From 34efd24ba1df171396576272b398dbbb45fe8a8a Mon Sep 17 00:00:00 2001
From: kanja <hoge@hoge.hg>
Date: Tue, 17 Sep 2013 00:34:02 +0900
Subject: [PATCH] =?utf8?q?ETBalanceRunner:=20Reset()=E3=81=8C=E3=81=86?=
 =?utf8?q?=E3=81=BE=E3=81=8F=E5=8B=95=E3=81=8F=E3=82=88=E3=81=86=E3=81=AB?=
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---
 ETBalanceRunner.cpp                      | 12 +++++++++---
 ETBalanceRunner.h                        |  1 +
 ETBalanceRunnerTest/balancertestmain.cpp |  7 +++++++
 3 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/ETBalanceRunner.cpp b/ETBalanceRunner.cpp
index 659d899..47d2855 100644
--- a/ETBalanceRunner.cpp
+++ b/ETBalanceRunner.cpp
@@ -10,15 +10,21 @@ extern "C" {
 namespace ecrobot{
 
 ETBalanceRunner::ETBalanceRunner(Motor& motorL, Motor& motorR, GyroSensor& gyro, Nxt& nxt)
-	: m_motorL(motorL), m_motorR(motorR), m_gyro(gyro), m_nxt(nxt), m_gyrooffset(610), m_bException(false), m_msec(0)
+	: m_motorL(motorL), m_motorR(motorR), m_gyro(gyro), m_nxt(nxt),
+	m_bInitialized(false), m_gyrooffset(610), m_bException(false), m_msec(0)
 {
-	balance_init();
 }
 ETBalanceRunner::~ETBalanceRunner(void)
 {
 }
 void ETBalanceRunner::Run(int forward, int turn)
 {
+	if(!m_bInitialized){
+		balance_init();
+		m_motorL.reset();
+		m_motorR.reset();
+		m_bInitialized = true;
+	}
 	S8 r,l;
 	balance_control(forward,0,m_gyro.get(),m_gyrooffset,m_motorL.getCount(),m_motorR.getCount(),m_nxt.getBattMv(),&l,&r);
 	JudgeException(l,r);
@@ -49,7 +55,7 @@ void ETBalanceRunner::Stop()
 }
 void ETBalanceRunner::Reset()
 {
-	balance_init();
+	m_bInitialized = false;
 	m_bException = false;
 	m_msec = 0;
 }
diff --git a/ETBalanceRunner.h b/ETBalanceRunner.h
index 1777639..91a6f00 100644
--- a/ETBalanceRunner.h
+++ b/ETBalanceRunner.h
@@ -13,6 +13,7 @@ class ETBalanceRunner : public Runner
 	Motor& m_motorR;
 	GyroSensor& m_gyro;
 	Nxt& m_nxt;
+	bool m_bInitialized;
 	int m_gyrooffset;
 	bool m_bException;
 	int m_msec;
diff --git a/ETBalanceRunnerTest/balancertestmain.cpp b/ETBalanceRunnerTest/balancertestmain.cpp
index dd674d7..ff97c2a 100644
--- a/ETBalanceRunnerTest/balancertestmain.cpp
+++ b/ETBalanceRunnerTest/balancertestmain.cpp
@@ -110,6 +110,13 @@ TASK(TaskMain)
 
 TASK(Task4ms)
 {
+	if(touch.isPressed()){
+		runner.Stop();
+		runner.Reset();
+		ActivateTask(TaskMain);
+		TerminateTask();
+		return;
+	}
 	runner.Run(150,0);
     tailcontroler.Control();
 
-- 
2.11.0