public RoombaController()
{
this.serialPort = new SerialPortController(SERIAL_PORT_NAME, SERIAL_PORT_BAUD_RATE);
this.cmdExecutor = new RoombaCommandExecutor(this.serialPort);
// connected to serial port 5 DD (Device Detect), which is used to wake up Roomba
this.wakeupSignalPort = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.Di47, true);
}
public SensorPacketQuerier(RoombaCommandExecutor cmdExecutor, SensorPacket sensorPacket, int sensorPacketSize, int frequency)
{
this.cmdExecutor = cmdExecutor;
this.sensorPacket = sensorPacket;
this.sensorPacketSize = sensorPacketSize;
this.frequency = frequency;
}