From 361f9cb2e5b68c7325a59d7037fea698f41956ae Mon Sep 17 00:00:00 2001
From: kanja <hoge@hoge.hg>
Date: Thu, 12 Sep 2013 21:39:34 +0900
Subject: [PATCH] =?utf8?q?ETBalanceRunner=E3=81=AE=E4=B8=8D=E5=85=B7?=
 =?utf8?q?=E5=90=88=E4=BF=AE=E6=AD=A3=E3=81=A8Stop=E3=81=A7=E6=AD=A2?=
 =?utf8?q?=E3=81=BE=E3=82=8B=E3=82=88=E3=81=86=E3=81=AB=E3=81=97=E3=81=9F?=
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---
 ETBalanceRunner.cpp | 2 +-
 main.cpp            | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/ETBalanceRunner.cpp b/ETBalanceRunner.cpp
index f0625ef..b227673 100644
--- a/ETBalanceRunner.cpp
+++ b/ETBalanceRunner.cpp
@@ -27,7 +27,7 @@ void ETBalanceRunner::Run(int forward, int turn)
 		r = r + (l - 100);
 		l = 100;
 	}else if(r < -100){
-		l = l - (r - (-100));
+		l = l + (r - (-100));
 		r = -100;
 	}
 	m_motorL.setPWM(l);
diff --git a/main.cpp b/main.cpp
index 9f85447..7645d2c 100644
--- a/main.cpp
+++ b/main.cpp
@@ -224,8 +224,11 @@ TASK(Task4ms)
 	if(touch.isPressed()){
 //		motorR.setPWM(0);
 //		motorL.setPWM(0);
+		tracer.Stop();
+		tracer.Reset();
 		ActivateTask(TaskMain);
 		TerminateTask();
+		return;
 	}
     context.Display(lcd);
     context.CyclicExcute();
-- 
2.11.0