/// <summary>
/// Executes Misty Drive() command but checks for hazards first. Will wait till hazard is resolved to issue command.
/// </summary>
/// <param name="linearVelocity">Linear velocity value between -100 and 100 </param>
/// <param name="angularVelocity">Linear velocity value between -100 and 100</param>
/// <param name="commandCallback">Sets the callback function for the Drive command. Null is okay.</param>
/// <param name="wasCalledFromHazard">By default this is false. Only use if calling from a hazard state</param>
public void Drive(double linearVelocity, double angularVelocity, ProcessCommandResponse commandCallback, bool wasCalledFromHazard = false)
{
if (isMovingFromHazard == true && wasCalledFromHazard == false)
{
autoEvent.WaitOne();
}
_misty.Drive(linearVelocity, angularVelocity, null); // commandCallback == null ? null : commandCallback
}
/// <summary>
/// Executes Misty DriveArc() command but checks for hazards first. Will wait till hazard is resolved to issue command.
/// </summary>
/// <param name="heading">Misty's end rotation will be facing in this direction. Values are degrees from 0-360, but values outside this range will automatically be translated</param>
/// <param name="radius">Radius of the arc that Misty will drive on</param>
/// <param name="timeMs">The amount of time that Misty will drive for</param>
/// <param name="reverse">Not actually sure what this does. Drives in reverse? </param>
/// <param name="commandCallback">Sets the callback function for the Drive command. Null is okay.</param>
/// <param name="wasCalledFromHazard">By default this is false. Only use if calling from a hazard state</param>
public void DriveArc(double heading, double radius, int timeMs, bool reverse, ProcessCommandResponse commandCallback, bool wasCalledFromHazard = false)
{
if (isMovingFromHazard == true && wasCalledFromHazard == false)
{
autoEvent.WaitOne();
}
_misty.DriveArc(heading, radius, timeMs, reverse, null); //commandCallback == null ? null : commandCallback
//if (commandCallback != null)
//{
// _misty.DriveArc(heading, radius, timeMs, reverse, commandCallback);/
//else
//{
// _misty.DriveArc(heading, radius, timeMs, reverse, null);
//}
}
