| 摘要 |
<p>PROBLEM TO BE SOLVED: To improve accuracy of synchronization of processing that is associated with the control of a coaxial two-wheeled mobile, which is performed in each of a plurality of CPUs.SOLUTION: A coaxial two-wheeled mobile includes: a first clock generation section 27 and a second clock generation section 28 for generating clock signals; a first timer 111 for measuring time based on a first clock signal; a second timer 121 for measuring time based on a second clock signal; a first CPU 110 for controlling the coaxial two-wheeled mobile based on the time measured by the first timer 111; and a second CPU 120 for controlling the coaxial two-wheeled mobile based on the time measured by the second timer 121. The second CPU 120 corrects the time measured by the second timer 121 to the time when measured by the first timer 111, based on a ratio between an elapsed time of the first timer 111 from the detection of a first predetermined event until the detection of a second predetermined event and an elapsed time of the second timer 121 from the detection of the first predetermined event until the detection of the second predetermined event.</p> |
