public IEnumerator<ITask> AllStopHandler(AllStop allStop)
{
SetDrivePower zeroPower = new SetDrivePower();
zeroPower.Body = new SetDrivePowerRequest(0.0, 0.0);
zeroPower.ResponsePort = allStop.ResponsePort;
_mainPort.Post(zeroPower);
yield break;
}
public virtual IEnumerator<ITask> AllStopHandler(AllStop stop)
{
if (!ValidateConnection(_state, stop.ResponsePort))
yield break;
SetMotorRotation setMotorRotation = new SetMotorRotation(new SetMotorRotationRequest(0.0));
setMotorRotation.Body.StopState = stop.Body.StopState;
_internalMotorRotationPort.Post(setMotorRotation);
yield return Arbiter.Choice(setMotorRotation.ResponsePort,
delegate(DefaultUpdateResponseType response)
{
stop.ResponsePort.Post(response);
},
delegate(Fault fault)
{
stop.ResponsePort.Post(fault);
});
yield break;
}
