From 7d2e813f0cf7f04e3e3f5114e4205a7e2c8790de Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Mon, 6 May 2024 21:46:27 +0200
Subject: [PATCH] lidar

---
 TCPServer.cpp | 2 +-
 TCPServer.h   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index b3fa78b..e7ac62f 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -171,7 +171,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
         std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
         this->lidarCalculatePos = {std::stof(args[0]), std::stof(args[1]), std::stof(args[2]) / 100};
         this->setPosition(this->lidarCalculatePos);
-        usleep(100'000);
+        usleep(50'000);
         this->setPosition(this->lidarCalculatePos);
         awaitForLidar = false;
     }
diff --git a/TCPServer.h b/TCPServer.h
index 3a1a340..2a342e1 100644
--- a/TCPServer.h
+++ b/TCPServer.h
@@ -122,7 +122,7 @@ private:
         TURN_SOLAR_PANNEL_2,
         TURN_SOLAR_PANNEL_3,
         CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
-        // GET_LIDAR_POS,
+        GET_LIDAR_POS,
 
         /*TAKE_FLOWER_BOTTOM,
         TAKE_FLOWER_BOTTOM,
@@ -133,7 +133,7 @@ private:
         TAKE_3_PLANT_BOTTOM_2,
         REMOVE_POT_J2,
         DROP_FLOWER_J2,
-        // GET_LIDAR_POS,
+        GET_LIDAR_POS,
 
         /*DROP_PURPLE_FLOWER,
         DROP_WHITE_FLOWER_J1,*/