HexapiBackground.IK.IkController.StartAsync C# (CSharp) Method

        internal async Task StartAsync()
        {
            var imuEventTimer = new Timer(ImuEventTimerCallback, null, 0, 20);
            var displayTimer = new Timer(DisplayTimerCallback, null, 0, 50);
            var rangeTimer = new Timer(RangeTimerCallback, null, 0, 20);

            while (true)
            {
                if (_arduinoDataReader == null)
                {
                    continue;
                }

                byte startChar = 0x00;
                while (startChar != 0x0a)
                {
                    await _arduinoDataReader.LoadAsync(1).AsTask();
                    startChar = _arduinoDataReader.ReadByte();
                }

                var bytesIn = new List<byte> {0x00};

                while (bytesIn.Last() != 0x0d)
                {
                    await _arduinoDataReader.LoadAsync(1).AsTask();
                    bytesIn.Add(_arduinoDataReader.ReadByte());
                }

                try
                {
                    var rawData = Encoding.ASCII.GetString(bytesIn.ToArray());

                    rawData = rawData.Replace("\0", "").Replace("\r", "");

                    if (string.IsNullOrEmpty(rawData)) 
                        continue;

                    Parse(rawData);
                }
                catch
                {
                    //
                }
            }
        }

        public async void Run(IBackgroundTaskInstance taskInstance)
        {
            _deferral = taskInstance.GetDeferral();

            _display = new SparkFunSerial16X2Lcd();
            _xboxController = new XboxController(_display);
            _ntripClient = new NtripClient("172.16.0.237", 8000, "", "", "", _display); //172.16.0.227
            _ioTClient = new IoTClient(_display);
            _gps = new Gps.Gps( _display, _ntripClient);
            _inverseKinematics = new InverseKinematics(_display);
            _ikController = new IkController(_inverseKinematics, _display, _ioTClient, _gps); //Range and yaw/pitch/roll data from Arduino and SparkFun Razor IMU
            _navigator = new Navigator(_ikController, _display, _gps);
            _hexapi = new Hexapi(_ikController, _xboxController, _navigator, _display, _gps, _ioTClient);

            _initializeTasks.Add(_display.InitializeAsync());
            _initializeTasks.Add(_xboxController.InitializeAsync());
            _initializeTasks.Add(_ikController.InitializeAsync());
            _initializeTasks.Add(_ntripClient.InitializeAsync());
            _initializeTasks.Add(_gps.InitializeAsync());
            _initializeTasks.Add(_inverseKinematics.InitializeAsync());
            _initializeTasks.Add(_ioTClient.InitializeAsync());

            _startTasks.Add(_ntripClient.StartAsync());
            _startTasks.Add(_ikController.StartAsync());
            _startTasks.Add(_gps.StartAsync());
            _startTasks.Add(_inverseKinematics.StartAsync());
            //_startTasks.Add(_ioTClient.StartAsync());//only needed if expecting messages from the server

            //foreach (var d in await SerialDeviceHelper.ListAvailablePorts())
            //{
            //    await _ioTClient.SendEvent(d);
            //}

            await Task.WhenAll(_initializeTasks.ToArray());

            await Task.WhenAll(_startTasks.ToArray());
        }