modelec/TCPSocketServer
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angleStart

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This commit is contained in:
ackimixs
2024-05-10 19:25:21 +02:00
parent f34b21556d
commit 5dd7360983
1 changed files with 8 additions and 3 deletions
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11
TCPServer.cpp
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@@ -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;