public virtual IEnumerator <ITask> TurnRightHandler(TurnRight forward)
{
if (!_state.MotorEnabled)
{
yield return(EnableMotor());
}
drive.SetDrivePowerRequest request = new drive.SetDrivePowerRequest();
request.RightWheelPower = 0.5;
request.LeftWheelPower = -0.5;
yield return(Arbiter.Choice(
_drivePort.SetDrivePower(request),
delegate(DefaultUpdateResponseType response) { },
delegate(Fault fault)
{
LogError(null, "Unable to turn right", fault);
}
));
}
private void btnTurnRight_Click(object sender, EventArgs e)
{
TurnRight turnRight = new TurnRight();
_mainPort.Post(turnRight);
//while (turnRight.ResponsePort.P1.ItemCount <= 0 && turnRight.ResponsePort.P0.ItemCount <= 0) ;
//MessageBox.Show("Has headers");
//if (turnRight.ResponsePort.P0.ItemCount <= 0)
// MessageBox.Show("Has headers");
_moveTimer.Interval = _turnInterval;
_moveTimer.Enabled = true;
// Wait until this move is processed before processing the next
while (_moveTimer.Enabled)
{
;
}
}
