ロボステ6期 / SpeedController___2_25

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Dependencies:   Encoder

Dependents:   NHK2020-m2-2-ros_2_25

Diff: SpeedController.cpp

Revision:
1:735c0a48b445
Parent:
0:de44976b7670
Child:
6:d110c276aa5a
diff -r de44976b7670 -r 735c0a48b445 SpeedController.cpp
--- a/SpeedController.cpp	Wed Jul 24 17:11:01 2019 +0000
+++ b/SpeedController.cpp	Fri Aug 09 06:09:31 2019 +0000
@@ -3,7 +3,7 @@
 #include "SpeedController.h"
 
 SpeedControl::SpeedControl(PinName pwm_F,PinName pwm_B,int us,Ec &ec) :
-    Kp_(0),Kd_(0),pre_diff(0),ptsc_(0),Cf_(1/45),Cb_(-1/45),Df_(0),Db_(0),initial_Df_(0),initial_Db_(0),duty_limit_(0.95),pwm_F_(pwm_F),pwm_B_(pwm_B)
+    Kp_(0),Kd_(0),pre_diff(0),ptsc_(0),Cf_(1/45),Cb_(1/45),Df_(0),Db_(0),initial_Df_(0),initial_Db_(0),duty_limit_(0.95),pwm_F_(pwm_F),pwm_B_(pwm_B)
 {
     ec_=&ec;
     pwm_F_.period_us(us);