public void Do(IRobot robot)
{
WaitHandle[] handles = new WaitHandle[2];
// ------------------------------------
// main motor rotation
handles[0] = robot.CreateRotateTask(RobotSetup.XPort, X);
// -----------------------------------------------------
// secondary motor rotation
handles[1] = robot.CreateRotateTask(RobotSetup.YPort, Y);
// sync motors
WaitHandle.WaitAll(handles);
}
public void Do(IRobot robot)
{
// "eat" paper
robot.Motors[RobotSetup.YPort].ResetTacho();
robot.CreateRotateTask(RobotSetup.YPort, Y).WaitOne();
robot.Motors[RobotSetup.YPort].ResetTacho();
}