modelec/TCPSocketServer
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ackimixs
2024-05-02 21:30:06 +02:00
parent 9edee0bfde
commit 49a935d3b6
1 changed files with 4 additions and 4 deletions
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8
TCPServer.cpp
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@@ -923,17 +923,17 @@ void TCPServer::findAndGoFlower(const StratPattern sp) {
this->arucoTags.clear();
std::optional<ArucoTag> tag = std::nullopt;
usleep(500'000);
for (int i = 0; i < 5; i++) {
usleep(200'000);
for (int i = 0; i < 4; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(220'000);
usleep(110'000);
}
tag = getMostCenteredArucoTag(100, 800, -300, 300);
int timeout = 0;
while (!tag.has_value()) {
this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(220'000);
usleep(110'000);
tag = getMostCenteredArucoTag(100, 800, -300, 300);
timeout++;