From: kanja <hoge@hoge.hg>
Date: Thu, 19 Sep 2013 14:12:33 +0000 (+0900)
Subject: ETLineTracer: PIDゲイン調整
X-Git-Url: http://git.osdn.net/view?p=tondenhei%2Fet2013.git;a=commitdiff_plain;h=3a7443bf126b40b275f0e123db37857ba22c6b99

ETLineTracer: PIDゲイン調整
---

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