modelec/TCPSocketServer
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change purple flower

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This commit is contained in:
ackimixs
2024-04-18 15:33:33 +02:00
parent 5b314ca942
commit 00aef50a59
1 changed files with 13 additions and 5 deletions
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18
TCPServer.cpp
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@@ -572,17 +572,22 @@ void TCPServer::startGameBlueTeam() {
}
if (!pinceHavePurpleFlower.empty()) {
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
this->broadcastMessage("strat;arduino;go;225,225\n");
this->broadcastMessage("strat;arduino;go;200,200\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;314\n");
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;130\n");
this->broadcastMessage("strat;arduino;go;200,0\n");
usleep(3'000'000);
for (auto & toDrop : pinceHavePurpleFlower) {
toSend = "strat;servo_moteur;ouvrir pince;" + std::to_string(toDrop) + "\n";
this->broadcastMessage(toSend);
usleep(500'000);
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 150)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
pinceState[toDrop] = NONE;
toSend = "strat;servo_moteur;fermer pince;" + std::to_string(toDrop) + "\n";
this->broadcastMessage(toSend);
@@ -591,6 +596,7 @@ void TCPServer::startGameBlueTeam() {
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x + 150)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
}
@@ -601,6 +607,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
this->broadcastMessage("strat;arduino;speed;130\n");
this->broadcastMessage("strat;arduino;go;762,0\n");
usleep(3'000'000);