private void onWhiskerRight(object sender, MeasuredValuesEventArgs ev)
{
LogInfo("TrackRoamerBrickPowerService : WhiskerRight : " + ev.value1);
if (ev.value1 > 0 && (!_state.Whiskers.FrontWhiskerRight.HasValue || !_state.Whiskers.FrontWhiskerRight.Value))
{
// if this is a "whisker pressed" event, do emergency stop.
stopMotorsNow();
// Note: UpdateMotorSpeedHandler() will not set positive speed if whiskers are pressed.
}
_state.Whiskers.Timestamp = new DateTime(ev.timestamp);
_state.Whiskers.FrontWhiskerRight = ev.value1 > 0;
_state.TimeStamp = DateTime.Now;
UpdateWhiskers uw = new UpdateWhiskers();
uw.Body.Timestamp = _state.Whiskers.Timestamp;
uw.Body.FrontWhiskerRight = ev.value1 > 0;
base.SendNotification <UpdateWhiskers>(_subMgrPort, uw);
}
private void onWhiskerRight(object sender, MeasuredValuesEventArgs ev)
{
LogInfo("TrackRoamerBrickPowerService : WhiskerRight : " + ev.value1);
if (ev.value1 > 0 && (!_state.Whiskers.FrontWhiskerRight.HasValue || !_state.Whiskers.FrontWhiskerRight.Value))
{
// if this is a "whisker pressed" event, do emergency stop.
stopMotorsNow();
// Note: UpdateMotorSpeedHandler() will not set positive speed if whiskers are pressed.
}
_state.Whiskers.Timestamp = new DateTime(ev.timestamp);
_state.Whiskers.FrontWhiskerRight = ev.value1 > 0;
_state.TimeStamp = DateTime.Now;
UpdateWhiskers uw = new UpdateWhiskers();
uw.Body.Timestamp = _state.Whiskers.Timestamp;
uw.Body.FrontWhiskerRight = ev.value1 > 0;
base.SendNotification<UpdateWhiskers>(_subMgrPort, uw);
}
