r_cg_tau_user.cリストを示します。記述はここがメインです。 E2studioのタブとブラウザのタブ位置が異なり見づらいですがご了承下さい。 /* Start user code ～から /* End user code の間だけに記述します。

/***********************************************************************************************************************
    * DISCLAIMER
    * This software is supplied by Renesas Electronics Corporation and is only intended for use with Renesas products.
    * No other uses are authorized. This software is owned by Renesas Electronics Corporation and is protected under all
    * applicable laws, including copyright laws. 
    * THIS SOFTWARE IS PROVIDED "AS IS" AND RENESAS MAKES NO WARRANTIES REGARDING THIS SOFTWARE, WHETHER EXPRESS, IMPLIED
    * OR STATUTORY, INCLUDING BUT NOT LIMITED TO WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
    * NON-INFRINGEMENT.  ALL SUCH WARRANTIES ARE EXPRESSLY DISCLAIMED.TO THE MAXIMUM EXTENT PERMITTED NOT PROHIBITED BY
    * LAW, NEITHER RENESAS ELECTRONICS CORPORATION NOR ANY OF ITS AFFILIATED COMPANIES SHALL BE LIABLE FOR ANY DIRECT,
    * INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR ANY REASON RELATED TO THIS SOFTWARE, EVEN IF RENESAS OR
    * ITS AFFILIATES HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
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    * of this software. By using this software, you agree to the additional terms and conditions found by accessing the 
    * following link:
    * http://www.renesas.com/disclaimer
    *
    * Copyright (C) 2012, 2021 Renesas Electronics Corporation. All rights reserved.
    ***********************************************************************************************************************/
    
    /***********************************************************************************************************************
    * File Name    : r_cg_tau_user.c
    * Version      : Code Generator for RL78/G10 V1.05.05.02 [08 Nov 2021]
    * Device(s)    : R5F10Y16
    * Tool-Chain   : gccrl78
    * Description  : This file implements device driver for TAU module.
    * Creation Date: 2022/05/26
    ***********************************************************************************************************************/
    
    /***********************************************************************************************************************
    Includes
    ***********************************************************************************************************************/
    #include "r_cg_macrodriver.h"
    #include "r_cg_tau.h"
    /* Start user code for include. Do not edit comment generated here */
    /* End user code. Do not edit comment generated here */
    #include "r_cg_userdefine.h"
    
    /***********************************************************************************************************************
    Pragma directive
    ***********************************************************************************************************************/
    /* Start user code for pragma. Do not edit comment generated here */
    /* End user code. Do not edit comment generated here */
    
    /***********************************************************************************************************************
    Global variables and functions
    ***********************************************************************************************************************/
    /* Start user code for global. Do not edit comment generated here */
    unsigned short int ADC_buffer;
    unsigned short int Pre_buffer = 600;
    unsigned short int Tmp_buffer;;
    /* End user code. Do not edit comment generated here */
    
    /***********************************************************************************************************************
    * Function Name: r_tau0_channel0_interrupt
    * Description  : This function INTTM00 interrupt service routine.
    * Arguments    : None
    * Return Value : None
    ***********************************************************************************************************************/
    void r_tau0_channel0_interrupt(void)
    {
        /* Start user code. Do not edit comment generated here */
        P0_bit.no4 = 1;
        unsigned short int ADC_Result;  //A/D結果格納変数
        ADCS = 0;
        if(P0_bit.no0 ==0){             //スイッチのオン、オフを読んで方向を決める
            ADS = 0;
        }
        else if(P0_bit.no0 ==1){
            ADS = 1;
        }
    
        R_ADC_Start();                  //A/Dスタート
        if(ADCS == 1){                  //変換終了確認
            ;
        }
        R_ADC_Get_Result(&ADC_buffer);              //バッファに格納
        ADC_Result = Tmp_buffer = ADC_buffer*3+500; //A/Dコンバーターは10bitなので値が小さく扱いにくいので増幅、嵩上げする。
    
        if(Tmp_buffer <= Pre_buffer ){              //A/D結果が前回の変換より小さければオン時間を20減らす
            Tmp_buffer = (Pre_buffer-20);
            if(ADC_Result > Tmp_buffer-30){         //停止点でバタつかないようにマージンを取る
                Tmp_buffer = ADC_Result;
            }
    
        }
        else if(Tmp_buffer >= Pre_buffer ){         //A/D結果が前回の変換より大きければをオン時間20増やす
            Tmp_buffer = (Pre_buffer+20);
            if(ADC_Result < Tmp_buffer+30){
                Tmp_buffer = ADC_Result;
            }
        }
        wait(Tmp_buffer);                           //オン時間待ち
    
    
        Pre_buffer = Tmp_buffer;
        P0_bit.no4 = 0;
        /* End user code. Do not edit comment generated here */
    }
    
    /* Start user code for adding. Do not edit comment generated here */
    /* End user code. Do not edit comment generated here */
    
    
    

Global variables and functionsの中に広域変数を記入します。unsigned short int ADC_buffer; unsigned short int Pre_buffer = 600; unsigned short int Tmp_buffer;

void r_tau0_channel0_interrupt(void) ここは記述が必要です。リスト通り記述してください

Tmp_buffer = (Pre_buffer-20)if(ADC_Result > Tmp_buffer-30)この20，30の値を変えると速度が変わります。 ただし前側より後側の値が大きくなければなりません。

従来型のラジコンサーボは20msec毎に位置決めパルスを受け取ります。