modelec/TCPSocketServer
1
0
Fork 0
mirror of https://github.com/modelec/TCPSocketServer.git synced 2026-01-19 00:47:36 +01:00
Code Issues Packages Projects Releases Wiki Activity

pince

Browse Source
This commit is contained in:
ackimixs
2024-05-03 14:47:14 +02:00
parent 693408cf23
commit 6009a89462
1 changed files with 13 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
TCPServer.cpp
View File

@@ -876,6 +876,11 @@ void TCPServer::goEnd() {
this->rotate(this->endRobotPose.theta);
awaitRobotIdle();
for (int i = 0 ; i < 3; i++) {
this->middlePince(i);
usleep(50'000);
}
this->broadcastMessage("strat;all;end;1");
}
@@ -941,12 +946,19 @@ void TCPServer::findAndGoFlower(const StratPattern sp) {
}
if (tag.has_value()) {
if (pinceState[1] == NONE) {
/*if (pinceState[1] == NONE) {
goToAruco(tag.value(), 1);
} else if (pinceState[2] == NONE) {
goToAruco(tag.value(), 2);
} else if (pinceState[0] == NONE) {
goToAruco(tag.value(), 0);
}*/
if (pinceState[0] == NONE) {
goToAruco(tag.value(), 0);
} else if (pinceState[2] == NONE) {
goToAruco(tag.value(), 2);
} else if (pinceState[1] == NONE) {
goToAruco(tag.value(), 1);
}
}
}