1 #include "ETLineTracer.h"
\r
5 ETLineTracer::ETLineTracer(LinePos& linepos, Runner& runner)
\r
6 : m_linepos(linepos), m_runner(runner), m_pid(0.3, 0.0, 10.0)
\r
9 ETLineTracer::~ETLineTracer(void)
\r
12 void ETLineTracer::Run(int speed)
\r
16 CalcOutput(speed,m_linepos.GetLinePos(),forward,turn);
\r
17 m_runner.Run(forward,turn);
\r
19 bool ETLineTracer::IsException() const
\r
23 void ETLineTracer::Stop()
\r
26 void ETLineTracer::Reset()
\r
29 void ETLineTracer::CalcOutput(int speed, int linepos, int& forward, int& turn)
\r
31 forward = speed * 7 / 10; //
\82Æ
\82è
\82 \82¦
\82¸
\82Ì
\8eÀ
\91\95\r
32 turn =static_cast<int>(m_pid.CalcControlValue(static_cast<float>(linepos)));
\r