/// <summary>
/// controls exact order in which layers are closed
/// </summary>
public override void Close()
{
if (!isClosing)
{
isClosing = true;
//joystick.joystickEvent -= Joystick_joystickEvent;
// first close all higher levels (behaviors), while lower levels are still operational:
CloseRuntime();
Debug.WriteLine("PluckyTheRobot: Close() : runtime closed, closing lower levels...");
// we can now close lower levels which we created. Communication to the board is still open:
sensorsController.Close();
driveController.Close();
//Task.Factory.StartNew(driveController.Close); // sets PWM to 0
//Task.Delay(2000).Wait();
// wait a bit (pumping events) and stop communication with the Hardware Brick (i.e. Element board):
//CloseCommunication().Wait();
hardwareBrick.Close();
}
}