modelec/TCPSocketServer
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strat

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This commit is contained in:
ackimixs
2024-05-03 20:28:34 +02:00
parent f35801facb
commit 8a7a967ccc
2 changed files with 34 additions and 6 deletions
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37
TCPServer.cpp
View File

@@ -496,6 +496,9 @@ void TCPServer::startGame() {
case DROP_FLOWER_BASE_1:
dropBaseFlowers(DROP_FLOWER_BASE_1);
break;
case DROP_FLOWER_BASE_2:
dropBaseFlowers(DROP_FLOWER_BASE_2);
break;
}
whereAmI++;
}
@@ -1303,16 +1306,40 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
void TCPServer::dropBaseFlowers(StratPattern sp) {
std::array<int, 2> dropPosition{};
double angle;
float distance;
if (team == BLUE) {
if (sp == DROP_FLOWER_BASE_1) {
dropPosition = {300, 400};
angle = PI / 2;
distance = 150;
}
else if (sp == DROP_FLOWER_BASE_2) {
dropPosition = {300, 1600};
angle = -PI / 2;
distance = -150;
}
else {
return;
}
}
else if (team == YELLOW) {
if (sp == DROP_FLOWER_BASE_1) {
dropPosition = {2700, 400};
angle = PI / 2;
distance = 150;
}
else if (sp == DROP_FLOWER_BASE_2) {
dropPosition = {2700, 1600};
angle = -PI / 2;
distance = -150;
} else {
return;
}
}
else {
return;
}
this->setSpeed(200);
@@ -1322,7 +1349,7 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->setSpeed(150);
this->rotate(PI / 2);
this->rotate(angle);
awaitRobotIdle();
this->baisserBras();
@@ -1332,10 +1359,10 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
usleep(200'000);
this->go(this->robotPose.pos.x, this->robotPose.pos.y - 150);
this->go(this->robotPose.pos.x, this->robotPose.pos.y - distance);
awaitRobotIdle();
this->go(this->robotPose.pos.x, this->robotPose.pos.y + 150);
this->go(this->robotPose.pos.x, this->robotPose.pos.y + distance);
awaitRobotIdle();
pinceState[0] = NONE;
@@ -1348,10 +1375,10 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
usleep(200'000);
this->go(this->robotPose.pos.x, this->robotPose.pos.y - 150);
this->go(this->robotPose.pos.x, this->robotPose.pos.y - distance);
awaitRobotIdle();
this->go(this->robotPose.pos.x, this->robotPose.pos.y + 150);
this->go(this->robotPose.pos.x, this->robotPose.pos.y + distance);
awaitRobotIdle();
pinceState[1] = NONE;

3
TCPServer.h
View File

@@ -55,6 +55,7 @@ enum StratPattern {
DROP_FLOWER_J2,
REMOVE_POT_J2,
DROP_FLOWER_BASE_1,
DROP_FLOWER_BASE_2,
};
class TCPServer; // Forward declaration
@@ -140,7 +141,7 @@ private:
TAKE_3_PLANT_TOP_2,
DROP_FLOWER_BASE_1,
TAKE_3_PLANT_BOTTOM_2,
DROP_FLOWER_BASE_1,
DROP_FLOWER_BASE_2,
GO_END
};