void ServoMgr::rawPWMSubscriber()

in servo_pkg/src/servo_mgr.cpp [110:118]

• 9 lines of code
• 5 McCabe index (conditional complexity)

    void ServoMgr::rawPWMSubscriber(const deepracer_interfaces_pkg::msg::ServoCtrlMsg::SharedPtr servoMsg) {
        if (servoMsg->throttle >= 0 && servoMsg->throttle <= SERVO_PERIOD) {
            throttle_->setDuty(servoMsg->throttle);
        }
        if (servoMsg->angle >= 0 && servoMsg->angle <= SERVO_PERIOD) {
            angle_->setDuty(servoMsg->angle);
        }
        std::this_thread::sleep_for(std::chrono::nanoseconds(SERVO_PERIOD));
    }