private int SearchFall(int currentState, object o) { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SearchFall state of SM_DetectPersonFall reached."); //double headAngle=-Math.PI/6; double headAngle = (-0.5 * 3.1416) / 180; cmdMan.HEAD_lookat(0.0, headAngle, 5000); //headAngle = (headAngle * 180) / Math.PI; headAngle = -0.5; brain.lastPersonFallDetected.Clear(); Thread.Sleep(5000); //enviar comando para que comienze a detectar caidas cmdMan.VISION_findfall(true, headAngle); timer.Start(); while (timer.Elapsed.Seconds < 25 && brain.lastPersonFallDetected.Count == 0) { ; } timer.Stop(); //enviar comando para que deje de detectar caidas cmdMan.VISION_findfall(false, 0); if (brain.lastPersonFallDetected.Count > 0) { fallDetected = true; } else { fallDetected = false; } if (!fallDetected) { finalState = FinalStates.FallNotDetected; return((int)States.FinalState); } return((int)States.GoToFall); }