From 0ae7b4cc841cb2738fe5db3419af0887286f43b0 Mon Sep 17 00:00:00 2001
From: Tetsuya Kanja <hoge@hoge>
Date: Mon, 2 Sep 2013 00:10:41 +0900
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---
 ETBalanceRunner.cpp |  3 ++-
 main.cpp            | 62 +++++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 64 insertions(+), 1 deletion(-)

diff --git a/ETBalanceRunner.cpp b/ETBalanceRunner.cpp
index 1f73778..835ad28 100644
--- a/ETBalanceRunner.cpp
+++ b/ETBalanceRunner.cpp
@@ -12,6 +12,7 @@ namespace ecrobot{
 ETBalanceRunner::ETBalanceRunner(Motor& motorL, Motor& motorR, GyroSensor& gyro, Nxt& nxt)
 	: m_motorL(motorL), m_motorR(motorR), m_gyro(gyro), m_nxt(nxt), m_gyrooffset(610)
 {
+	balance_init();
 }
 ETBalanceRunner::~ETBalanceRunner(void)
 {
@@ -19,7 +20,7 @@ ETBalanceRunner::~ETBalanceRunner(void)
 void ETBalanceRunner::Run(int forward, int turn)
 {
 	S8 r,l;
-	balance_control(forward,turn,m_gyro.getAnglerVelocity(),m_gyrooffset,m_motorL.getCount(),m_motorR.getCount(),m_nxt.getBattMv(),&l,&r);
+	balance_control(forward,turn,m_gyro.get(),m_gyrooffset,m_motorL.getCount(),m_motorR.getCount(),m_nxt.getBattMv(),&l,&r);
 	m_motorL.setPWM(l);
 	m_motorR.setPWM(r);
 }
diff --git a/main.cpp b/main.cpp
index e0ea1b3..e979f1c 100644
--- a/main.cpp
+++ b/main.cpp
@@ -64,6 +64,68 @@ TASK(TaskMain)
 	lcd.putf("s", "Hello World");
 	lcd.disp();
 
+	// TODO:‚Æ‚è‚ ‚¦‚¸‚̃LƒƒƒŠƒuƒŒ[ƒVƒ‡ƒ“
+	static const int sum_num = 256;
+	unsigned long sum = 0;
+	char str[16+1];
+	// ƒWƒƒƒCƒ
+	while(!touch.isPressed()){
+	}
+	while(touch.isPressed()){
+	}
+	for(int i=0;i<sum_num;i++){
+		sum += gyro.get();
+		clock.wait(10);
+	}
+	unsigned long offset = sum / sum_num;
+	runner.SetGyroOffset(offset);
+	tsprintf(str,"Offset = %d",offset);
+	lcd.cursor(0,1);
+	lcd.putf("s",str);
+	lcd.disp();
+	speaker.playTone(1000,100,50);
+
+	// ”’
+	while(!touch.isPressed()){
+	}
+	while(touch.isPressed()){
+	}
+	sum = 0;
+	for(int i=0;i<sum_num;i++){
+		sum += light.getBrightness();
+		clock.wait(10);
+	}
+	unsigned long white = sum / sum_num;
+	linepos.SetWhite(white);
+	tsprintf(str,"White = %d",white);
+	lcd.cursor(0,2);
+	lcd.putf("s",str);
+	lcd.disp();
+	speaker.playTone(1200,100,50);
+
+	// •
+	while(!touch.isPressed()){
+	}
+	while(touch.isPressed()){
+	}
+	sum = 0;
+	for(int i=0;i<sum_num;i++){
+		sum += light.getBrightness();
+		clock.wait(10);
+	}
+	unsigned long black = sum / sum_num;
+	linepos.SetBlack(black);
+	tsprintf(str,"Black = %d",black);
+	lcd.cursor(0,3);
+	lcd.putf("s",str);
+	lcd.disp();
+	speaker.playTone(1400,100,50);
+
+	while(!touch.isPressed()){
+	}
+	while(touch.isPressed()){
+	}
+
 	TerminateTask();
 }
 
-- 
2.11.0