From 49a935d3b6054eda6f8ce646396a2298dc84178c Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Thu, 2 May 2024 21:30:06 +0200
Subject: [PATCH] flower

---
 TCPServer.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 0e87a2f..47ae8e4 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -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++;