void Shinkansen::runBackward()

in str/apps/src/Shinkansen.cpp [63:77]

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

void Shinkansen::runBackward(double speed, int32_t targetDistance){
	int32_t distance_total;
	lineTracer.isLeftsideLine(true);
	lineTracer.setForward(-30);
	distance.resetDistance(walker.get_count_L(), walker.get_count_R());
	lineTracer.speedControl.setPid ( 2.0, 1.0, 0.024, speed );
	lineTracer.turnControl.setPid ( 1.0, 1.0, 0.048, 10.0 );
	do{
		distance_total = distance.getDistanceCurrent(walker.get_count_L(), walker.get_count_R());
		lineTracer.runLine(walker.get_count_L(), walker.get_count_R(), colorSensor.getBrightness());
		walker.run( lineTracer.getForward(), lineTracer.getTurn());
		tslp_tsk(4);
	}while(distance_total > targetDistance);
	walker.run(0, 0);
}