From 9afa0bbf7d23761309c46eabb5beb37ba4ff5088 Mon Sep 17 00:00:00 2001 From: ackimixs Date: Fri, 10 May 2024 00:56:30 +0200 Subject: [PATCH] =?UTF-8?q?jardini=C3=A8re?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TCPServer.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/TCPServer.cpp b/TCPServer.cpp index c6c9b52..d40f6e8 100644 --- a/TCPServer.cpp +++ b/TCPServer.cpp @@ -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);