public async Task StartAsync(CancellationToken cancellationToken)
{
await Task.Run(async() =>
{
while (!cancellationToken.IsCancellationRequested)
{
// note for myself: 0.5 == 400 rpm. 1.0 = 800 rpm
var requestedRpm = motorController.GetRequestedSpeedDutyCycle() * 800;
var leftHallEffectSensorResult = hallEffectController.GetWheelRpm(WheelLocation.Left);
var rightHallEffectSensorResult = hallEffectController.GetWheelRpm(WheelLocation.Right);
var differenceLeft = requestedRpm - leftHallEffectSensorResult;
var differenceRight = requestedRpm - rightHallEffectSensorResult;
motorController.SetForward(requestedRpm + differenceRight, requestedRpm + differenceLeft);
// update speed every 50ms, uses delta to set value
await Task.Delay(TimeSpan.FromMilliseconds(50), cancellationToken);
}
}, cancellationToken);
}