modelec/TCPSocketServer
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jardinière

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This commit is contained in:
ackimixs
2024-05-10 00:56:30 +02:00
parent 400e82c2db
commit 9afa0bbf7d
1 changed files with 9 additions and 9 deletions
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18
TCPServer.cpp
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@@ -1339,22 +1339,22 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
double angle = PI / 2;
if (team == BLUE) {
if (sp == DROP_FLOWER_J1) {
whiteDropSetup = std::array{762, 300};
whiteDropPosition = std::array{762, 0};
whiteDropSetup = std::array{755, 300};
whiteDropPosition = std::array{755, 0};
angle = PI / 2;
} else if (sp == DROP_FLOWER_J2) {
whiteDropSetup = std::array{300, 607};
whiteDropPosition = std::array{0, 607};
whiteDropSetup = std::array{300, 590};
whiteDropPosition = std::array{0, 590};
angle = -PI;
}
} else if (team == YELLOW) {
if (sp == DROP_FLOWER_J1) {
whiteDropSetup = std::array{2237, 300};
whiteDropPosition = std::array{2237, 0};
whiteDropSetup = std::array{2245, 300};
whiteDropPosition = std::array{2245, 0};
angle = PI / 2;
} else if (sp == DROP_FLOWER_J2) {
whiteDropSetup = std::array{1700, 607};
whiteDropPosition = std::array{0, 607};
whiteDropSetup = std::array{2700, 590};
whiteDropPosition = std::array{0, 590};
angle = 0;
}
}
@@ -1556,7 +1556,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
this->rotate(angle);
awaitRobotIdle();
this->go(plantPosition[0]-(400*direction), plantPosition[1]);
this->transit(plantPosition[0]-(400*direction), plantPosition[1], 150);
awaitRobotIdle();
this->rotate(angle);