/// <summary>
/// Sets the forward velocity of the drive.
/// </summary>
/// <param name="speed">velocity in mm/s</param>
/// <returns>response port</returns>
private PortSet <DefaultUpdateResponseType, Fault> MoveForward(int speed)
{
LogInfo(string.Format("MoveForward speed={0}", speed));
if ((_state.DriveState == null || !_state.DriveState.IsEnabled) && speed != 0)
{
EnableMotor();
}
drive.SetDriveSpeedRequest request = new drive.SetDriveSpeedRequest();
request.LeftWheelSpeed = (double)speed / 1000.0; // millimeters to meters
request.RightWheelSpeed = (double)speed / 1000.0; // millimeters to meters
return(_drivePort.SetDriveSpeed(request));
}
/// <summary>
/// Sets the forward velocity of the drive.
/// </summary>
/// <param name="speed">velocity in mm/s</param>
/// <returns>response port</returns>
private PortSet<DefaultUpdateResponseType, Fault> MoveForward(int speed)
{
LogInfo(string.Format("MoveForward speed={0}", speed));
if ((_state.DriveState == null || !_state.DriveState.IsEnabled) && speed != 0)
{
EnableMotor();
}
drive.SetDriveSpeedRequest request = new drive.SetDriveSpeedRequest();
request.LeftWheelSpeed = (double)speed / 1000.0; // millimeters to meters
request.RightWheelSpeed = (double)speed / 1000.0; // millimeters to meters
return _drivePort.SetDriveSpeed(request);
}
