modelec/TCPSocketServer
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ackimixs
2024-04-17 15:52:25 +02:00
parent 621de98c74
commit 3fa73b25e4
1 changed files with 3 additions and 1 deletions
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4
TCPServer.cpp
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@@ -1074,6 +1074,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
//this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
this->broadcastMessage("strat;arduino;speed;200\n");
pinceState[pince] = TCPUtils::startWith(arucoTag.name(), "Purple_flower") ? PURPLE_FLOWER : WHITE_FLOWER;
toSend = "strat;client;have aruco;" + std::to_string(pince) + "," + arucoTag.name() + "," + (pinceState[pince] == PURPLE_FLOWER ? "purple" : "white") + "\n";
this->broadcastMessage(toSend);
}
void TCPServer::askArduinoPos() {
@@ -1091,7 +1093,7 @@ void TCPServer::askArduinoPos() {
while (!this->_shouldStop) {
this->sendToClient("strat;arduino;get pos;1\n", arduino.socket);
usleep(300'000);
usleep(200'000);
}
}