public async Task <bool> DockAsync()
{
_abort = false;
_skillHelper.MistySpeak("Initiating charger docking.");
_skillHelper.LogMessage("Execute charger docking.");
_misty.RegisterBatteryChargeEvent(BatteryChargingMessage, 250, true, null, "BatteryChargingEvent", OnResponse);
_misty.RegisterChargerPoseEvent(ChargerPoseMessage, 100, true, "ChargerPoseEvent", OnResponse);
if (!await StartChargerDetectionAsync())
{
Cleanup();
return(false);
}
// Try to dock N times.
bool docked = false;
int retries = 0;
while (!docked && retries++ < DOCKING_MAX_RETRIES && !_abort)
{
docked = await ExecuteDockAsync(retries == DOCKING_MAX_RETRIES);
}
Cleanup();
return(docked);
}
public async Task <bool> DockAsync()
{
_skillHelper.LogMessage("Execute charger docking.");
_misty.RegisterBatteryChargeEvent(BatteryChargingMessage, 250, true, null, "BatteryChargingEvent", OnResponse);
_previousChargerPose = new Queue <ChargerPosition>();
_abort = false;
// Pitch sometimes has an offset even when Misty is level.
_initialPitch = AxisLimited(_skillHelper.ImuPitch);
_skillHelper.LogMessage($"Initial pitch is {_initialPitch:f3}.");
_initialYaw = _skillHelper.ImuYaw;
_misty.RegisterChargerPoseEvent(ChargerPoseMessage, 100, true, "ChargerPoseEvent", OnResponse);
if (!await StartDockDetectorAsync())
{
Cleanup();
return(false);
}
// Try to dock N times.
bool docked = false;
int retries = 0;
while (!docked && retries++ < DOCKING_MAX_RETRIES)
{
docked = await ExecuteDockAsync();
}
Cleanup();
return(docked);
}