From 9fc41f51850831b69ac46fe91d08c6876ea74a4c Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Fri, 3 May 2024 12:52:10 +0200
Subject: [PATCH] speed when rotating

---
 TCPServer.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 1040243..6ba0939 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -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 {