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team-ncxx-sl: Commit


Commit MetaInfo

Revision392 (tree)
Time2018-07-22 16:22:45
Authorkitoman33

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Change Summary

Incremental Difference

--- trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/LookupGate.cpp (revision 391)
+++ trunk/src/hrp2_beta7/sdk/workspace/sample_cpp2/course/LookupGate.cpp (revision 392)
@@ -475,6 +475,9 @@
475475 }
476476
477477 bool LookupGate::tail_control(signed int angle) {
478+ if (angle < 50) {
479+ angle = 50;
480+ }
478481 float pwm = (float)(angle - ev3_motor_get_counts(tail_motor)) * P_GAIN_LOOKUP_GATE; /* 比例制御 */
479482 /* PWM出力飽和処理 */
480483 if (pwm > PWM_ABS_MAX_LOOKUP_GATE) {
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