id: 1
unit: void main_task()
file: src/app.cpp
start line: 57
end line: 216
size: 111 LOC
McCabe index: 11
number of parameters: 1

id: 2
unit: void balance_control()
file: src/balancer.c
start line: 173
end line: 341
size: 55 LOC
McCabe index: 2
number of parameters: 9

id: 3
unit: static int sonar_alert()
file: src/app.cpp
start line: 224
end line: 255
size: 22 LOC
McCabe index: 3
number of parameters: 1

id: 4
unit: static void tail_control()
file: src/app.cpp
start line: 263
end line: 284
size: 20 LOC
McCabe index: 4
number of parameters: 1

id: 5
unit: void bt_task()
file: src/app.cpp
start line: 293
end line: 308
size: 16 LOC
McCabe index: 3
number of parameters: 1

id: 6
unit: void Balancer::update()
file: src/BalancerCpp.cpp
start line: 40
end line: 53
size: 12 LOC
McCabe index: 1
number of parameters: 4

id: 7
unit: void setLineTracePwm()
file: src/app.cpp
start line: 318
end line: 328
size: 10 LOC
McCabe index: 2
number of parameters: 3

id: 8
unit: void balance_init()
file: src/balancer.c
start line: 344
end line: 356
size: 8 LOC
McCabe index: 1
number of parameters: 1

id: 9
unit: void msg_f()
file: src/util.cpp
start line: 17
end line: 21
size: 5 LOC
McCabe index: 1
number of parameters: 2

id: 10
unit: void init_f()
file: src/util.cpp
start line: 6
end line: 10
size: 4 LOC
McCabe index: 1
number of parameters: 1

id: 11
unit: void Balancer::init()
file: src/BalancerCpp.cpp
start line: 28
end line: 31
size: 4 LOC
McCabe index: 1
number of parameters: 1

id: 12
unit: void Balancer::setCommand()
file: src/BalancerCpp.cpp
start line: 60
end line: 63
size: 4 LOC
McCabe index: 1
number of parameters: 2

id: 13
unit: int8_t Balancer::getPwmRight()
file: src/BalancerCpp.cpp
start line: 69
end line: 71
size: 3 LOC
McCabe index: 1
number of parameters: 0

id: 14
unit: int8_t Balancer::getPwmLeft()
file: src/BalancerCpp.cpp
start line: 77
end line: 79
size: 3 LOC
McCabe index: 1
number of parameters: 0