public virtual IEnumerator <ITask> ResetEncoderHandler(ResetMotorEncoder reset)
{
LogInfo("TrackRoamerBrickPowerService:ResetEncoderHandler() id=" + reset.Body.HardwareIdentifier);
switch (reset.Body.HardwareIdentifier)
{
case 1:
_brickConnection.ResetEncoderLeft();
_state.MotorEncoder.LeftDistance = 0.0d;
_state.TimeStamp = DateTime.Now;
break;
case 2:
_brickConnection.ResetEncoderRight();
_state.MotorEncoder.RightDistance = 0.0d;
_state.TimeStamp = DateTime.Now;
break;
}
// Send Notifications to subscribers
_subMgrPort.Post(new submgr.Submit(_state.MotorEncoder, DsspActions.ReplaceRequest));
reset.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}
public virtual IEnumerator<ITask> ResetEncoderHandler(ResetMotorEncoder reset)
{
LogInfo("TrackRoamerBrickPowerService:ResetEncoderHandler() id=" + reset.Body.HardwareIdentifier);
switch(reset.Body.HardwareIdentifier)
{
case 1:
_brickConnection.ResetEncoderLeft();
_state.MotorEncoder.LeftDistance = 0.0d;
_state.TimeStamp = DateTime.Now;
break;
case 2:
_brickConnection.ResetEncoderRight();
_state.MotorEncoder.RightDistance = 0.0d;
_state.TimeStamp = DateTime.Now;
break;
}
// Send Notifications to subscribers
_subMgrPort.Post(new submgr.Submit(_state.MotorEncoder, DsspActions.ReplaceRequest));
reset.ResponsePort.Post(DefaultReplaceResponseType.Instance);
yield break;
}