static void tail_control()

in src/app.cpp [263:284]

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

static void tail_control(signed int angle)
{
    float pwm = (float)(angle - ev3_motor_get_counts(tail_motor))*P_GAIN; /* 比例制御 */
    /* PWM出力飽和処理 */
    if (pwm > PWM_ABS_MAX)
    {
        pwm = PWM_ABS_MAX;
    }
    else if (pwm < -PWM_ABS_MAX)
    {
        pwm = -PWM_ABS_MAX;
    }

    if (pwm == 0)
    {
        ev3_motor_stop(tail_motor, true);
    }
    else
    {
        ev3_motor_set_power(tail_motor, (signed char)pwm);
    }
}