modelec/TCPSocketServer
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ackimixs
2024-04-11 14:28:08 +02:00
parent f5e53e2ce7
commit 05690905a6
1 changed files with 2 additions and 2 deletions
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4
TCPServer.cpp
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@@ -370,7 +370,7 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(posV200X)) + "," + std::to_string(static_cast<int>(posV200Y)) + "\n";
this->broadcastMessage(toSend);
usleep(2'000'000);
usleep(4'000'000);
this->broadcastMessage("strat;arduino;speed;150\n");
double robotPosForPotX = (xPrime * std::cos(robotPose.theta) + yPrime * std::sin(robotPose.theta)) + this->robotPose.pos.x;
@@ -380,7 +380,7 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(robotPosForPotX)) + "," + std::to_string(static_cast<int>(robotPosForPotX)) + "\n";
this->broadcastMessage(toSend);
usleep(1'000'000);
usleep(3'000'000);
std::cout << "end sleep" << std::endl;
toSend = "strat;servo_moteur;fermer pince;" + std::to_string(pince) + "\n";
this->broadcastMessage(toSend);