From 4f2d3a25c1ebd2be6bdca1757995c29b1023bad2 Mon Sep 17 00:00:00 2001
From: kou029w <kou029w@gmail.com>
Date: Tue, 2 Oct 2012 01:31:00 +0900
Subject: [PATCH] =?UTF-8?q?P=E5=88=B6=E5=BE=A1=E3=82=92=E5=AE=9F=E8=A3=85?=
 =?UTF-8?q?=E3=81=97=E3=81=A6=E3=81=BF=E3=82=8B?=
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---
 arduino/hanzo2_1/hanzo2_1.ino | 21 +++++++++++----------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/arduino/hanzo2_1/hanzo2_1.ino b/arduino/hanzo2_1/hanzo2_1.ino
index 62df437..f8b571b 100644
--- a/arduino/hanzo2_1/hanzo2_1.ino
+++ b/arduino/hanzo2_1/hanzo2_1.ino
@@ -33,6 +33,7 @@ const byte SPEED_DEFAULT = 255;
 const int HANDLE_DEGREE_DEFAULT = 90; //度
 const unsigned int HANDLE_MIN = ( 800+30); //us
 const unsigned int HANDLE_MAX = (2300+30); //us
+const float HANDLE_KP = 4.0;
 
 const int LANCE_DEGREE_DEFAULT = 90; //度
 const unsigned int LANCE_MIN = ( 544-62); //us
@@ -90,23 +91,23 @@ unsigned long counterOld;
 void trace(byte sensor){
   switch(sensor&MASK_MODE_TRACE){
   case 0b01000000:
-    handle(-20);
+    handle(-5*HANDLE_KP);
     motorMode(GO, GO, 0, SPEED_DEFAULT);
     break;
   case 0b01100000:
-    handle(-16);
+    handle(-4*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT/4, SPEED_DEFAULT);
     break;
   case 0b00100000:
-    handle(-12);
+    handle(-3*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00110000:
-    handle(-5);
+    handle(-2*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00010000:
-    handle(-2);
+    handle(-1*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00011000:
@@ -114,23 +115,23 @@ void trace(byte sensor){
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00001000:
-    handle(2);
+    handle(1*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00001100:
-    handle(5);
+    handle(2*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00000100:
-    handle(7);
+    handle(3*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00000110:
-    handle(10);
+    handle(4*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   case 0b00000010:
-    handle(12);
+    handle(5*HANDLE_KP);
     motorMode(GO, GO, SPEED_DEFAULT, SPEED_DEFAULT);
     break;
   }