Pedal device

A pedal device, comprising:

• a pedal lever configured to operate in response to a pedal operation;
• an actuator capable of applying a reaction force in a direction of returning the pedal lever when driven by a motor;
• and
• a computer including a processor and a memory that stores instructions configured to, when executed by the processor, cause the processor to
• calculate a current command value based on a reaction force target value related to a reaction force applied to the pedal lever,
• calculate a duty command value based on the current command value, and
• control a drive of the motor based on the duty command value, wherein
• the computer causes the processor to
• hold the duty command value, when a standby time has not elapsed since changing the reaction force target value,
• determine whether it is necessary to perform a correction calculation of the duty command value based on a motor current supplied to the motor or a rotation speed of the motor, when the standby time has elapsed since changing the reaction force target value,
• hold the duty command value, when it is determined that the correction calculation of the duty command value is not performed, and
• calculate a correction amount of the duty command value based on at least one of the motor current supplied to the motor and the rotation speed of the motor, when it is determined that the correction calculation of the duty command value is to be performed.