public async Task GoToPoseAsync(float x, float y, float angle, MotionSettings motionSettings = null, CancellationToken cancellationToken = default(CancellationToken))
{
var motion = Map <PathMotionProfile>(motionSettings ?? DefaultMotionSettings);
var result = await Client.GoToPoseAsync(new GoToPoseRequest()
{
IdTag = GetActionTagID(), XMm = x, YMm = y, Rad = angle, MotionProf = motion
}, cancellationToken : cancellationToken);
}
public async Task <bool> DockWithCubeAsync(MotionSettings motionSettings = null, CancellationToken cancellationToken = default(CancellationToken))
{
//get last visible cube id
var cubeID = _robot.World.ObservedCube.ObjectId;
var motion = Map <PathMotionProfile>(motionSettings ?? DefaultMotionSettings);
var result = await Client.DockWithCubeAsync(new DockWithCubeRequest()
{
IdTag = GetActionTagID(), ObjectId = cubeID, MotionProf = motion
}, cancellationToken : cancellationToken);
return(result.Result.Code == ActionResult.Types.ActionResultCode.ActionResultSuccess);
}
