modelec/TCPSocketServer
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ackimixs
2024-04-16 20:38:41 +02:00
parent 4b8b8841b2
commit 20eec06335
1 changed files with 11 additions and 12 deletions
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23
TCPServer.cpp
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@@ -357,7 +357,7 @@ void TCPServer::startGame() {
this->broadcastMessage("strat;servo_moteur;fermer pince;2\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
// TODO set to 200 when the robot is ready
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -509,7 +509,7 @@ void TCPServer::startGame() {
this->broadcastMessage("strat;arduino;get state;1\n");
}
this->broadcastMessage("strat;arduino;speed;130\n");
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;go;762,0\n");
usleep(1'000'000);
@@ -525,7 +525,7 @@ void TCPServer::startGame() {
pinceState[1] = NONE;
usleep(200'000);
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;speed;200\n");
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->endRobotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->endRobotPose.pos.y)) + "\n";
this->broadcastMessage(toSend);
@@ -600,11 +600,11 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
this->broadcastMessage("strat;arduino;get state;1\n");
}
double x30Percent = xPrime * 0.3;
double y30Percent = yPrime * 0.3;
double x15Percent = xPrime * 0.15;
double y15Percent = yPrime * 0.15;
xPrime -= x30Percent;
yPrime -= y30Percent;
xPrime -= x15Percent;
yPrime -= y15Percent;
double pos30PercentX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double pos30PercentY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
@@ -619,11 +619,10 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
// ReSharper disable once CppDFAUnreachableCode
// TODO set to 150 when the robot is ready
this->broadcastMessage("strat;arduino;speed;130\n");
usleep(200'000);
this->broadcastMessage("strat;arduino;speed;150\n");
xPrime += x30Percent;
yPrime += y30Percent;
xPrime += x15Percent;
yPrime += y15Percent;
double robotPosForPotX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
@@ -641,7 +640,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(500'000);
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
// TODO set to 200 when the robot is ready
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;speed;200\n");
pinceState[pince] = arucoTag.name() == "Purple_flower" ? PURPLE_FLOWER : WHITE_FLOWER;
}