Example #1
0
        private void onWhiskerRight(object sender, MeasuredValuesEventArgs ev)
        {
            LogInfo("TrackRoamerBrickPowerService : WhiskerRight : " + ev.value1);

            if (ev.value1 > 0 && (!_state.Whiskers.FrontWhiskerRight.HasValue || !_state.Whiskers.FrontWhiskerRight.Value))
            {
                // if this is a "whisker pressed" event, do emergency stop.
                stopMotorsNow();
                // Note: UpdateMotorSpeedHandler() will not set positive speed if whiskers are pressed.
            }

            _state.Whiskers.Timestamp         = new DateTime(ev.timestamp);
            _state.Whiskers.FrontWhiskerRight = ev.value1 > 0;
            _state.TimeStamp = DateTime.Now;

            UpdateWhiskers uw = new UpdateWhiskers();

            uw.Body.Timestamp         = _state.Whiskers.Timestamp;
            uw.Body.FrontWhiskerRight = ev.value1 > 0;

            base.SendNotification <UpdateWhiskers>(_subMgrPort, uw);
        }
		private void onWhiskerRight(object sender, MeasuredValuesEventArgs ev)
		{
            LogInfo("TrackRoamerBrickPowerService : WhiskerRight : " + ev.value1);

            if (ev.value1 > 0 && (!_state.Whiskers.FrontWhiskerRight.HasValue || !_state.Whiskers.FrontWhiskerRight.Value))
            {
                // if this is a "whisker pressed" event, do emergency stop.
                stopMotorsNow();
                // Note: UpdateMotorSpeedHandler() will not set positive speed if whiskers are pressed.
            }

            _state.Whiskers.Timestamp = new DateTime(ev.timestamp);
            _state.Whiskers.FrontWhiskerRight = ev.value1 > 0;
            _state.TimeStamp = DateTime.Now;

            UpdateWhiskers uw = new UpdateWhiskers();
			uw.Body.Timestamp = _state.Whiskers.Timestamp;
			uw.Body.FrontWhiskerRight = ev.value1 > 0;

			base.SendNotification<UpdateWhiskers>(_subMgrPort, uw);
		}