protected override async Task ExecuteAsync(CancellationToken stoppingToken)
{
while (!stoppingToken.IsCancellationRequested)
{
double distance = await this.distanceSensor.MeasureDistance(stoppingToken);
if (distance <= 25 && driveService.IsGoingForward())
{
logger.LogDebug("Distance less than 25 cm. Stopping.");
driveService.StopDrive();
}
await Task.Delay(TimeSpan.FromMilliseconds(100), stoppingToken);
}
}