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;
                }
            ));
        }