PIDクラス追加

[tondenhei/et2013.git] / ETLineTracer.cpp

diff --git a/ETLineTracer.cpp b/ETLineTracer.cpp
index 2de3f67..3cf078a 100644 (file)
--- a/ETLineTracer.cpp
+++ b/ETLineTracer.cpp
@@ -1,7 +1,7 @@
 #include "ETLineTracer.h"\r
 \r
 ETLineTracer::ETLineTracer(LinePos& linepos, Runner& runner)\r
-       : LineTracer(linepos,runner)\r
+       : LineTracer(linepos,runner), m_pid(0.3, 0.0, 10.0)\r
 {\r
 }\r
 ETLineTracer::~ETLineTracer(void)\r
@@ -9,11 +9,6 @@ ETLineTracer::~ETLineTracer(void)
 }\r
 void ETLineTracer::CalcOutput(int speed, int linepos, int& forward, int& turn)\r
 {\r
-       // \82Æ\82è\82 \82¦\82¸\82Ì\8eÀ\91\95\r
-       forward = speed * 3 / 10;\r
-       if(linepos > 0){\r
-               turn = 50;\r
-       }else{\r
-               turn = -50;\r
-       }\r
+       forward = speed * 3 / 10;       // \82Æ\82è\82 \82¦\82¸\82Ì\8eÀ\91\95\r
+       turn =static_cast<int>(m_pid.CalcControlValue(static_cast<float>(linepos)));\r
 }\r