modelec/TCPSocketServer
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lidar

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This commit is contained in:
ackimixs
2024-05-04 10:41:31 +02:00
parent 22827a1923
commit 87f5c6bae5
2 changed files with 17 additions and 11 deletions
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22
TCPServer.cpp
View File

@@ -227,6 +227,9 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
file << finishPoint[0] << " " << finishPoint[1];
file.close();
this->sendToClient("strat;lidar;set team;" + std::to_string(this->team) + "\n", lidarSocket);
this->sendToClient("strat;lidar;set beacon;1", lidarSocket);
this->robotPose = {spawnPoint[0], spawnPoint[1], spawnPoint[2]};
this->initRobotPose = {spawnPoint[0], spawnPoint[1], spawnPoint[2]};
this->endRobotPose = {finishPoint[0], finishPoint[1], finishPoint[2]};
@@ -768,6 +771,7 @@ void TCPServer::awaitRobotIdle() {
break;
}
}
usleep(50'000);
}
void TCPServer::handleArucoTag(const ArucoTag &tag) {
@@ -1146,8 +1150,7 @@ void TCPServer::dropWhiteFlowers(const StratPattern sp) {
}
void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
int previousSpeed = this->speed;
this->setMaxSpeed();
this->setSpeed(170);
if (team == BLUE) {
switch (sp) {
case TURN_SOLAR_PANNEL_1:
@@ -1227,8 +1230,6 @@ void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
}
this->sendPoint(5);
this->setSpeed(previousSpeed);
}
void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
@@ -1420,10 +1421,12 @@ void TCPServer::go3Plants(const StratPattern sp) {
return;
}
this->go(plantPosition[0]-400, plantPosition[1]);
this->setMaxSpeed();
this->transit(plantPosition[0]-400, plantPosition[1], 150);
awaitRobotIdle();
this->setSpeed(170);
this->setSpeed(150);
this->rotate(angle);
awaitRobotIdle();
@@ -1434,8 +1437,9 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
usleep(200'000);
this->go(plantPosition[0], this->robotPose.pos.y);
this->transit(plantPosition[0], this->robotPose.pos.y, 130);
awaitRobotIdle();
usleep(500'000);
for (int i = 0; i < 3; i++) {
@@ -1444,7 +1448,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
usleep(500'000);
this->setSpeed(170);
this->setSpeed(150);
this->rotate(angle);
awaitRobotIdle();
@@ -1470,7 +1474,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
void TCPServer::removePot(StratPattern sp) {
this->setSpeed(200);
this->setMaxSpeed();
if (team == BLUE) {
if (sp == REMOVE_POT_J2) {
this->go(230, 1000);

6
TCPServer.h
View File

@@ -17,7 +17,7 @@
#include "utils.h"
#define MAX_SPEED 200
#define MAX_SPEED 170
#define MIN_SPEED 150
struct ClientTCP
@@ -32,8 +32,8 @@ struct ClientTCP
};
enum Team {
YELLOW,
BLUE,
YELLOW,
TEST
};
@@ -118,6 +118,7 @@ private:
TURN_SOLAR_PANNEL_2,
TURN_SOLAR_PANNEL_3,
CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
GET_LIDAR_POS,
/*TAKE_FLOWER_BOTTOM,
TAKE_FLOWER_BOTTOM,
@@ -128,6 +129,7 @@ private:
TAKE_3_PLANT_BOTTOM_2,
REMOVE_POT_J2,
DROP_FLOWER_J2,
GET_LIDAR_POS,
/*DROP_PURPLE_FLOWER,
DROP_WHITE_FLOWER_J1,*/