void OnGetRequestType1Success(roboticsUser.BlobTrackerCalibrateState response)
            {
                DiagramState a = new DiagramState();

                a.Z = State.Z;

                if (a.Z < 1D)
                {
                    drive.SetDrivePowerRequest request = new drive.SetDrivePowerRequest();
                    request.RightWheelPower = (double)-0.1F;
                    request.LeftWheelPower  = (double)-0.1F;
                    Parallax2011ReferencePlatformIoControllerPort.SetDrivePower(request);
                }
                else if (a.Z > 1.5D)
                {
                    drive.SetDrivePowerRequest requestA = new drive.SetDrivePowerRequest();
                    requestA.RightWheelPower = (double)0.1F;
                    requestA.LeftWheelPower  = (double)0.1F;
                    Parallax2011ReferencePlatformIoControllerPort.SetDrivePower(requestA);
                }
                else
                {
                    drive.SetDrivePowerRequest requestB = new drive.SetDrivePowerRequest();
                    Parallax2011ReferencePlatformIoControllerPort.SetDrivePower(requestB);
                }

                Decrement();
            }
        public virtual IEnumerator <ccr.ITask> ReplaceHandler(Replace replace)
        {
            _state = replace.Body;

            replace.ResponsePort.Post(dssp.DefaultReplaceResponseType.Instance);
            base.SendNotification <Replace>(_subMgr, replace);

            yield break;
        }
        protected override void Start()
        {
            // If there was no initial state partner, then the service state will be null.
            if (_state == null)
            {
                // The state MUST be created before the service starts processing messages.
                _state = new DiagramState();
            }

            // The rest of the start process requires the ability to wait for responses from
            // services and from the start handler (if any). So execution now proceeds in an
            // iterator function.
            SpawnIterator(DoStart);
        }