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| @@ -475,6 +475,9 @@ | ||
| 475 | 475 | } |
| 476 | 476 | |
| 477 | 477 | bool LookupGate::tail_control(signed int angle) { |
| 478 | + if (angle < 50) { | |
| 479 | + angle = 50; | |
| 480 | + } | |
| 478 | 481 | float pwm = (float)(angle - ev3_motor_get_counts(tail_motor)) * P_GAIN_LOOKUP_GATE; /* 比例制御 */ |
| 479 | 482 | /* PWM出力飽和処理 */ |
| 480 | 483 | if (pwm > PWM_ABS_MAX_LOOKUP_GATE) { |
kitoman33
trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/LookupGate.cpp