void Shinkansen::runColor()

in str/apps/src/Shinkansen.cpp [108:123]

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

void Shinkansen::runColor(){
	lineTracer.isLeftsideLine(false);
	lineTracer.setForward(30);
	colorid_t lineColor = COLOR_NONE;
	lifter.liftDown();
	lifter.changeDefault(0);
	lineTracer.speedControl.setPid ( 2.0, 1.0, 0.024, 50.0 );
    lineTracer.turnControl.setPid ( 4.0, 1.0, 0.09, 20.0 );
    do{
    	lineTracer.runLine(walker.get_count_L(), walker.get_count_R(), colorSensor.getBrightness());
    	walker.run( lineTracer.getForward(), lineTracer.getTurn());
    	lineColor = colorSensor.getColorNumber();
    }while(lineColor != COLOR_BLUE && lineColor != COLOR_GREEN && lineColor != COLOR_YELLOW && lineColor != COLOR_RED);
	walker.run(0, 0);
	lineColor = COLOR_NONE;
}