void TaskThreadProcess()
{
while (true)
{
switch (state)
{
case TaskFinDeMatchStates.Init:
servoPositionsRequested = new Dictionary <ServoId, int>();
servoPositionsRequested.Add(ServoId.PorteDrapeau, (int)TaskDrapeauPositionsInit.Drapeau);
OnHerkulexPositionRequest(servoPositionsRequested);
state = TaskFinDeMatchStates.Attente;
break;
case TaskFinDeMatchStates.Attente:
break;
/**********************Ouverture drapeau**************************************/
case TaskFinDeMatchStates.FinDeMatch:
OnPilotageVentouse(5, 0);
OnPilotageVentouse(6, 0);
OnPilotageVentouse(7, 0);
state = TaskFinDeMatchStates.FinDeMatchAttente;
parentManager.OnEnableMotors(false);
servoPositionsRequested = new Dictionary <ServoId, int>();
servoPositionsRequested.Add(ServoId.PorteDrapeau, (int)TaskDrapeauPositionsOpen.Drapeau);
OnHerkulexPositionRequest(servoPositionsRequested);
break;
case TaskFinDeMatchStates.FinDeMatchAttente:
state = TaskFinDeMatchStates.Finished;
break;
/**********************Finished task**************************************/
case TaskFinDeMatchStates.Finished:
isFinished = true;
state = TaskFinDeMatchStates.Attente;
break;
}
Thread.Sleep(10);
}
}
public void Start()
{
state = TaskFinDeMatchStates.FinDeMatch;
isFinished = false;
StopSw();
}
public void Pause()
{
state = TaskFinDeMatchStates.Attente;
isFinished = false;
StopSw();
}
public void Init()
{
state = TaskFinDeMatchStates.Init;
isFinished = false;
StopSw();
}
