modelec/TCPSocketServer
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depot plante base

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This commit is contained in:
ackimixs
2024-05-04 09:21:10 +02:00
parent 50a0710772
commit 86434028aa
2 changed files with 14 additions and 26 deletions
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39
TCPServer.cpp
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@@ -1369,10 +1369,9 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->baisserBras();
this->fullyOpenPince(0);
this->fullyOpenPince(2);
usleep(200'000);
for (int i = 0; i < 3; i++) {
this->openPince(i);
}
this->go(this->robotPose.pos.x, this->robotPose.pos.y - distance);
awaitRobotIdle();
@@ -1380,25 +1379,10 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->go(this->robotPose.pos.x, this->robotPose.pos.y + distance);
awaitRobotIdle();
pinceState[0] = NONE;
pinceState[2] = NONE;
this->closePince(0);
this->closePince(2);
usleep(200'000);
this->fullyOpenPince(1);
usleep(200'000);
this->go(this->robotPose.pos.x, this->robotPose.pos.y - distance);
awaitRobotIdle();
this->go(this->robotPose.pos.x, this->robotPose.pos.y + distance*5);
awaitRobotIdle();
pinceState[1] = NONE;
this->closePince(1);
usleep(200'000);
for (int i = 0; i < 3; i++) {
pinceState[i] = NONE;
this->closePince(i);
}
this->sendPoint(3);
@@ -1425,11 +1409,11 @@ void TCPServer::go3Plants(const StratPattern sp) {
else if (sp == TAKE_3_PLANT_BOTTOM_1) {
plantPosition = {950, 1300};
angle = 0;
direction = -1;
direction = 1;
} else if (sp == TAKE_3_PLANT_BOTTOM_2) {
plantPosition = {1200, 1300};
angle = 0;
direction = -1;
direction = 1;
} else {
return;
}
@@ -1458,7 +1442,10 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
usleep(500'000);
this->go(plantPosition[0]-300, plantPosition[1]);
this->rotate(angle);
awaitRobotIdle();
this->go(this->robotPose.pos.x-300, this->robotPose.pos.y);
awaitRobotIdle();
for (int i = 0; i < 3; i++) {

1
TCPServer.h
View File

@@ -223,6 +223,7 @@ public:
void checkpoint(StratPattern sp);
void dropJardiniereFlowers(StratPattern sp);
void dropBaseFlowers(StratPattern sp);
void go3Plants(StratPattern sp);