private async Task ExecuteNavigationInstruction(Instruction instruction)
{
Debug.WriteLine($"Executing nav instruction -> {instruction}");
OnControllerMessageReceived($"Executing navigation instruction -> {instruction}");
if (instruction.Type == InstructionType.Angle)
{
await Roomba.RotateEncoders(DEFAULT_ROTATE_SPEED, instruction.Data);
}
else if (instruction.Type == InstructionType.Distance)
{
await ContinuousMove(DEFAULT_MOVE_SPEED, (int)(1000 * instruction.Data), cts.Token);
}
}
