using pxdrive = Microsoft.Robotics.Services.Drive.Proxy;

  using drive = Microsoft.Robotics.Services.Simulation.Drive.Proxy;
// Este ya es el servicio de tracción diferencial simulada de Trevor

// Crear el servicio asociado a la entidad del robot simulado: 
drive.Contract.CreateService(ConstructorPort,            Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
                    "http://localhost/" + robotBaseEntity.State.Name)
            ); 

 IEnumerator<ITask> MoveStraight(Port<bool> done,double dist)
        {
            pxdrive.DriveDistanceRequest setdist = new pxdrive.DriveDistanceRequest();
            setdist.Distance = dist ;
            yield return Arbiter.Choice(
                _drivePort.DriveDistance(setdist),
                delegate(DefaultUpdateResponseType success) { done.Post(true); },
                delegate(W3C.Soap.Fault failure)
                {
                    LogError("Failed moving");
                    done.Post(false);
                }
            );

 IEnumerator<ITask> Turn(Port<bool> done)
        {
            pxdrive.RotateDegreesRequest request = new pxdrive.RotateDegreesRequest();
            request.Degrees = (double)(90);
            bool success = false;
            yield return Arbiter.Choice(
                _drivePort.RotateDegrees(request),
                delegate(DefaultUpdateResponseType rsp) { success = true; },
                delegate(W3C.Soap.Fault failure)
                {
                    LogError("Failed turning");
                }
            );
            done.Post(success);
            yield break;
        }

 /// <summary>
/// Sets the drives enabled state.
/// </summary>
/// <param name="enable">new enables state</param>
/// <returns>response port</returns>
PortSet<DefaultUpdateResponseType, Fault> EnableMotor(bool enable)
{
    pxdrive.EnableDriveRequest request = new pxdrive.EnableDriveRequest();
    request.Enable = enable;

    return _drivePort.EnableDrive(request);
}