public async Task Start()
{
// wait for start button press.
while (!this.buttonController.GetButtonPressed())
{
await Task.Delay(1);
}
var laps = 0;
var previousValue = false;
while (laps <= 3)
{
while (true)
{
var nearestTrafficcone = await FaceNearestTrafficCone();
await ApproachNearestVisibleTrafficCone(nearestTrafficcone);
if (!previousValue && this.objectDetectionController.GetNearestDetectedTrafficConeHorizontal() != null)
{
// rising edge - seeing it first in this round
previousValue = true;
break;
}
if (previousValue && this.objectDetectionController.GetNearestDetectedTrafficConeHorizontal() == null)
{
previousValue = false;
// driving past - do nothing except setting previous false
}
}
laps++;
}
motorController.Stop();
}
