/// <summary>
/// Depreciated, replaced by TurnByPid
/// </summary>
/// <param name="d"></param>
/// <param name="tr"></param>
/// <param name="gear"></param>
public void TurnBy(int d, int tr, byte gear)
{
if (gear > 0)
{
SetGear(gear);
}
int degrees = d;
int turnRate = tr == 0 ? defaultTurnRate : tr;
int direction = Math.Sign(degrees);
SetTurn(direction * turnRate);
positionSensor.StartCheckingAngle(degrees, turnTokenSource.Token);
turnResetEvent.WaitOne();
SetTurn(0);
turnTokenSource = new CancellationTokenSource();
}
