modelec/TCPSocketServer
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fix

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ackimixs
2024-04-17 21:49:35 +02:00
parent 50239da02f
commit 343bac0229
1 changed files with 14 additions and 3 deletions
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17
TCPServer.cpp
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@@ -424,6 +424,9 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
int timeout = 0;
ArucoTag tag;
bool found = false;
@@ -464,11 +467,15 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
timeout = 0;
found = false;
this->arucoTags.clear();
while (!found) {
for (const auto & arucoTag : this->arucoTags) {
if (TCPUtils::endWith(arucoTag.name(), "flower")) {
if (TCPUtils::contains(arucoTag.name(), "flower")) {
if (arucoTag.pos().first[0] < 800 && arucoTag.pos().first[0] > 300 && arucoTag.pos().first[1] < 300 && arucoTag.pos().first[1] > -300) {
tag = arucoTag;
found = true;
@@ -503,6 +510,9 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
timeout = 0;
found = false;
while (!found) {
@@ -1016,6 +1026,7 @@ void TCPServer::startGameTest() {
// TODO set to 200 when the robot is ready
this->broadcastMessage("strat;arduino;speed;200\n");
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
int timeout = 0;
@@ -1195,7 +1206,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
switch (pince) {
case 0:
decalage = 60;
rotate = 0.2;
rotate = -0.1;
break;
case 1:
decalage = 0;
@@ -1203,7 +1214,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
break;
case 2:
decalage = -60;
rotate = -0.2;
rotate = 0.1;
break;
default:
decalage = 0;