public Helper()
{
tinker = new TinkerAPI(coreID, accessToken);
}
private void driveCommand(TinkerAPI.SetStates? LeftDir, TinkerAPI.SetStates? RightDir, Speed LeftSpeed, Speed RightSpeed)
{
TinkerAPI.DigitalWriteDelegate dwdL = new TinkerAPI.DigitalWriteDelegate(tinker.DigitalWrite);
TinkerAPI.DigitalWriteDelegate dwdR = new TinkerAPI.DigitalWriteDelegate(tinker.DigitalWrite);
TinkerAPI.AnalogWriteDelegate awdL = new TinkerAPI.AnalogWriteDelegate(tinker.AnalogWrite);
TinkerAPI.AnalogWriteDelegate awdR = new TinkerAPI.AnalogWriteDelegate(tinker.AnalogWrite);
IAsyncResult resultL;
IAsyncResult resultR;
if (LeftDir.HasValue && RightDir.HasValue)
{
resultL = dwdL.BeginInvoke(leftDirPin, LeftDir.Value, null, null);
resultR = dwdR.BeginInvoke(rightDirPin, RightDir.Value, null, null);
TinkerAPI.GetStates gsresultL = dwdL.EndInvoke(resultL);
TinkerAPI.GetStates gsresultR = dwdR.EndInvoke(resultR);
}
resultL = awdL.BeginInvoke(leftMotorPin, (short)LeftSpeed, null, null);
resultR = awdR.BeginInvoke(rightMotorPin, (short)RightSpeed, null, null);
bool bresultL = awdL.EndInvoke(resultL);
bool bresultR = awdR.EndInvoke(resultR);
}