modelec/TCPSocketServer
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purple flower

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ackimixs
2024-05-02 09:47:00 +02:00
parent bca6b5314a
commit 9531a2f4aa
1 changed files with 6 additions and 10 deletions
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16
TCPServer.cpp
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@@ -972,16 +972,15 @@ void TCPServer::dropFlowers() {
std::array<int, 2> whiteDropPosition{};
if (team == BLUE) {
purpleDropPosition = {300, 225};
whiteDropPosition = firstTimeDropWhiteFlower ? std::array{755, 300} : std::array{765, 300};
whiteDropPosition = firstTimeDropWhiteFlower ? std::array{755, 400} : std::array{765, 400};
} else if (team == YELLOW) {
purpleDropPosition = {2700, 225};
whiteDropPosition = firstTimeDropWhiteFlower ? std::array{2227, 300} : std::array{2237, 300};
whiteDropPosition = firstTimeDropWhiteFlower ? std::array{2227, 400} : std::array{2237, 400};
}
this->setSpeed(200);
if (!pinceHavePurpleFlower.empty()) {
// TODO change that
this->go(purpleDropPosition);
awaitRobotIdle();
@@ -996,19 +995,16 @@ void TCPServer::dropFlowers() {
this->openPince(toDrop);
usleep(200'000);
this->go(this->robotPose.pos.x, this->robotPose.pos.y + 100);
this->go(this->robotPose.pos.x, this->robotPose.pos.y - 150);
awaitRobotIdle();
this->go(this->robotPose.pos.x, this->robotPose.pos.y + 150);
awaitRobotIdle();
pinceState[toDrop] = NONE;
this->closePince(toDrop);
usleep(200'000);
this->go(this->robotPose.pos.x, this->robotPose.pos.y - 100);
awaitRobotIdle();
}
this->go(this->robotPose.pos.x, this->robotPose.pos.y + 150);
awaitRobotIdle();
}
this->setSpeed(200);