void Parking::runParpendicular()

in str/apps/src/Parking.cpp [27:50]

• 19 lines of code
• 1 McCabe index (conditional complexity)

void Parking::runParpendicular()
{
    BasicWalker basicWalker;

	msg_f( "Do ParpendicularParking...", 0 );

    basicWalker.reset();
    basicWalker.setPidWithoutTarget( 4.0, 2.0, 0.02 );
    basicWalker.goStraight( 150, 450 );
    basicWalker.setPidWithoutTarget( 1.0, 2.0, 0.02 );
    basicWalker.goStraight( 50, 150 );
    basicWalker.reset();

    basicWalker.spin( basicWalker.SPIN_RIGHT, 90 );
    basicWalker.reset();
    tslp_tsk( 100 );

    basicWalker.goStraight( 150, 550 );
    basicWalker.setPidWithoutTarget( 1.0, 2.0, 0.02 );
    basicWalker.goStraight( 50, 250 );
    basicWalker.reset();

    waitThreeTimes();
}