private void InitState()
{
LogInfo("TrackRoamerDriveService:: InitState() _state=" + _state);
if (_state == null)
{
LogInfo("TrackRoamerDriveService:: InitState() (null)");
_state = new TrackRoamerDriveState();
_state.DistanceBetweenWheels = 0.5715;
_state.LeftWheel = new motor.WheeledMotorState();
_state.LeftWheel.Radius = 0.1805;
_state.LeftWheel.GearRatio = 0.136;
_state.LeftWheel.MotorState = new motor.MotorState();
_state.LeftWheel.MotorState.HardwareIdentifier = 1;
_state.LeftWheel.MotorState.Name = "Left Motor";
_state.LeftWheel.MotorState.PowerScalingFactor = 30;
_state.LeftWheel.MotorState.ReversePolarity = false;
_state.RightWheel = new motor.WheeledMotorState();
_state.RightWheel.Radius = 0.1805;
_state.RightWheel.GearRatio = 0.136;
_state.RightWheel.MotorState = new motor.MotorState();
_state.RightWheel.MotorState.HardwareIdentifier = 2;
_state.RightWheel.MotorState.Name = "Right Motor";
_state.RightWheel.MotorState.PowerScalingFactor = 30;
_state.RightWheel.MotorState.ReversePolarity = false;
_state.LeftWheel.EncoderState = new encoder.EncoderState();
_state.LeftWheel.EncoderState.HardwareIdentifier = 1;
_state.LeftWheel.EncoderState.TicksPerRevolution = 2993;
_state.RightWheel.EncoderState = new encoder.EncoderState();
_state.RightWheel.EncoderState.HardwareIdentifier = 2;
_state.RightWheel.EncoderState.TicksPerRevolution = 2993;
_state.IsEnabled = true;
_state.TimeStamp = DateTime.Now;
LogInfo("TrackRoamerDriveService:: InitState(): saving state");
SaveState(_state);
}
else
{
LogInfo("TrackRoamerDriveService:: InitState() (not null) _state.DistanceBetweenWheels=" + _state.DistanceBetweenWheels);
}
_state.InternalPendingDriveOperation = drive.DriveRequestOperation.NotSpecified;
_state.TimeStamp = DateTime.Now;
}
public IEnumerator<ITask> UpdateHandler(Update update)
{
_state = update.Body;
_state.TimeStamp = DateTime.Now;
update.ResponsePort.Post(new DefaultUpdateResponseType());
yield break;
}