modelec/TCPSocketServer
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speed when rotating

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This commit is contained in:
ackimixs
2024-05-03 12:52:10 +02:00
parent 8047d89424
commit 9fc41f5185
1 changed files with 1 additions and 5 deletions
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6
TCPServer.cpp
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@@ -731,7 +731,7 @@ void TCPServer::awaitRobotIdle() {
// ReSharper disable once CppDFAConstantConditions
// ReSharper disable once CppDFAEndlessLoop
while (isRobotIdle < 3) {
usleep(100'000);
usleep(50'000);
this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
timeout++;
/*if (timeout > 30) {
@@ -886,7 +886,6 @@ void TCPServer::findAndGoFlower(const StratPattern sp) {
this->go(500, 700);
awaitRobotIdle();
this->setSpeed(180);
this->rotate(0);
awaitRobotIdle();
}
@@ -894,7 +893,6 @@ void TCPServer::findAndGoFlower(const StratPattern sp) {
this->go(500, 1300);
awaitRobotIdle();
this->setSpeed(180);
this->rotate(0);
awaitRobotIdle();
} else {
@@ -905,7 +903,6 @@ void TCPServer::findAndGoFlower(const StratPattern sp) {
this->go(1500, 700);
awaitRobotIdle();
this->setSpeed(180);
this->rotate(-PI);
awaitRobotIdle();
}
@@ -913,7 +910,6 @@ void TCPServer::findAndGoFlower(const StratPattern sp) {
this->go(1500, 1300);
awaitRobotIdle();
this->setSpeed(180);
this->rotate(-PI);
awaitRobotIdle();
} else {