public void IssueSingleCommand(Command comm) { SerialComm serialComm = r.comm; CommBuffer buffer = serialComm.outputBuffer; bool send, free; if (comm.Send(buffer, out send, out free)) { if (send) { serialComm.ForceSendMessage(); } } }
public override State DoStuff() { Command_StopAll comm = new Command_StopAll(c); Robot r = c.r; SerialComm serialComm = r.comm; CommBuffer buffer = serialComm.outputBuffer; bool send, free; comm.Send(buffer, out send, out free); serialComm.ForceSendMessage(); return(this); }
public override State DoStuff() { Robot r = c.r; if (r.Ready) { SerialComm serialComm = r.comm; CommBuffer buffer = serialComm.outputBuffer; Command comm = commands.Peek(); bool send, free; if (comm.Send(buffer, out send, out free)) { if (send) { serialComm.ForceSendMessage(); } //if (send) serialComm.SendMessage(); if (free) { commands.Dequeue(); if (commands.Count == 0) { return(c.GetNextState()); } } } Thread.Sleep(100); } return(this); }