/// <inheritdoc />
public Task SendCommandAsync(IOwiCommand command)
{
if (this.owiUsbConnection.IsOpen == false)
{
throw new InvalidOperationException("Unable to send command because the connection is not open.");
}
return(this.owiUsbConnection.SendAsync(command.ArmByte, command.BaseByte, command.LedByte));
}
public void ApplyMovement(int movement, IOwiCommand command)
{
if (movement == -1)
{
this.leftMovement.Invoke(command);
}
else if (movement == 1)
{
this.rightMovement.Invoke(command);
}
else
{
this.neutralMovement.Invoke(command);
}
}
public async Task IntegrationTestThatRequiresArm()
{
IOwiFactory factory = new OwiFactory();
IOwiArm arm = factory.CreateArm(new LibUsbOwiConnection());
await arm.ConnectAsync();
IOwiCommand command = factory.CreateCommand().BaseRotateClockwise().ShoulderUp().LedOn();
await arm.SendCommandAsync(command);
Thread.Sleep(2000);
await arm.SendCommandAsync(command.StopAllMovements().LedOff());
await arm.DisconnectAsync();
}
