint8_t args[] = {0x08, wz >> 8, wz, 
+// 		    hz >> 8, wz, 
+// 		    pan>>8, pan, 
+// 		    tilt>>8, tilt};
+
+//   return (! runCommand(VC0706_SET_ZOOM, args, sizeof(args), 5));
+// }
+
+
+// boolean Adafruit_VC0706::getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt) {
+//   uint8_t args[] = {0x0};
+	
+//   if (! runCommand(VC0706_GET_ZOOM, args, sizeof(args), 16))
+//     return false;
+//   printBuff();
+
+//   w = camerabuff[5];
+//   w <<= 8;
+//   w |= camerabuff[6];
+
+//   h = camerabuff[7];
+//   h <<= 8;
+//   h |= camerabuff[8];
+
+//   wz = camerabuff[9];
+//   wz <<= 8;
+//   wz |= camerabuff[10];
+
+//   hz = camerabuff[11];
+//   hz <<= 8;
+//   hz |= camerabuff[12];
+
+//   pan = camerabuff[13];
+//   pan <<= 8;
+//   pan |= camerabuff[14];
+
+//   tilt = camerabuff[15];
+//   tilt <<= 8;
+//   tilt |= camerabuff[16];
+
+//   return true;
+// }
+
+
+boolean Adafruit_VC0706::takePicture() {
+	frameptr = 0;
+	return cameraFrameBuffCtrl(VC0706_STOPCURRENTFRAME);
+}
+
+// boolean Adafruit_VC0706::resumeVideo() {
+//   return cameraFrameBuffCtrl(VC0706_RESUMEFRAME);
+// }
+
+// boolean Adafruit_VC0706::TVon() {
+//   uint8_t args[] = {0x1, 0x1};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+// boolean Adafruit_VC0706::TVoff() {
+//   uint8_t args[] = {0x1, 0x0};
+//   return runCommand(VC0706_TVOUT_CTRL, args, sizeof(args), 5);
+// }
+
+boolean Adafruit_VC0706::cameraFrameBuffCtrl(uint8_t command) {
+	uint8_t args[] = {0x1, command};
+	return runCommand(VC0706_FBUF_CTRL, args, sizeof(args), 5);
+}
+
+uint32_t Adafruit_VC0706::frameLength(void) {
+	uint8_t args[] = {0x01, 0x00};
+	if (!runCommand(VC0706_GET_FBUF_LEN, args, sizeof(args), 9))
+		return 0;
+
+	uint32_t len;
+	len = camerabuff[5];
+	len <<= 8;
+	len |= camerabuff[6];
+	len <<= 8;
+	len |= camerabuff[7];
+	len <<= 8;
+	len |= camerabuff[8];
+
+	return len;
+}
+
+
+uint8_t Adafruit_VC0706::available(void) {
+	return bufferLen;
+}
+
+
+uint8_t * Adafruit_VC0706::readPicture(uint8_t n) {
+	uint8_t args[] = {0x0C, 0x0, 0x0A,
+										0, 0, frameptr >> 8, frameptr & 0xFF,
+										0, 0, 0, n,
+										CAMERADELAY >> 8, CAMERADELAY & 0xFF};
+
+	if (! runCommand(VC0706_READ_FBUF, args, sizeof(args), 5, false))
+		return 0;
+
+
+	// read into the buffer PACKETLEN!
+	if (readResponse(n+5, CAMERADELAY) == 0)
+		return 0;
+
+
+	frameptr += n;
+
+	return camerabuff;
+}
+
+/**************** low level commands */
+
+
+boolean Adafruit_VC0706::runCommand(uint8_t cmd, uint8_t *args, uint8_t argn, 
+				 uint8_t resplen, boolean flushflag) {
+	// flush out anything in the buffer?
+	if (flushflag) {
+		// readResponse(100, 10);
+		// ●●● 変えた！！！ ●●●
+		readResponse(CAMERABUFFSIZ, 10);
+	}
+
+	sendCommand(cmd, args, argn);
+	if (readResponse(resplen, 200) != resplen)
+		return false;
+	if (! verifyResponse(cmd))
+		return false;
+	return true;
+}
+
+void Adafruit_VC0706::sendCommand(uint8_t cmd, uint8_t args[] = 0, uint8_t argn = 0) {
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		if(swSerial) {
+#if ARDUINO >= 100
+		swSerial->write((byte)0x56);
+		swSerial->write((byte)serialNum);
+		swSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		swSerial->print(0x56, BYTE);
+		swSerial->print(serialNum, BYTE);
+		swSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			swSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+		else
+#endif
+	{
+#if ARDUINO >= 100
+		hwSerial->write((byte)0x56);
+		hwSerial->write((byte)serialNum);
+		hwSerial->write((byte)cmd);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->write((byte)args[i]);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#else
+		hwSerial->print(0x56, BYTE);
+		hwSerial->print(serialNum, BYTE);
+		hwSerial->print(cmd, BYTE);
+
+		for (uint8_t i=0; i<argn; i++) {
+			hwSerial->print(args[i], BYTE);
+			//Serial.print(" 0x");
+			//Serial.print(args[i], HEX);
+		}
+#endif
+	}
+//Serial.println();
+}
+
+uint8_t Adafruit_VC0706::readResponse(uint8_t numbytes, uint8_t timeout) {
+	uint8_t counter = 0;
+	bufferLen = 0;
+	int avail;
+
+	while ((timeout != counter) && (bufferLen != numbytes)){
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		avail = swSerial ? swSerial->available() : hwSerial->available();
+#else
+		avail = hwSerial->available();
+#endif
+		if (avail <= 0) {
+			delay(1);
+			counter++;
+			continue;
+		}
+		counter = 0;
+		// there's a byte!
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+		camerabuff[bufferLen++] = swSerial ? swSerial->read() : hwSerial->read();
+#else
+		camerabuff[bufferLen++] = hwSerial->read();
+#endif
+		// ●●● 安全コード．足した！！！●●●
+		if (bufferLen > (CAMERABUFFSIZ - 1)) {
+			Serial.println(F("CAM BUF WARNING!!!"));
+		}
+	}
+	//printBuff();
+//camerabuff[bufferLen] = 0;
+//Serial.println((char*)camerabuff);
+	return bufferLen;
+}
+
+boolean Adafruit_VC0706::verifyResponse(uint8_t command) {
+	if ((camerabuff[0] != 0x76) ||
+			(camerabuff[1] != serialNum) ||
+			(camerabuff[2] != command) ||
+			(camerabuff[3] != 0x0))
+			return false;
+	return true;
+}
+
+// void Adafruit_VC0706::printBuff() {
+//   for (uint8_t i = 0; i< bufferLen; i++) {
+//     Serial.print(" 0x");
+//     Serial.print(camerabuff[i], HEX);
+//   }
+//   Serial.println();
+// }
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Adafruit_VC0706.h b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Adafruit_VC0706.h
new file mode 100644
index 0000000..8ac62e8
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Adafruit_VC0706.h
@@ -0,0 +1,132 @@
+/*************************************************** 
+	This is a library for the Adafruit TTL JPEG Camera (VC0706 chipset)
+
+	Pick one up today in the adafruit shop!
+	------> http://www.adafruit.com/products/397
+
+	These displays use Serial to communicate, 2 pins are required to interface
+
+	Adafruit invests time and resources providing this open source code, 
+	please support Adafruit and open-source hardware by purchasing 
+	products from Adafruit!
+
+	Written by Limor Fried/Ladyada for Adafruit Industries.  
+	BSD license, all text above must be included in any redistribution
+ ****************************************************/
+
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+ #if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#include <SoftwareSerial.h>
+ #endif
+#else
+ #include "WProgram.h"
+ #include "NewSoftSerial.h"
+#endif
+
+#define VC0706_RESET  0x26
+// #define VC0706_GEN_VERSION 0x11
+// #define VC0706_SET_PORT 0x24
+#define VC0706_READ_FBUF 0x32
+#define VC0706_GET_FBUF_LEN 0x34
+#define VC0706_FBUF_CTRL 0x36
+// #define VC0706_DOWNSIZE_CTRL 0x54
+// #define VC0706_DOWNSIZE_STATUS 0x55
+// #define VC0706_READ_DATA 0x30
+#define VC0706_WRITE_DATA 0x31
+// #define VC0706_COMM_MOTION_CTRL 0x37
+// #define VC0706_COMM_MOTION_STATUS 0x38
+// #define VC0706_COMM_MOTION_DETECTED 0x39
+// #define VC0706_MOTION_CTRL 0x42
+// #define VC0706_MOTION_STATUS 0x43
+// #define VC0706_TVOUT_CTRL 0x44
+// #define VC0706_OSD_ADD_CHAR 0x45
+
+#define VC0706_STOPCURRENTFRAME 0x0
+// #define VC0706_STOPNEXTFRAME 0x1
+// #define VC0706_RESUMEFRAME 0x3
+// #define VC0706_STEPFRAME 0x2
+
+#define VC0706_640x480 0x00
+#define VC0706_320x240 0x11
+#define VC0706_160x120 0x22
+
+// #define VC0706_MOTIONCONTROL 0x0
+// #define VC0706_UARTMOTION 0x01
+// #define VC0706_ACTIVATEMOTION 0x01
+
+// #define VC0706_SET_ZOOM 0x52
+// #define VC0706_GET_ZOOM 0x53
+
+// #define CAMERABUFFSIZ 100
+#define CAMERABUFFSIZ 50      // 減らした．多分問題ないが，怖いので安全コードも足した． L.370, L.458あたり
+#define CAMERADELAY 10
+
+
+class Adafruit_VC0706 {
+ public:
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		Adafruit_VC0706(SoftwareSerial *ser); // Constructor when using SoftwareSerial
+	#else
+		Adafruit_VC0706(NewSoftSerial  *ser); // Constructor when using NewSoftSerial
+	#endif
+#endif
+	Adafruit_VC0706(HardwareSerial *ser); // Constructor when using HardwareSerial
+	boolean begin(uint16_t baud = 38400);
+	boolean reset(void);
+	// boolean TVon(void);
+	// boolean TVoff(void);
+	boolean takePicture(void);
+	uint8_t *readPicture(uint8_t n);
+	// boolean resumeVideo(void);
+	uint32_t frameLength(void);
+	// char *getVersion(void);
+	uint8_t available();
+	// uint8_t getDownsize(void);
+	// boolean setDownsize(uint8_t);
+	// uint8_t getImageSize();
+	boolean setImageSize(uint8_t);
+	// boolean getMotionDetect();
+	// uint8_t getMotionStatus(uint8_t);
+	// boolean motionDetected();
+	// boolean setMotionDetect(boolean f);
+	// boolean setMotionStatus(uint8_t x, uint8_t d1, uint8_t d2);
+	boolean cameraFrameBuffCtrl(uint8_t command);
+	// uint8_t getCompression();
+	// boolean setCompression(uint8_t c);
+
+	// boolean getPTZ(uint16_t &w, uint16_t &h, uint16_t &wz, uint16_t &hz, uint16_t &pan, uint16_t &tilt);
+	// boolean setPTZ(uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt);
+
+	// void OSD(uint8_t x, uint8_t y, char *s); // isnt supported by the chip :(
+
+// char* setBaud9600();
+// char* setBaud19200();
+// char* setBaud38400();
+// char* setBaud57600();
+// char* setBaud115200();
+
+ private:
+	uint8_t  serialNum;
+	uint8_t  camerabuff[CAMERABUFFSIZ+1];
+	uint8_t  bufferLen;
+	uint16_t frameptr;
+
+#if not defined (_VARIANT_ARDUINO_DUE_X_) && not defined (_VARIANT_ARDUINO_ZERO_)
+	#if ARDUINO >= 100
+		SoftwareSerial *swSerial;
+	#else
+		NewSoftSerial  *swSerial;
+	#endif
+#endif
+	HardwareSerial *hwSerial;
+
+	void common_init(void);
+	boolean runCommand(uint8_t cmd, uint8_t args[], uint8_t argn, uint8_t resp, boolean flushflag = true); 
+	void sendCommand(uint8_t cmd, uint8_t args[], uint8_t argn); 
+	uint8_t readResponse(uint8_t numbytes, uint8_t timeout);
+	boolean verifyResponse(uint8_t command);
+	// void printBuff(void);
+};
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Camera.h b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Camera.h
new file mode 100644
index 0000000..f5b2aee
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Camera.h
@@ -0,0 +1,27 @@
+#ifndef CAMERA_H
+#define CAMERA_H
+
+/*
+https://www.switch-science.com/catalog/1241/
+https://www.adafruit.com/product/397
+*/
+
+// #################### CAMERA ####################
+
+
+#include "./PIN_ASSIGN.h"
+
+#include "./Adafruit_VC0706.h"
+#include <SPI.h>
+#include <SoftwareSerial.h>
+// #include <SD.h>
+
+
+void CAM_Init();
+void CAM_TakePic();
+
+typedef struct {
+} Camera_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Camera.ino b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Camera.ino
new file mode 100644
index 0000000..b255b23
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Camera.ino
@@ -0,0 +1,112 @@
+#include "./Camera.h"
+#include "./SD.h"
+#include "./Servo.h"
+
+
+Camera_t camera;
+
+// SoftwareSerial と Adafruit_VC0706 は初期値なしの初期化ができないので，仕方なくstructにはいれない．
+SoftwareSerial CamSerial = SoftwareSerial(PIN_CAM_TX, PIN_CAM_RX);
+Adafruit_VC0706 cam = Adafruit_VC0706(&CamSerial);
+
+
+void CAM_Init() {
+	// Try to locate the camera
+	if (cam.begin()) {
+		Serial.println(F("Cam Found"));
+	} else {
+		Serial.println(F("No cam!!"));
+		return;
+	}
+	// // Print out the camera version information (optional)
+	// char *reply = cam.getVersion();
+	// if (reply == 0) {
+	// 	Serial.println(F("Failed to get version"));
+	// } else {
+	// 	Serial.println(F("-----------------"));
+	// 	Serial.print(reply);
+	// 	Serial.println(F("-----------------"));
+	// }
+
+	cam.setImageSize(VC0706_640x480);        // biggest
+	// cam.setImageSize(VC0706_320x240);        // medium
+	// cam.setImageSize(VC0706_160x120);        // small
+
+
+	// バッファークリアの意味も兼ねて一発撮る
+	// 壊れた画像になるので確認．
+	CAM_TakePic();
+}
+
+
+void CAM_TakePic() {
+	SD_Write(F("TakePic"));
+
+	// You can read the size back from the camera (optional, but maybe useful?)
+	// uint8_t imgsize = cam.getImageSize();
+	// Serial.print("Image size: ");
+	// if (imgsize == VC0706_640x480) Serial.println("640x480");
+	// if (imgsize == VC0706_320x240) Serial.println("320x240");
+	// if (imgsize == VC0706_160x120) Serial.println("160x120");
+
+	if (! cam.takePicture()) {
+		Serial.println(F("Snap NG"));
+		// return;
+	} else {
+		Serial.println(F("Snap OK"));
+	}
+
+	// Create an image with the name IMGxx.JPG
+	char filename[12];
+	strcpy(filename, "000.JPG");
+	for (uint16_t i = 0; i < 1000; i++) {
+		filename[0] = '0' + i/100;
+		filename[1] = '0' + (i/10)%10;
+		filename[2] = '0' + i%10;
+		// create if does not exist, do not open existing, write, sync after write
+		if ( ! SD.exists(SD_GetDirName() + String(filename)) ) {
+			break;
+		}
+	}
+
+	SD_Write("picname:" + SD_GetDirName() + String(filename));
+	Serial.println(SD_GetDirName() + String(filename));
+
+	// Open the file for writing
+	File imgFile = SD.open(SD_GetDirName() + String(filename), FILE_WRITE);
+
+	// Get the size of the image (frame) taken
+	uint16_t jpglen = cam.frameLength();
+	Serial.print(F("Storing "));
+	Serial.print(jpglen, DEC);
+	Serial.print(F(" byte."));
+
+	// サーボのプルプルを防ぐ
+	SRV_Detach();
+
+	// int32_t time = millis();
+	// pinMode(8, OUTPUT);
+	// Read all the data up to # bytes!
+	byte wCount = 0; // For counting # of writes
+	while (jpglen > 0) {
+		// read 32 bytes at a time;
+		uint8_t *buffer;
+		uint8_t bytesToRead = min(32, jpglen); // change 32 to 64 for a speedup but may not work with all setups!
+		buffer = cam.readPicture(bytesToRead);
+		imgFile.write(buffer, bytesToRead);
+		if(++wCount >= 64) { // Every 2K, give a little feedback so it doesn't appear locked up
+			Serial.print('.');
+			wCount = 0;
+		}
+		//Serial.print("Read ");  Serial.print(bytesToRead, DEC); Serial.println(" bytes");
+		jpglen -= bytesToRead;
+	}
+	imgFile.close();
+
+	SRV_Attach();
+
+	// time = millis() - time;
+	Serial.println(F("done!"));
+	// Serial.print(time);
+	// Serial.println(F(" ms elapsed"));
+}
\ No newline at end of file
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/IMU.h b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/IMU.h
new file mode 100644
index 0000000..85f26a6
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/IMU.h
@@ -0,0 +1,67 @@
+#ifndef IMU_H
+#define IMU_H
+
+
+/*
+
+http://akizukidenshi.com/catalog/g/gK-13010/
+
+//================================================================//
+//  AE-BMX055             Arduino UNO                             //
+//    VCC                    +5V                                  //
+//    GND                    GND                                  //
+//    SDA                    A4(SDA)                              //
+//    SCL                    A5(SCL)                              //
+//                                                                //
+//   (JP6,JP4,JP5はショートした状態)                              //
+//   http://akizukidenshi.com/catalog/g/gK-13010/                 //
+//================================================================//
+*/
+
+// #################### 9AXIS ####################
+#include "./PIN_ASSIGN.h"
+
+
+#include<Wire.h>
+// BMX055 加速度センサのI2Cアドレス
+#define IMU_ADDR_ACCL 0x19  // (JP1,JP2,JP3 = Openの時)
+// BMX055 ジャイロセンサのI2Cアドレス
+#define IMU_ADDR_GYRO 0x69  // (JP1,JP2,JP3 = Openの時)
+// BMX055 磁気センサのI2Cアドレス
+#define IMU_ADDR_MAG 0x13   // (JP1,JP2,JP3 = Openの時)
+
+
+void IMU_Init();
+void IMU_UpdateAll();
+void IMU_UpdateAcc();
+void IMU_UpdateGyr();
+void IMU_UpdateMag();
+void IMU_PrintAcc();
+void IMU_PrintGyr();
+void IMU_PrintMag();
+
+float IMU_GetAccX();
+float IMU_GetAccY();
+float IMU_GetAccZ();
+float IMU_GetGyrX();
+float IMU_GetGyrY();
+float IMU_GetGyrZ();
+int IMU_GetMagX();
+int IMU_GetMagY();
+int IMU_GetMagZ();
+
+
+typedef struct {
+	float xAccl;
+	float yAccl;
+	float zAccl;
+	float xGyro;
+	float yGyro;
+	float zGyro;
+	int   xMag ;
+	int   yMag ;
+	int   zMag ;
+} Imu_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/IMU.ino b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/IMU.ino
new file mode 100644
index 0000000..90dc9d8
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/IMU.ino
@@ -0,0 +1,236 @@
+#include "./IMU.h"
+
+Imu_t imu;
+
+
+
+void IMU_Init() {
+	imu.xAccl = 0.0;
+	imu.yAccl = 0.0;
+	imu.zAccl = 0.0;
+	imu.xGyro = 0.0;
+	imu.yGyro = 0.0;
+	imu.zGyro = 0.0;
+	imu.xMag  = 0;
+	imu.yMag  = 0;
+	imu.zMag  = 0;
+
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x0F); // Select PMU_Range register
+	Wire.write(0x03);   // Range = +/- 2g
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x10);  // Select PMU_BW register
+	Wire.write(0x08);  // Bandwidth = 7.81 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_ACCL);
+	Wire.write(0x11);  // Select PMU_LPW register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 0.5ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x0F);  // Select Range register
+	Wire.write(0x04);  // Full scale = +/- 125 degree/s
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x10);  // Select Bandwidth register
+	Wire.write(0x07);  // ODR = 100 Hz
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_GYRO);
+	Wire.write(0x11);  // Select LPM1 register
+	Wire.write(0x00);  // Normal mode, Sleep duration = 2ms
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x83);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4B);  // Select Mag register
+	Wire.write(0x01);  // Soft reset
+	Wire.endTransmission();
+	delay(100);
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4C);  // Select Mag register
+	Wire.write(0x00);  // Normal Mode, ODR = 10 Hz
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x4E);  // Select Mag register
+	Wire.write(0x84);  // X, Y, Z-Axis enabled
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x51);  // Select Mag register
+	Wire.write(0x04);  // No. of Repetitions for X-Y Axis = 9
+	Wire.endTransmission();
+	//------------------------------------------------------------//
+	Wire.beginTransmission(IMU_ADDR_MAG);
+	Wire.write(0x52);  // Select Mag register
+	Wire.write(0x16);  // No. of Repetitions for Z-Axis = 15
+	Wire.endTransmission();
+
+	Serial.println(F("IMU init done"));
+}
+
+
+void IMU_UpdateAll() {
+	IMU_UpdateAcc();
+	IMU_UpdateGyr();
+	IMU_UpdateMag();
+}
+
+
+void IMU_UpdateAcc() {
+	// int data[6];
+	uint8_t data[6];
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_ACCL);
+		Wire.write((2 + i));// Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_ACCL, 1);// Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xAccl lsb, imu.xAccl msb, imu.yAccl lsb, imu.yAccl msb, imu.zAccl lsb, imu.zAccl msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data to 12-bits
+	imu.xAccl = ((data[1] * 256) + (data[0] & 0xF0)) / 16;
+	if (imu.xAccl > 2047)  imu.xAccl -= 4096;
+	imu.yAccl = ((data[3] * 256) + (data[2] & 0xF0)) / 16;
+	if (imu.yAccl > 2047)  imu.yAccl -= 4096;
+	imu.zAccl = ((data[5] * 256) + (data[4] & 0xF0)) / 16;
+	if (imu.zAccl > 2047)  imu.zAccl -= 4096;
+	imu.xAccl = imu.xAccl * 0.0098; // renge +-2g
+	imu.yAccl = imu.yAccl * 0.0098; // renge +-2g
+	imu.zAccl = imu.zAccl * 0.0098; // renge +-2g
+}
+
+
+void IMU_UpdateGyr() {
+	// int data[6];
+	uint8_t data[6];
+	for (uint8_t i = 0; i < 6; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_GYRO);
+		Wire.write((2 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_GYRO, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xGyro lsb, imu.xGyro msb, imu.yGyro lsb, imu.yGyro msb, imu.zGyro lsb, imu.zGyro msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	imu.xGyro = (data[1] * 256) + data[0];
+	if (imu.xGyro > 32767)  imu.xGyro -= 65536;
+	imu.yGyro = (data[3] * 256) + data[2];
+	if (imu.yGyro > 32767)  imu.yGyro -= 65536;
+	imu.zGyro = (data[5] * 256) + data[4];
+	if (imu.zGyro > 32767)  imu.zGyro -= 65536;
+
+	imu.xGyro = imu.xGyro * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.yGyro = imu.yGyro * 0.0038; //  Full scale = +/- 125 degree/s
+	imu.zGyro = imu.zGyro * 0.0038; //  Full scale = +/- 125 degree/s
+}
+
+
+void IMU_UpdateMag() {
+	// int data[8];
+	uint8_t data[8];
+	for (uint8_t i = 0; i < 8; i++)
+	{
+		Wire.beginTransmission(IMU_ADDR_MAG);
+		Wire.write((0x42 + i));    // Select data register
+		Wire.endTransmission();
+		Wire.requestFrom(IMU_ADDR_MAG, 1);    // Request 1 byte of data
+		// Read 6 bytes of data
+		// imu.xMag lsb, imu.xMag msb, imu.yMag lsb, imu.yMag msb, imu.zMag lsb, imu.zMag msb
+		if (Wire.available() == 1)
+			data[i] = Wire.read();
+	}
+	// Convert the data
+	imu.xMag = ((data[1] <<8) | (data[0]>>3));
+	if (imu.xMag > 4095)  imu.xMag -= 8192;
+	imu.yMag = ((data[3] <<8) | (data[2]>>3));
+	if (imu.yMag > 4095)  imu.yMag -= 8192;
+	imu.zMag = ((data[5] <<8) | (data[4]>>3));
+	if (imu.zMag > 16383)  imu.zMag -= 32768;
+}
+
+
+void IMU_PrintAcc() {
+	Serial.print(F("Acc= "));
+	Serial.print(imu.xAccl);
+	Serial.print(F(","));
+	Serial.print(imu.yAccl);
+	Serial.print(F(","));
+	Serial.print(imu.zAccl);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintGyr() {
+	Serial.print(F("Gyr= "));
+	Serial.print(imu.xGyro);
+	Serial.print(F(","));
+	Serial.print(imu.yGyro);
+	Serial.print(F(","));
+	Serial.print(imu.zGyro);
+	Serial.println(F(""));
+}
+
+
+void IMU_PrintMag() {
+	Serial.print(F("Mag= "));
+	Serial.print(imu.xMag);
+	Serial.print(F(","));
+	Serial.print(imu.yMag);
+	Serial.print(F(","));
+	Serial.print(imu.zMag);
+	Serial.println(F(""));
+}
+
+
+float IMU_GetAccX() {
+	return imu.xAccl;
+}
+float IMU_GetAccY() {
+	return imu.yAccl;
+}
+float IMU_GetAccZ() {
+	return imu.zAccl;
+}
+float IMU_GetGyrX() {
+	return imu.xGyro;
+}
+float IMU_GetGyrY() {
+	return imu.yGyro;
+}
+float IMU_GetGyrZ() {
+	return imu.zGyro;
+}
+int IMU_GetMagX() {
+	return imu.xMag;
+}
+int IMU_GetMagY() {
+	return imu.yMag;
+}
+int IMU_GetMagZ() {
+	return imu.zMag;
+}
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/PIN_ASSIGN.h b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/PIN_ASSIGN.h
new file mode 100644
index 0000000..0f3e877
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/PIN_ASSIGN.h
@@ -0,0 +1,28 @@
+
+#ifndef PIN_ASSIGN_H
+#define PIN_ASSIGN_H
+
+
+#define PIN_SRV 4
+
+#define PIN_LIT A0
+
+#define PIN_GPS_TX 8
+#define PIN_GPS_RX 9
+#define PIN_SD_SS  10
+// SD MOSI 11
+// SD MISO 12
+// SD CLK  13
+
+#define PIN_CAM_TX 2
+#define PIN_CAM_RX 3
+
+#define PIN_SW 5
+
+
+// #define SDA A4
+// #define SCL A5
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/SD.h b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/SD.h
new file mode 100644
index 0000000..ef9e367
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/SD.h
@@ -0,0 +1,33 @@
+#ifndef SD_H
+#define SD_H
+
+
+#include <SPI.h>
+#include <SD.h>
+#include<Wire.h>
+
+
+/*
+http://akizukidenshi.com/catalog/g/gK-14015/
+http://akizukidenshi.com/download/ds/akizuki/AE-microSD-LLCNV_sch_20190218_01.pdf
+*/
+
+// #################### SD ####################
+#include "./PIN_ASSIGN.h"
+
+
+
+
+void SD_Init();
+void SD_Write(String str);
+String SD_GetDirName();
+
+typedef struct {
+	String  logFileName;
+	// char    logFileName[8];
+	char    DirName[6];
+	// File    logFile;
+} Sd_t;
+
+
+#endif
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/SD.ino b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/SD.ino
new file mode 100644
index 0000000..aa8650b
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/SD.ino
@@ -0,0 +1,82 @@
+#include "./SD.h"
+
+Sd_t sd;
+
+
+// フォルダ分け or 接頭辞
+// #define SD_IS_MKDIR
+
+
+void SD_Init() {
+	sd.logFileName = "log.txt";
+
+	pinMode(PIN_SD_SS, OUTPUT);
+
+	if (!SD.begin(PIN_SD_SS)) {
+		Serial.println(F("SD: init failed!"));
+		while (1);
+	}
+
+
+	strcpy(sd.DirName, "D000");
+	for (uint16_t i = 0; i <= 1000; i++) {
+		if (i == 1000) {
+			Serial.println(F("SD: Number of Folder is MAX!"));
+			while (1);
+		}
+
+		sd.DirName[1] = '0' + i/100;
+		sd.DirName[2] = '0' + (i/10)%10;
+		sd.DirName[3] = '0' + i%10;
+		if (! SD.exists(SD_GetDirName() + sd.logFileName) ) {
+			#ifdef SD_IS_MKDIR
+				SD.mkdir(sd.DirName);		// フォルダわけではなく，接頭辞の場合コメントアウト！
+			#else
+			#endif
+			break;
+		}
+	}
+
+
+	// File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+	// if (logFile) {
+	// 	// logFile.println("testing 1, 2, 3.");
+	// 	logFile.println(F("START UP!!"));
+	// 	// logFile.close();
+	// 	Serial.println(F("SD: Write done"));
+	// } else {
+	// 	// if the file didn't open, print an error:
+	// 	Serial.println(F("SD: error opening file"));
+	// }
+	// logFile.close();
+
+	SD_Write(F("START UP!!"));
+
+	Serial.println(F("SD init done."));
+}
+
+
+void SD_Write(String str) {
+	File logFile = SD.open(SD_GetDirName() + sd.logFileName, FILE_WRITE);
+
+	if (logFile) {
+		logFile.println("[" + String(millis()) + "]\t" + str);
+		// close the file:
+		logFile.close();
+		Serial.println(F("SD: Write OK"));
+	} else {
+		// if the file didn't open, print an error:
+		Serial.println(F("SD: Open Error"));
+	}
+
+	logFile.close();
+}
+
+
+String SD_GetDirName() {
+	#ifdef SD_IS_MKDIR
+		return (String(sd.DirName) + "/");
+	#else
+		return (String(sd.DirName) + "_");
+	#endif
+}
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Servo.h b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Servo.h
new file mode 100644
index 0000000..979516a
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Servo.h
@@ -0,0 +1,29 @@
+#ifndef SRV_H
+#define SRV_H
+
+#include "./PIN_ASSIGN.h"
+#include <Servo.h>
+
+/*
+http://akizukidenshi.com/catalog/g/gM-08914/
+*/
+
+// #################### Servo ####################
+
+
+void SRV_Init();
+void SRV_SetPosition(uint8_t pos);
+uint8_t SRV_GetPosition();
+void SRV_Run();
+void SRV_Detach();
+void SRV_Attach();
+
+typedef struct {
+	Servo servo;
+	uint8_t setPosition;
+	uint8_t position;
+} Servo_t;
+
+
+#endif
+
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Servo.ino b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Servo.ino
new file mode 100644
index 0000000..51e3db5
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Servo.ino
@@ -0,0 +1,38 @@
+#include "./Servo.h"
+
+
+Servo_t servo;
+
+void SRV_Init() {
+	servo.position = 0;
+	servo.setPosition = 0;
+
+	// servo.servo.attach(PIN_SRV);
+	SRV_Attach();
+	SRV_Run();
+
+	// Serial.println(F("SRV init done"));
+	Serial.println(F("SRV init done"));
+}
+
+void SRV_SetPosition(uint8_t pos) {
+	servo.setPosition = pos;
+}
+
+uint8_t SRV_GetPosition() {
+	return servo.position;
+}
+
+
+void SRV_Run() {
+	servo.servo.write(servo.setPosition);
+	servo.position = servo.setPosition;
+}
+
+void SRV_Detach() {
+	servo.servo.detach();
+}
+void SRV_Attach() {
+	servo.servo.attach(PIN_SRV);
+	delay(5000);
+}
\ No newline at end of file
diff --git a/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Test.ino b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Test.ino
new file mode 100644
index 0000000..d3894fd
--- /dev/null
+++ b/Archives/2020-02-22_Fukui/07_Kagakugijutsu/Test.ino
@@ -0,0 +1,53 @@
+#include "./IMU.h"
+#include "./SD.h"
+#include "./Servo.h"
+#include "./Camera.h"
+
+void setup()
+{
+  // Wire(Arduino-I2C)の初期化
+  Wire.begin();
+  // デバック用シリアル通信は9600bps
+  Serial.begin(9600);
+
+  //SD_Init();    // これは絶対最初に初期化！
+  //CAM_Init();   // SDの後！
+  IMU_Init();
+  //SRV_Init();
+
+
+  Serial.println(F("Init done"));
+  delay(300);
+}
+
+void loop()
+{
+
+  while (1) {
+    IMU_UpdateAll();
+    int mag_x=IMU_GetMagX();
+    int mag_y=IMU_GetMagY();
+
+    Serial.println(mag_x);
+    Serial.println(mag_y);
+
+    float magnet_radian=atan2((float)mag_y,(float)mag_x);
+    float magnet_degree=magnet_radian*180.0/PI;
+    Serial.print(F("Direction: "));
+    Serial.print(magnet_degree);
+    Serial.println(F("[deg]"));
+
+    if (magnet_degree<30&&magnet_degree>-30){
+      Serial.println("kita");
+      break;
+    }
+
+    delay(1000);
+  }
+  CAM_TakePic();    // 写真を撮る
+  delay(1000);
+
+  Serial.println(F("END"));
+  while (1) {
+  }
+}
diff --git a/Archives/2020-02-22_Fukui/README.md b/Archives/2020-02-22_Fukui/README.md
index 6052fed..dad73f1 100644
--- a/Archives/2020-02-22_Fukui/README.md
+++ b/Archives/2020-02-22_Fukui/README.md
@@ -1,14 +1,14 @@
 # 2020年02月22～23日 缶サットHigh School 「缶サット電子系講座」
 ## 各高校のプログラム一覧
-+ [武生東](./01_Takefuhigashi)
-+ [敦賀A](./02_TsurugaA)
-+ [敦賀B](./03_TsurugaB)
-+ [藤島](./04_Fujishima)
-+ [高志](./05_Koshi)
-+ [三国](./06_Mikuni)
-+ [科学技術](./07_Kagakugijutsu)
-+ [武生工業](./08_Takefukougyou)
-+ [武生](./09_Takefu)
-+ [福井工業大学附福井](./10_Fukuikougyoudaigakufukui)
-+ [若狭](./11_Wakasa)
++ [01班 武生東](./01_Takefuhigashi)
++ [02班 敦賀A](./02_TsurugaA)
++ [03班 敦賀B](./03_TsurugaB)
++ [04班 藤島](./04_Fujishima)
++ [05班 高志](./05_Koshi)
++ [06班 三国](./06_Mikuni)
++ [07班 科学技術](./07_Kagakugijutsu)
++ [08班 武生工業](./08_Takefukougyou)
++ [09班 武生](./09_Takefu)
++ [10班 福井工業大学附福井](./10_Fukuikougyoudaigakufukui)
++ [11班 若狭](./11_Wakasa)