public IEnumerator <ITask> GetHandler(pxencoder.Get get)
{
get.ResponsePort.Post(_state);
yield break;
}
/// <summary>
/// get both encoders' state and save it in drive state
/// </summary>
private void pollEncoderState()
{
encoder.Get get = new encoder.Get();
_leftEncoderPort.Post(get);
Activate(Arbiter.Receive<encoder.EncoderState>(false, get.ResponsePort,
delegate(encoder.EncoderState response)
{
_state.LeftWheel.EncoderState = response;
}
));
get = new encoder.Get();
_rightEncoderPort.Post(get);
Activate(Arbiter.Receive<encoder.EncoderState>(false, get.ResponsePort,
delegate(encoder.EncoderState response)
{
_state.RightWheel.EncoderState = response;
}
));
}
