public async Task SetPressurePercent(double newPercent)
{
await pneumaticSemaphore.WaitAsync();
try
{
var deltaPercent = newPercent - PressurePercent;
if (deltaPercent > 0)
{
// Requires inflation
var inflationDurationS = deltaPercent / pneumatic.InflationRatePctPerS;
if (newPercent >= 1)
{
inflationDurationS += 0.25 / pneumatic.InflationRatePctPerS; // Extra padding to ensure maximum inflation
}
await pneumatic.Inflate(inflationDurationS);
}
else if (deltaPercent < 0)
{
var deflationDurationS = (-deltaPercent) / pneumatic.DeflationRatePctPerS;
if (newPercent <= 0)
{
deflationDurationS += 0.25 / pneumatic.DeflationRatePctPerS; // Extra padding to ensure absolute zero
}
await pneumatic.Deflate(deflationDurationS);
}
this.PressurePercent = newPercent;
}
finally
{
pneumaticSemaphore.Release();
}
}
