public IEnumerator <ITask> GetHandler(pxencoder.Get get) { get.ResponsePort.Post(_state); yield break; }
/// <summary> /// get both encoders' state and save it in drive state /// </summary> private void pollEncoderState() { encoder.Get get = new encoder.Get(); _leftEncoderPort.Post(get); Activate(Arbiter.Receive<encoder.EncoderState>(false, get.ResponsePort, delegate(encoder.EncoderState response) { _state.LeftWheel.EncoderState = response; } )); get = new encoder.Get(); _rightEncoderPort.Post(get); Activate(Arbiter.Receive<encoder.EncoderState>(false, get.ResponsePort, delegate(encoder.EncoderState response) { _state.RightWheel.EncoderState = response; } )); }