public IEnumerator <ITask> SetMotorPowerHandler(motor.SetMotorPower setMotorPower)
{
// Requests come too fast, so dump ones that come in too fast.
if (RequestPending > 0)
{
setMotorPower.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
//flip direction if necessary
double revPow = setMotorPower.Body.TargetPower;
if (_state.ReversePolarity)
{
revPow *= -1.0;
}
//update state
_state.CurrentPower = revPow;
//convert to native units
revPow *= 100;
revPow += 100;
int power = (int)Math.Round(revPow);
//send hardware specific motor data
brick.SetMotorBody motordata = new brick.SetMotorBody();
motordata.Motor = _state.Name;
motordata.Speed = power;
RequestPending++;
Activate(Arbiter.Choice(_scribblerPort.SetMotor(motordata),
delegate(DefaultUpdateResponseType status)
{
setMotorPower.ResponsePort.Post(DefaultUpdateResponseType.Instance);
RequestPending--;
},
delegate(soap.Fault failure)
{
setMotorPower.ResponsePort.Post(failure);
RequestPending--;
}
));
yield break;
}
public IEnumerator<ITask> SetMotorPowerHandler(motor.SetMotorPower setMotorPower)
{
// Requests come too fast, so dump ones that come in too fast.
if (RequestPending > 0)
{
setMotorPower.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}
//flip direction if necessary
double revPow = setMotorPower.Body.TargetPower;
if (_state.ReversePolarity)
revPow *= -1.0;
//update state
_state.CurrentPower = revPow;
//convert to native units
revPow *= 100;
revPow += 100;
int power = (int)Math.Round(revPow);
//send hardware specific motor data
brick.SetMotorBody motordata = new brick.SetMotorBody();
motordata.Motor = _state.Name;
motordata.Speed = power;
RequestPending++;
Activate(Arbiter.Choice(_scribblerPort.SetMotor(motordata),
delegate(DefaultUpdateResponseType status)
{
setMotorPower.ResponsePort.Post(DefaultUpdateResponseType.Instance);
RequestPending--;
},
delegate(soap.Fault failure)
{
setMotorPower.ResponsePort.Post(failure);
RequestPending--;
}
));
yield break;
}