void PuzzleField::preparatePuzzle()

in str/apps/src/PuzzleField.cpp [11:28]

• 18 lines of code
• 2 McCabe index (conditional complexity)

void PuzzleField::preparatePuzzle ( void ) {
	tslp_tsk ( 100 ) ;
	ev3_speaker_play_tone ( NOTE_FS6, 100 ) ;
	distance.resetDistance ( walker.get_count_L (), walker.get_count_R () ) ;
	while ( traceDistance < 1860 ) {
		traceDistance = distance.getDistanceTotal ( walker.get_count_L (), walker.get_count_R () ) ;
		lineTracer.speedControl.setPid ( 1.0, 0.8, 0.08, 60.0 ) ;
		lineTracer.turnControl.setPid ( 2.8, 0.8, 0.06, 30.0 ) ;
		color = colorSensor.getBrightness () ;
		lineTracer.runLine ( walker.get_count_L (), walker.get_count_R (), color ) ;
		walker.run( lineTracer.getForward (), lineTracer.getTurn () ) ;
		tslp_tsk ( 4 ) ;
	}
	basicWalker.goStraight ( 10, 60 ) ;
	walker.run ( 0, 0 ) ;
	walker.reset () ;
	tslp_tsk ( 100 ) ;
}