modelec/TCPSocketServer
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speed and sleep

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This commit is contained in:
ackimixs
2024-04-30 11:21:45 +02:00
parent e0fe2ac98c
commit 7ba9adb2bd
1 changed files with 12 additions and 5 deletions
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17
TCPServer.cpp
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@@ -854,7 +854,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(1000, 210);
awaitRobotIdle();
this->setSpeed(150);
this->setSpeed(170);
this->rotate(-PI/2);
awaitRobotIdle();
this->setSpeed(200);
@@ -863,7 +863,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(1000, 1790);
awaitRobotIdle();
this->setSpeed(150);
this->setSpeed(170);
this->rotate(PI/2);
awaitRobotIdle();
this->setSpeed(200);
@@ -875,7 +875,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(2000, 210);
awaitRobotIdle();
this->setSpeed(150);
this->setSpeed(170);
this->rotate(-PI/2);
awaitRobotIdle();
this->setSpeed(200);
@@ -884,7 +884,7 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
this->go(2000, 1790);
awaitRobotIdle();
this->setSpeed(150);
this->setSpeed(170);
this->rotate(PI/2);
awaitRobotIdle();
this->setSpeed(200);
@@ -1035,7 +1035,7 @@ void TCPServer::dropFlowers() {
void TCPServer::goAndTurnSolarPannel(StratPattern sp) {
int previousSpeed = this->speed;
this->setSpeed(150);
this->setSpeed(170);
if (team == BLUE) {
switch (sp) {
case TURN_SOLAR_PANNEL_1:
@@ -1046,6 +1046,7 @@ void TCPServer::goAndTurnSolarPannel(StratPattern sp) {
awaitRobotIdle();
this->checkPanneau(7);
usleep(50'000);
this->go(380, 1790);
awaitRobotIdle();
@@ -1060,6 +1061,7 @@ void TCPServer::goAndTurnSolarPannel(StratPattern sp) {
awaitRobotIdle();
this->checkPanneau(7);
usleep(50'000);
this->go(605, 1790);
awaitRobotIdle();
@@ -1074,6 +1076,7 @@ void TCPServer::goAndTurnSolarPannel(StratPattern sp) {
awaitRobotIdle();
this->checkPanneau(7);
usleep(50'000);
this->go(830, 1790);
awaitRobotIdle();
@@ -1093,6 +1096,7 @@ void TCPServer::goAndTurnSolarPannel(StratPattern sp) {
awaitRobotIdle();
this->checkPanneau(6);
usleep(50'000);
this->go(2620, 1790);
awaitRobotIdle();
@@ -1107,6 +1111,8 @@ void TCPServer::goAndTurnSolarPannel(StratPattern sp) {
awaitRobotIdle();
this->checkPanneau(6);
usleep(50'000);
this->go(2395, 1790);
awaitRobotIdle();
@@ -1121,6 +1127,7 @@ void TCPServer::goAndTurnSolarPannel(StratPattern sp) {
awaitRobotIdle();
this->checkPanneau(6);
usleep(50'000);
this->go(2170, 1790);
awaitRobotIdle();