/// <summary>
/// Handle Bumper Notifications
/// </summary>
/// <param name="notification">Update notification</param>
private void BumperHandler(bumper.Update notification)
{
string message;
if (!notification.Body.Pressed)
{
return;
}
// Toggle the motor state
_state.MotorOn = !_state.MotorOn;
// Create a motor request
motor.SetMotorPowerRequest motorRequest = new motor.SetMotorPowerRequest();
if (_state.MotorOn)
{
// Set the motor power on
motorRequest.TargetPower = 1.0;
message = "Motor On";
}
else
{
// Set the motor power off
motorRequest.TargetPower = 0.0;
message = "Motor Off";
}
// Send the motor request
_motorPort.SetMotorPower(motorRequest);
// Show the motor status on the console screen
LogInfo(LogGroups.Console, message);
}
/// <summary>
/// Post Set Motor Power with body and return the response port.
/// </summary>
public virtual PortSet <DefaultUpdateResponseType, Fault> SetMotorRotation(pxmotor.SetMotorPowerRequest body)
{
pxmotor.SetMotorPower op = new pxmotor.SetMotorPower();
op.Body = body ?? new pxmotor.SetMotorPowerRequest();
this.PostUnknownType(op);
return(op.ResponsePort);
}
