modelec/TCPSocketServer
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speed | checkpoint

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This commit is contained in:
ackimixs
2024-04-30 12:27:22 +02:00
parent b21a46cd23
commit 5bc1f00cdb
1 changed files with 8 additions and 7 deletions
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15
TCPServer.cpp
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@@ -718,7 +718,7 @@ void TCPServer::awaitRobotIdle() {
// ReSharper disable once CppDFAEndlessLoop
usleep(100'000);
while (isRobotIdle < 2) {
usleep(200'000);
usleep(100'000);
this->broadcastMessage("strat;arduino;get state;1\n");
timeout++;
/*if (timeout > 30) {
@@ -846,6 +846,7 @@ void TCPServer::goEnd() {
this->go(this->endRobotPose.pos.x, this->endRobotPose.pos.y);
awaitRobotIdle();
this->setSpeed(180);
this->rotate(this->endRobotPose.theta);
awaitRobotIdle();
@@ -859,7 +860,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(1000, 210);
awaitRobotIdle();
this->setSpeed(190);
this->setSpeed(180);
this->rotate(-PI/2);
awaitRobotIdle();
this->setSpeed(200);
@@ -868,7 +869,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(1000, 1790);
awaitRobotIdle();
this->setSpeed(190);
this->setSpeed(180);
this->rotate(PI/2);
awaitRobotIdle();
this->setSpeed(190);
@@ -880,7 +881,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(2000, 210);
awaitRobotIdle();
this->setSpeed(190);
this->setSpeed(180);
this->rotate(-PI/2);
awaitRobotIdle();
this->setSpeed(200);
@@ -889,7 +890,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(2000, 1790);
awaitRobotIdle();
this->setSpeed(190);
this->setSpeed(180);
this->rotate(PI/2);
awaitRobotIdle();
this->setSpeed(200);
@@ -961,14 +962,14 @@ void TCPServer::dropFlowers() {
purpleDropPosition = {200, 300};
whiteDropPosition = {762, 300};
if (this->robotPose.pos.y > 1000) {
checkpoints.emplace_back(std::array{500, 1700});
checkpoints.emplace_back(std::array{500, 1500});
checkpoints.emplace_back(std::array{500, 500});
}
} else if (team == YELLOW) {
purpleDropPosition = {2700, 400};
whiteDropPosition = {2237, 400};
if (this->robotPose.pos.y > 1000) {
checkpoints.emplace_back(std::array{2500, 1700});
checkpoints.emplace_back(std::array{2500, 1500});
checkpoints.emplace_back(std::array{2500, 500});
}
}