ETLineTracer: PIDゲイン調整

diff --git a/ETLineTracer.cpp b/ETLineTracer.cpp
index 0306012..1ab30b3 100644 (file)
--- a/ETLineTracer.cpp
+++ b/ETLineTracer.cpp
@@ -3,10 +3,10 @@
 #include "Runner.h"\r
 \r
 ETLineTracer::ETLineTracer(LinePos& linepos, Runner& runner)\r
-       : m_linepos(linepos), m_runner(runner), m_pid(0.3, 0.001, 10.0)\r
+       : m_linepos(linepos), m_runner(runner), m_pid(0.4, 0.0015, 12.5)\r
 {\r
-       m_pid.SetClip(-50,50);\r
-       m_pid.SetIntegralClip(-500,500);\r
+       m_pid.SetClip(-100,100);\r
+       m_pid.SetIntegralClip(-1000,1000);\r
 }\r
 ETLineTracer::~ETLineTracer(void)\r
 {\r