modelec/TCPSocketServer
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ackimixs
2024-05-27 16:58:31 +02:00
parent bc6ba83fd8
commit 1421e2cc41
1 changed files with 3 additions and 7 deletions
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10
TCPServer.cpp
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@@ -175,10 +175,10 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
int angle;
if (value < 0) {
angle = static_cast<int>(Modelec::mapValue(value, -32767.0, -2000.0, -PI / 2, 0.0));
angle = static_cast<int>(Modelec::mapValue(value, -32767.0, -2000.0, -PI / 2, 0.0) * 100);
}
else {
angle = static_cast<int>(Modelec::mapValue(value, 2000.0, 32768.0, 0.0, PI / 2));
angle = static_cast<int>(Modelec::mapValue(value, 2000.0, 32768.0, 0.0, PI / 2) * 100);
}
this->broadcastMessage("strat;arduino;angle;" + std::to_string(angle) + "\n");
@@ -187,10 +187,6 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
else if (args[0] == "1") {
int speed;
if (value > -4000 && value < 4000) {
value = 0;
}
value = -value;
if (value < 0) {
@@ -217,7 +213,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
int speed;
if (value < 0) {
speed = static_cast<int>(Modelec::mapValue(value, -32767.0, 2000.0, -310.0, 0.0));
speed = static_cast<int>(Modelec::mapValue(value, -32767.0, -2000.0, -310.0, 0.0));
}
else {
speed = static_cast<int>(Modelec::mapValue(value, 2000.0, 32768.0, 0.0, 310.0));