modelec/TCPSocketServer
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add emergency command

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This commit is contained in:
ackimixs
2024-04-11 21:40:52 +02:00
parent 81b0742d21
commit 90608aa9ff
1 changed files with 8 additions and 2 deletions
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10
TCPServer.cpp
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@@ -142,6 +142,12 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
{
this->broadcastMessage(message.c_str(), clientSocket);
}
// EMERGENCY
if (tokens[3] == "stop proximity") {
this->broadcastMessage("strat;arduino;stop;1");
}
if (tokens[0] == "tirette" && tokens[2] == "set state")
{
this->broadcastMessage(message.c_str(), clientSocket);
@@ -357,8 +363,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
double xPrime = arucoTagPos.pos.first[0] - 5;
double yPrime = arucoTagPos.pos.first[1] - decalage;
double x10Percent = xPrime * 0.2;
double decalage10Percent = decalage * 0.2;
double x10Percent = xPrime * 0.3;
double decalage10Percent = decalage * 0.3;
xPrime -= x10Percent;
yPrime -= decalage10Percent;