modelec/TCPSocketServer
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ackimixs
2024-04-17 20:49:36 +02:00
parent acc12af99f
commit 027cda9cac
1 changed files with 6 additions and 16 deletions
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22
TCPServer.cpp
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@@ -413,11 +413,11 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;servo_moteur;uncheck panneau;7\n");
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;arduino;angle;104\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
int timeout = 0;
ArucoTag tag;
bool found = false;
@@ -452,8 +452,7 @@ void TCPServer::startGameBlueTeam() {
return;
}
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 400)) + "\n";
this->broadcastMessage("strat;arduino;go;1000,");
this->broadcastMessage("strat;arduino;go;1000,1700");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;157\n");
@@ -492,8 +491,7 @@ void TCPServer::startGameBlueTeam() {
return;
}
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 400)) + "\n";
this->broadcastMessage(toSend);
this->broadcastMessage("strat;arduino;go;1000,1700");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;157\n");
@@ -532,21 +530,13 @@ void TCPServer::startGameBlueTeam() {
return;
}
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 200)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 200)) + "\n";
this->broadcastMessage(toSend);
this->broadcastMessage("strat;arduino;go;1000,1700");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;angle;314\n");
awaitRobotIdle();
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";
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x - 350)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();