bool RightNormalCourse::runNormalCourse()

in str/apps/src/RightNormalCourse.cpp [14:49]

• 32 lines of code
• 9 McCabe index (conditional complexity)

bool RightNormalCourse::runNormalCourse(){
    switch(status){
        case RightStatus::STRAIGHT:
            lineTracerWalker.speedControl.setPid ( 2.0, 4.8, 0.024, 150.0 );
            lineTracerWalker.turnControl.setPid ( 2.0, 1.0, 0.048, CENTER_BRIGHTNESS );
            break;
        
        case RightStatus::SLOW:
            lineTracerWalker.speedControl.setPid ( 2.0, 2.0, 0.024, 30.0 );
            lineTracerWalker.turnControl.setPid ( 2.0, 0.5, 0.048, CENTER_BRIGHTNESS );
            break;

        case RightStatus::CURVE_RIGHT:
            lineTracerWalker.speedControl.setPid ( 2.0, 4.8, 0.024, 150.0 );
            lineTracerWalker.turnControl.setPid ( 4.0, 2.0, 0.09, CENTER_BRIGHTNESS );
            break;

        case RightStatus::CURVE_LEFT_SHORT: 
            lineTracerWalker.speedControl.setPid ( 4.0, 0.8, 0.1, 130.0 );
            lineTracerWalker.turnControl.setPid ( 2.0, 0.5, 0.048, CENTER_BRIGHTNESS - 5.0 );
            break;
        case RightStatus::CURVE_LEFT_SHORT_SLOW: 
            lineTracerWalker.speedControl.setPid ( 4.0, 0.8, 0.1, 40.0 );
            lineTracerWalker.turnControl.setPid ( 2.0, 0.5, 0.048, CENTER_BRIGHTNESS - 5.0 );
            break;
        case RightStatus::CURVE_LEFT: 
            lineTracerWalker.speedControl.setPid ( 4.0, 0.8, 0.1, 100.0 );
            lineTracerWalker.turnControl.setPid ( 4.0, 2.0, 0.096, CENTER_BRIGHTNESS - 5.0 );
            break;
            
        case RightStatus::STOP: stop(); break;
        default: stop();
    }
    if (status == RightStatus::STOP) return false;
    return true;
}