modelec/TCPSocketServer
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ackimixs
2024-04-16 12:48:33 +02:00
parent 63ed6426f7
commit a1254d6fc3
1 changed files with 3 additions and 3 deletions
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6
TCPServer.cpp
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@@ -355,7 +355,7 @@ void TCPServer::startGame() {
this->broadcastMessage("strat;servo_moteur;fermer pince;2\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
// TODO set to 200 when the robot is ready
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;speed;2000\n");
this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -536,7 +536,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
// ReSharper disable once CppDFAUnreachableCode
// TODO set to 150 when the robot is ready
this->broadcastMessage("strat;arduino;speed;110\n");
this->broadcastMessage("strat;arduino;speed;150\n");
usleep(1'000'000);
xPrime += x30Percent;
@@ -559,7 +559,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(500'000);
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
// TODO set to 200 when the robot is ready
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;speed;200\n");
pinceState[pince] = arucoTag.name() == "Purple_flower" ? PURPLE_FLOWER : WHITE_FLOWER;
}