private static Task ScheduleDevice(IPWMDevice motor)
{
int delayInMs = Convert.ToInt32(Math.Abs(motor.TargetDutyCycle) * REFRESH_PERIOD_IN_MS / 100.0);
Task t;
double absDutyCycle = Math.Abs(motor.TargetDutyCycle);
t = absDutyCycle > 90
? Task.Run(() => motor.TurnOn())
: absDutyCycle < 10 ? Task.Run(() => motor.TurnOff()) : TurnOnThenOffAfterDelay(delayInMs, motor);
return(t);
}
private static Task TurnOnThenOffAfterDelay(int delayInMs, IPWMDevice device)
{
device.TurnOn();
return(Task.Delay(delayInMs).ContinueWith((_) => device.TurnOff()));
}