From 5dd7360983bed86778368bbbcd7e1a33e5fcbf38 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Fri, 10 May 2024 19:25:21 +0200
Subject: [PATCH] angleStart

---
 TCPServer.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 599b1bc..876b551 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -1425,17 +1425,20 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
 void TCPServer::dropBaseFlowers(StratPattern sp) {
     std::array<int, 2> dropPosition{};
     double angle;
+    double angleStart;
     float distance;
 
     if (team == BLUE) {
         if (sp == DROP_FLOWER_BASE_1) {
             dropPosition = {300, 400};
             angle = PI / 2;
+            angleStart = PI;
             distance = 150;
         }
         else if (sp == DROP_FLOWER_BASE_2) {
             dropPosition = {300, 1600};
             angle = -PI / 2;
+            angleStart = PI;
             distance = -150;
         }
         else {
@@ -1446,14 +1449,13 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
         if (sp == DROP_FLOWER_BASE_1) {
             dropPosition = {2700, 400};
             angle = PI / 2;
+            angleStart = 0;
             distance = 150;
-
-            this->rotate(0);
-            awaitRobotIdle();
         }
         else if (sp == DROP_FLOWER_BASE_2) {
             dropPosition = {2700, 1600};
             angle = -PI / 2;
+            angleStart = 0;
             distance = -150;
         } else {
             return;
@@ -1465,6 +1467,9 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
 
     this->setMaxSpeed();
 
+    this->rotate(angleStart);
+    if (awaitRobotIdle() < 0) return;
+
     this->go(dropPosition);
     if (awaitRobotIdle() < 0) return;