notificacion.DistanceMeasurements[0]

 
pxdrive.Get getRequest = new pxdrive.Get();
_drivePort.Post(getRequest);
yield return Arbiter.Choice(getRequest.ResponsePort,
       DriveStateUpdate,
       delegate(Fault fault) { }
);

 
private void DriveStateUpdate(pxdrive.DriveDifferentialTwoWheelState s)
{
    float w = s.LeftWheel.MotorState.Pose.Orientation.W;
    _state.X = (s.LeftWheel.MotorState.Pose.Position.X +                        s.RightWheel.MotorState.Pose.Position.X) / 2;
    _state.Y = (s.LeftWheel.MotorState.Pose.Position.Z +                       s.RightWheel.MotorState.Pose.Position.Z) / 2;
    _state.Theta = (float)(Math.Acos(w) * 2 * 180 / Math.PI);
     if (s.LeftWheel.MotorState.Pose.Orientation.Y < 0)
                _state.Theta = -_state.Theta;    
        }