From: kanja <hoge@hoge.hg>
Date: Wed, 11 Sep 2013 11:00:41 +0000 (+0900)
Subject: ETBalanceRunner: balance API の turn を自力で計算してみた
X-Git-Url: http://git.osdn.net/view?a=commitdiff_plain;h=1a8bbdbbd23eb9e6111c47c194647b199845a41d;hp=7ea5c0c8b1c6d0412374ffde72d763f45aa2c94b;p=tondenhei%2Fet2013.git

ETBalanceRunner: balance API の turn を自力で計算してみた
---

diff --git a/ETBalanceRunner.cpp b/ETBalanceRunner.cpp
index 835ad28..49cfd4d 100644
--- a/ETBalanceRunner.cpp
+++ b/ETBalanceRunner.cpp
@@ -20,7 +20,16 @@ ETBalanceRunner::~ETBalanceRunner(void)
 void ETBalanceRunner::Run(int forward, int turn)
 {
 	S8 r,l;
-	balance_control(forward,turn,m_gyro.get(),m_gyrooffset,m_motorL.getCount(),m_motorR.getCount(),m_nxt.getBattMv(),&l,&r);
+	balance_control(forward,0,m_gyro.get(),m_gyrooffset,m_motorL.getCount(),m_motorR.getCount(),m_nxt.getBattMv(),&l,&r);
+	l = l + turn;
+	r = r - turn;
+	if(100 < l){
+		r = r + (l - 100);
+		l = 100;
+	}else if(r < -100){
+		l = l - (r - (-100));
+		r = -100;
+	}
 	m_motorL.setPWM(l);
 	m_motorR.setPWM(r);
 }
diff --git a/ETLineTracer.cpp b/ETLineTracer.cpp
index 3cf078a..bd7f649 100644
--- a/ETLineTracer.cpp
+++ b/ETLineTracer.cpp
@@ -9,6 +9,6 @@ ETLineTracer::~ETLineTracer(void)
 }
 void ETLineTracer::CalcOutput(int speed, int linepos, int& forward, int& turn)
 {
-	forward = speed * 3 / 10;	// ‚Æ‚è‚ ‚¦‚¸‚ÌŽÀ‘•
+	forward = speed * 7 / 10;	// ‚Æ‚è‚ ‚¦‚¸‚ÌŽÀ‘•
 	turn =static_cast<int>(m_pid.CalcControlValue(static_cast<float>(linepos)));
 }