void Balancer::update()

in src/BalancerCpp.cpp [40:53]

• 12 lines of code
• 1 McCabe index (conditional complexity)

void Balancer::update(int angle, int rwEnc, int lwEnc, int battery) {
    // 倒立振子制御APIを呼び出し、倒立走行するための
    // 左右モータ出力値を得る
    balance_control(
        static_cast<float>(mForward),
        static_cast<float>(mTurn),
        static_cast<float>(angle),
        static_cast<float>(mOffset),
        static_cast<float>(lwEnc),
        static_cast<float>(rwEnc),
        static_cast<float>(battery),
        &mLeftPwm,
        &mRightPwm);
}