// this method downloads a command to the avatar // based on the available abilities public void useAbility(t_CartAbility ability) { CommandMsg msg = new CommandMsg(); msg.robot = t_Robot.t_Station; msg.Cmd = RobotCmd.rc_ManualCommand; msg.ParamsLength = 1; // one byte - ability index msg.CmdParams = new byte[msg.ParamsLength]; msg.CmdParams[0] = (byte)ability; flagAbilityExecuting = true; flagAbilityDone = false; this.sendCommandMessage(msg); }