// Sends a rotate command to the robot and returns right away
// The robot will go forward until it hits a dead end or until
// it's crossed intersectionGoal intersections. This async call
// will allow the thread to filter for intersection detected messages.
// intersectionGoal = 0 for unlimited
private void goStraightAsync(int intersectionGoal)
{
byte[] filterHead = { 0xEE };
StringBuilder buf = new StringBuilder();
buf.Append("PID_LINE ");
buf.Append(intersectionGoal + " ");
buf.Append(straightPowerHigh + " ");
buf.Append(straightPowerLow + " ");
buf.Append(straightLowPowerZone + " ");
buf.Append(straightKP + " ");
buf.Append(straightKI + " ");
buf.Append(straightKD + " ");
buf.Append(dampingFactor + " ");
buf.Append(iSectDetectDelay);
RobotCommand c = new RobotCommand(buf.ToString());
PacketFilter filter = new PacketFilter(link, filterHead, c.Sequence);
filter.init();
link.sendCommand(c);
this.lastPacketFilter = filter;
}
