1 #include "ETLineTracer.h"
\r
3 ETLineTracer::ETLineTracer(LinePos& linepos, Runner& runner)
\r
4 : LineTracer(linepos,runner), m_pid(0.3, 0.0, 10.0)
\r
7 ETLineTracer::~ETLineTracer(void)
\r
10 void ETLineTracer::CalcOutput(int speed, int linepos, int& forward, int& turn)
\r
12 forward = speed * 7 / 10; //
\82Æ
\82è
\82 \82¦
\82¸
\82Ì
\8eÀ
\91\95\r
13 turn =static_cast<int>(m_pid.CalcControlValue(static_cast<float>(linepos)));
\r