void Shinkansen::spinBlack()

in str/apps/src/Shinkansen.cpp [79:106]

• 26 lines of code
• 4 McCabe index (conditional complexity)

void Shinkansen::spinBlack(int8_t forward, bool rotationalDirection){
	int32_t leftReverseValue, rightReverseValue;
	colorid_t lineColor = COLOR_NONE;
	basicWalker.spin(rotationalDirection, 45);
  // 古いバージョン
	// basicWalker.spin(forward, reverseValue, 45);
    int8_t reverseValue = rotationalDirection == basicWalker.SPIN_RIGHT
        ? -1
        :  1;
	int8_t value = reverseValue * -1;
	leftWheel.reset();
	rightWheel.reset();
	tslp_tsk(100);
	msg_f("Spin...", 2);
	leftWheel.setBrake(false);
	rightWheel.setBrake(false);
	leftReverseValue = value;
	rightReverseValue = value * -1;
	while(1){
		leftWheel.setPWM(forward * leftReverseValue);
		rightWheel.setPWM(forward * rightReverseValue);
		lineColor = colorSensor.getColorNumber();
		if(lineColor == COLOR_BLACK) break;
		tslp_tsk(2);
	}
	leftWheel.setPWM(0);
	rightWheel.setPWM(0);	
}