From a4ab2d3affd6c7395a03b211aa7cd94f758e3972 Mon Sep 17 00:00:00 2001
From: ShunjiHashimoto <h.shunji1206@gmail.com>
Date: Sat, 14 Dec 2024 17:32:35 +0900
Subject: [PATCH] =?UTF-8?q?=E9=80=9F=E5=BA=A6=E5=88=B6=E5=BE=A1=E3=81=AE?=
 =?UTF-8?q?=E8=AA=BF=E6=95=B4=E5=AE=8C=E4=BA=86?=
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---
 Core/Inc/params.hpp           | 2 +-
 Core/Src/motor.cpp            | 2 +-
 Core/Src/robot_controller.cpp | 3 ++-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/Core/Inc/params.hpp b/Core/Inc/params.hpp
index 6f59d97..22891c1 100644
--- a/Core/Inc/params.hpp
+++ b/Core/Inc/params.hpp
@@ -8,7 +8,7 @@ namespace MotorParam {
     const float R = 1.07;         // 巻線抵抗[Ω]
     const float GEAR_RATIO = 43.0/13.0;        // ギア比
     const float m = 90.0/1000.0;
-    const float r = 12.0*0.001;           // タイヤ半径[m]
+    const float r = (12.0 + 0.6)*0.001;  // タイヤ半径[m], 両面テープの厚さ分0.1*2
     const int bit = 4096; //
     const float stm32_vat = 3.3;
     const float BAT_RATIO = (25.0/10.0)*(stm32_vat/bit); // 電圧倍率(分圧)*（12bit=4096/3.3V)
diff --git a/Core/Src/motor.cpp b/Core/Src/motor.cpp
index 6c280b7..cbbcd5b 100644
--- a/Core/Src/motor.cpp
+++ b/Core/Src/motor.cpp
@@ -40,7 +40,7 @@ extern "C" {
         int duty_l = motor_l.calcDuty(torque);
         if(duty_r < 0) duty_r = 0;
         if(duty_l < 0) duty_l = 0;
-        motor_r.duty = duty_r;
+        motor_r.duty = duty_r*1.25;
         motor_l.duty = duty_l;
         motor_r.Run(GPIO_PIN_RESET);
         motor_l.Run(GPIO_PIN_SET); 
diff --git a/Core/Src/robot_controller.cpp b/Core/Src/robot_controller.cpp
index 32a7376..63a8189 100644
--- a/Core/Src/robot_controller.cpp
+++ b/Core/Src/robot_controller.cpp
@@ -106,11 +106,12 @@ void RobotController::mainControl(){
     Mode::ModeType current_mode = mode_manager.getCurrentMode();
 
     if(current_mode == Mode::ModeType::RUN) {
-      printf("cur_LinearVelocityPIDvel %lf tar_vel %lf\n\r", LinearVelocityPID::current_linear_vel, LinearVelocityPID::target_linear_vel);
       // printf("tar_vel %lf cur_vel %lf\n\r", AngularVelocityPID::target_angular_vel, this->getCurrentAngularVel());
       // printf("duty_r %d, duty_l %d\n\r", motor_r.duty, motor_l.duty);
+      printf("cur_LinearVelocityPIDvel %lf tar_vel %lf\n\r", LinearVelocityPID::current_linear_vel, LinearVelocityPID::target_linear_vel);
       printf("current_distance: %lf angle: %lf\n\r", LinearVelocityPID::current_distance, AngularVelocityPID::current_angle);
       this->straight(540);
+      // タイヤ系を調整する必要がある
 
       // 目標速度のみ与える
       // float target_distance = 1000;