/// <summary>
/// Fires the event.
/// </summary>
public override void Fire()
{
try
{
executor = Grabber.Instance.PutDown();
executor.Start();
Pose.Instance.TakeStableArmPosition();
ReportSuccess();
}
catch {
ReportFailure();
}
}
/// <summary>
/// Grabs an object in front of the Nao.
/// </summary>
private void GrabObject()
{
Logger.Log(this, "Grabbing object...");
executor = Grabber.Instance.Grab();
//executor.Start();
//executor.WaitFor();
Logger.Log(this, "Finished grabbing.");
}
/// <summary>
/// Positions the Nao in front of the object.
/// </summary>
private void GoInfrontOfObject()
{
Logger.Log(this, "Walking towards object...");
executor = new ObjectSearchWorker();
executor.Start();
Logger.Log(this, "Finished walking towards object.");
}