internal void CalibrateFootHeight()
{
_selectedFunction = SelectedIkFunction.SetFootHeightOffset;
Task.Factory.StartNew(() =>
{
var height = 0;
for (var i = 0; i < 6; i++)
{
while (_legGpioPins[i].Read() != GpioPinValue.Low)
{
height += 2;
RequestLegYHeight(i, height);
}
}
_calibrated = true;
});
}