modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-05-03 13:29:57 +02:00
parent 96c9aabfbe
commit 35388419bb
1 changed files with 4 additions and 4 deletions
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8
TCPServer.cpp
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@@ -734,7 +734,7 @@ void TCPServer::awaitRobotIdle() {
usleep(50'000);
this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
timeout++;
if (timeout > 100) {
if (timeout > 80) {
this->broadcastMessage("strat;arduino;clear;1");
break;
}
@@ -922,17 +922,17 @@ void TCPServer::findAndGoFlower(const StratPattern sp) {
this->arucoTags.clear();
std::optional<ArucoTag> tag = std::nullopt;
for (int i = 0; i < 4; i++) {
for (int i = 0; i < 5; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(110'000);
}
tag = getMostCenteredArucoTag(300, 1000, -200, 200);
tag = getMostCenteredArucoTag(300, 700, -200, 200);
int timeout = 0;
while (!tag.has_value()) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(110'000);
tag = getMostCenteredArucoTag(300, 1000, -200, 200);
tag = getMostCenteredArucoTag(300, 700, -200, 200);
timeout++;
if (timeout > 3) {