private Task GetClawTask() { var task = new Task(() => { Log.Info("Claw!"); var ingestCommand = new PwmCommand {Channel = DeviceChannel.Servo, DutyCyclePercent = 10}; PwmController.Command(ingestCommand); Task.Delay(TimeSpan.FromMilliseconds(750)).Wait(); var throwCommand = new PwmCommand {Channel = DeviceChannel.Servo, DutyCyclePercent = 70}; PwmController.Command(throwCommand); }); task.WhenCompleted(ClawCompleted, ClawCompleted); return task; }