modelec/TCPSocketServer
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spawn point | sleep

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This commit is contained in:
ackimixs
2024-04-18 14:34:51 +02:00
parent c4f92323c5
commit 9809bdc4ed
1 changed files with 9 additions and 3 deletions
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12
TCPServer.cpp
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@@ -182,12 +182,12 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
switch (spawnPointNb) {
case 3:
this->team = BLUE;
spawnPoint[0] = 200;
spawnPoint[0] = 250;
spawnPoint[1] = 1781;
spawnPoint[2] = 0;
// For test
finishPoint[0] = 200;
finishPoint[0] = 400;
finishPoint[1] = 1781;
finishPoint[2] = 0;
@@ -197,7 +197,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
break;
case 6:
this->team = YELLOW;
spawnPoint[0] = 1800;
spawnPoint[0] = 1750;
spawnPoint[1] = 1781;
spawnPoint[2] = 3.1415;
finishPoint[0] = 2600;
@@ -424,6 +424,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
usleep(1'000'000);
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -467,6 +469,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
usleep(1'000'000);
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -510,6 +514,8 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
usleep(1'000'000);
arucoTags.clear();
this->broadcastMessage("strat;aruco;get aruco;1\n");