public void Execute(IOCommunicator ioCommunicator)
{
foreach(var command in Commands)
{
command.Execute(ioCommunicator);
}
}
public Create(IOCommunicator io, int pollTimeMS, bool sendNMSPosition)
{
_sendNMS = sendNMSPosition;
IO = io;
GC.Collect();
SetMode(OperatingMode.PASSIVE);
_timer = new System.Timers.Timer();
_timer.Elapsed += _timer_Elapsed;
_timer.Interval = pollTimeMS;
ARC.Scripting.VariableManager.SetVariable("$RoombaSensorStreaming", false);
OnLog?.Invoke(this, "iRobot communicate initialized");
}
public override void Execute(IOCommunicator ioCommunicator)
{
base.Execute(ioCommunicator);
Thread.Sleep(100); //Docs say to wait 100ms before sending more commands after this one... so let's just enforce it this way
}
public RobotController(IOCommunicator ioCommunicator, IEnumerable<ISensor> sensors)
{
_ioCommunicator = ioCommunicator;
_ioCommunicator.DataRecieved += IO_DataRecieved;
_sensors = sensors;
}
public virtual void Execute(IOCommunicator ioCommunicator)
{
var bytes = GetBytes();
ioCommunicator.Write(bytes, 0, bytes.Length);
}
