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);
}