modelec/TCPSocketServer
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reposition

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ackimixs
2024-05-03 20:57:21 +02:00
parent 3bc4bd0895
commit a3221abdbd
1 changed files with 8 additions and 0 deletions
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8
TCPServer.cpp
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@@ -1271,6 +1271,14 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
this->go(whiteDropPosition);
usleep(2'000'000);
// reposition
if (sp == DROP_FLOWER_J1) {
this->setPosition(this->robotPose.pos.x, 140, -PI);
}
else if (sp == DROP_FLOWER_J2) {
this->setPosition(140, this->robotPose.pos.y, 0);
}
this->fullyOpenPince(0);
this->fullyOpenPince(2);
pinceState[0] = NONE;