void setLineTracePwm()

in src/app.cpp [318:328]

• 10 lines of code
• 2 McCabe index (conditional complexity)

void setLineTracePwm(const int& brightness_, signed char& forward_, signed char& turn_){
    constexpr int LIGHT_WHITE = 40; /* 白色の光センサ値 */
    constexpr int LIGHT_BLACK = 0; /* 黒色の光センサ値 */
    
    forward_ = 60; /* 前進命令 */
    if(brightness_ >= (LIGHT_WHITE + LIGHT_BLACK)/2){
        turn_ =  30; /* 左旋回命令 */
    }else{
        turn_ = -30; /* 右旋回命令 */
    }
}