/// <summary>
/// Set percentage power of motor and direction. At the end set <code>AngleDrive</code> if rotation success.
/// </summary>
/// <param name="angle">in degree. 0 = 3 hour. 90 = 6 hour and so on.</param>
/// <param name="power">percentage from 0 to 100.</param>
/// <seealso cref="Robot.AngleDrive"/>
/// <returns></returns>
public DriveAnswerCommand Drive(double angle, double power)
{
DriveAnswerCommand answer = new DriveAnswerCommand();
addRobotTask(DriveAsync(answer, angle, power));
return(answer);
}
/// <summary>
/// Set percentage power of motor and direction. It send this action to server asynchronously. At the end set <code>AngleDrive</code> if rotation success and fill answer data to <code>destination</code>.
/// </summary>
/// <param name="destination">Where to fill answer data.</param>
/// <param name="angle">in degree. 0 = 3 hour. 90 = 6 hour and so on. 12 hour in up.</param>
/// <param name="power">percentage from 0 to 100.</param>
/// <seealso cref="Robot.AngleDrive"/>
/// <returns></returns>
private async Task DriveAsync(DriveAnswerCommand destination, double angle, double power)
{
await sendCommandAsync(new DriveCommand(power, angle));
var answerCommand = await receiveCommandAsync <DriveAnswerCommand>();
if (answerCommand.SUCCESS)
{
AngleDrive = AngleUtils.NormalizeDegree(angle);
}
destination.FillData(answerCommand);
}
