ER ev3_motor_set_power()

in ev3-api/src/ev3api_motor.c [269:313]

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

ER ev3_motor_set_power(motor_port_t port, int power) {
	ER ercd;

//	lazy_initialize();

	CHECK_PORT(port);
	CHECK_PORT_CONN(port);

	motor_type_t mt = mts[port];

	if (power < -100 || power > 100) {
		int old_power = power;
		if (old_power > 0)
			power = 100;
		else
			power = -100;
		syslog(LOG_WARNING, "%s(): power %d is out-of-range, %d is used instead.", __FUNCTION__, old_power, power);
	}

	char buf[3];

	if (mt == UNREGULATED_MOTOR) {
	    // Set unregulated power
	    buf[0] = opOUTPUT_POWER;
	} else {
		// Set regulated speed
	    buf[0] = opOUTPUT_SPEED;
	}
    buf[1] = 1 << port;
    buf[2] = power;
	motor_command(buf, sizeof(buf));

    /**
     * Start the motor
     */
    motor_command(buf, sizeof(buf));
    buf[0] = opOUTPUT_START;
    buf[1] = 1 << port;
    motor_command(buf, sizeof(buf));

    ercd = E_OK;

error_exit:
    return ercd;
}