private IAsyncAction MipDriveWithRateAndTime(bool toward, int rate, int time)
{
MipRobotConstants.COMMAND_CODE type = toward ? MipRobotConstants.COMMAND_CODE.DRIVE_FORWARD_WITH_TIME : MipRobotConstants.COMMAND_CODE.DRIVE_BACKWARD_WITH_TIME;
byte r = (byte)Math.Min(rate, 30);
byte t = (byte)Math.Min(time / 7, 255);
return(SendMipCommand(type, r, t).AsAsyncAction());
}
private IAsyncAction MipTurnWithRate(int degree, int rate)
{
MipRobotConstants.COMMAND_CODE type = degree < 0 ? MipRobotConstants.COMMAND_CODE.TURN_LEFT_BY_ANGLE : MipRobotConstants.COMMAND_CODE.TURN_RIGHT_BY_ANGLE;
byte d = (byte)(Math.Min(Math.Abs(degree), 360) / 4);
byte r = (byte)Math.Min(rate, 24);
return(SendMipCommand(type, d, r).AsAsyncAction());
}
private async Task <bool> SendMipCommand(MipRobotConstants.COMMAND_CODE type, params byte[] data)
{
bool result = await base.SendCommand((byte)type, data);
await Task.Delay(50);
return(result);
}
private async Task <bool> SendMipCommand(MipRobotConstants.COMMAND_CODE type, params byte[] data)
{
return(await base.SendCommand((byte)type, data));
}