modelec/TCPSocketServer
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ackimixs
2024-05-03 10:07:02 +02:00
parent cbe3b435da
commit 8b1639214e
1 changed files with 6 additions and 4 deletions
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10
TCPServer.cpp
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@@ -960,9 +960,9 @@ void TCPServer::dropPurpleFlowers() {
std::array<int, 2> purpleDropPosition{};
if (team == BLUE) {
purpleDropPosition = {225, 400};
purpleDropPosition = {200, 400};
} else if (team == YELLOW) {
purpleDropPosition = {2775, 400};
purpleDropPosition = {1800, 400};
}
this->setSpeed(200);
@@ -1019,6 +1019,8 @@ void TCPServer::dropWhiteFlowers(StratPattern sp) {
return;
}
this->setSpeed(200);
std::array<int, 2> whiteDropSetup{};
std::array<int, 2> whiteDropPosition{};
double angle = PI / 2;
@@ -1030,7 +1032,7 @@ void TCPServer::dropWhiteFlowers(StratPattern sp) {
} else if (sp == DROP_WHITE_FLOWER_J2) {
this->go(200, 400);
awaitRobotIdle();
this->go(200, 800);
this->go(180, 800);
awaitRobotIdle();
whiteDropSetup = std::array{300, 612};
@@ -1070,7 +1072,7 @@ void TCPServer::dropWhiteFlowers(StratPattern sp) {
this->setSpeed(130);
this->go(whiteDropPosition);
usleep(7'000'000);
usleep(2'000'000);
for (int i = 0; i < 3; i++) {
if (pinceState[i] == WHITE_FLOWER) {