private IEnumerator <ITask> ConfigureDrive()
{
bool noError = true;
// Configure motor connections
motor.Replace configureLeftMotor = new motor.Replace();
configureLeftMotor.Body = _state.LeftWheel.MotorState;
_leftMotorPort.Post(configureLeftMotor);
motor.Replace configureRightMotor = new motor.Replace();
configureRightMotor.Body = _state.RightWheel.MotorState;
_rightMotorPort.Post(configureRightMotor);
yield return(Arbiter.Choice(configureLeftMotor.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Left Motor Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; }));
yield return(Arbiter.Choice(configureRightMotor.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Right Motor Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; }));
// Configure encoder connections
if (_leftEncoderPort != null)
{
encoder.Replace configureLeftEncoder = new encoder.Replace();
configureLeftEncoder.Body = _state.LeftWheel.EncoderState;
_leftEncoderPort.Post(configureLeftEncoder);
yield return(Arbiter.Choice(configureLeftEncoder.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Left Encoder Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; }));
}
if (_rightEncoderPort != null)
{
encoder.Replace configureRightEncoder = new encoder.Replace();
configureRightEncoder.Body = _state.RightWheel.EncoderState;
_rightEncoderPort.Post(configureRightEncoder);
yield return(Arbiter.Choice(configureRightEncoder.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Right Encoder Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; }));
}
if (noError)
{
_state.IsEnabled = true;
}
yield break;
}
private IEnumerator<ITask> ConfigureDrive()
{
bool noError = true;
// Configure motor connections
motor.Replace configureLeftMotor = new motor.Replace();
configureLeftMotor.Body = _state.LeftWheel.MotorState;
_leftMotorPort.Post(configureLeftMotor);
motor.Replace configureRightMotor = new motor.Replace();
configureRightMotor.Body = _state.RightWheel.MotorState;
_rightMotorPort.Post(configureRightMotor);
yield return Arbiter.Choice(configureLeftMotor.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Left Motor Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; });
yield return Arbiter.Choice(configureRightMotor.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Right Motor Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; });
// Configure encoder connections
if (_leftEncoderPort != null)
{
encoder.Replace configureLeftEncoder = new encoder.Replace();
configureLeftEncoder.Body = _state.LeftWheel.EncoderState;
_leftEncoderPort.Post(configureLeftEncoder);
yield return Arbiter.Choice(configureLeftEncoder.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Left Encoder Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; });
}
if (_rightEncoderPort != null)
{
encoder.Replace configureRightEncoder = new encoder.Replace();
configureRightEncoder.Body = _state.RightWheel.EncoderState;
_rightEncoderPort.Post(configureRightEncoder);
yield return Arbiter.Choice(configureRightEncoder.ResponsePort,
delegate(DefaultReplaceResponseType success) { LogInfo("Right Encoder Port set"); },
delegate(Fault fault) { LogError(fault); noError = false; });
}
if (noError)
_state.IsEnabled = true;
yield break;
}