modelec/TCPSocketServer
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sleep

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This commit is contained in:
ackimixs
2024-04-16 19:26:02 +02:00
parent 86fd5c8931
commit a969a5ce74
1 changed files with 16 additions and 11 deletions
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27
TCPServer.cpp
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@@ -398,7 +398,7 @@ void TCPServer::startGame() {
// pi/4
this->broadcastMessage("strat;arduino;angle;314\n");
isRobotMoving = 0;
while (this->isRobotMoving < 3) {
while (this->isRobotMoving < 4) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
@@ -446,7 +446,7 @@ void TCPServer::startGame() {
this->broadcastMessage("strat;arduino;angle;157\n");
isRobotMoving = 0;
while (this->isRobotMoving < 3) {
while (this->isRobotMoving < 4) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
@@ -492,38 +492,43 @@ void TCPServer::startGame() {
return;
}
// got to jardinière
// go to jardinière
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
std::string toSend = "strat;arduino;go;762,200\n";
this->broadcastMessage(toSend);
isRobotMoving = 0;
while (this->isRobotMoving < 3) {
usleep(5'000'000);
/*isRobotMoving = 0;
while (this->isRobotMoving < 4) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(500'000);*/
this->broadcastMessage("strat;arduino;angle;0\n");
isRobotMoving = 0;
while (this->isRobotMoving < 3) {
usleep(5'000'000);
/*isRobotMoving = 0;
while (this->isRobotMoving < 4) {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(500'000);*/
this->broadcastMessage("strat;arduino;speed;130\n");
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;go;762,0\n");
usleep(3'000'000);
usleep(5'000'000);
this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
pinceState[0] = NONE;
this->broadcastMessage("strat;servo_moteur;ouvrir pince;2\n");
pinceState[2] = NONE;
usleep(1'000'000);
this->broadcastMessage("strat;servo_moteur;fermer pince;0\n");
this->broadcastMessage("strat;servo_moteur;fermer pince;2\n");
this->broadcastMessage("strat;servo_moteur;ouvrir pince;1\n");
pinceState[1] = NONE;
usleep(1'000'000);
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->endRobotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->endRobotPose.pos.y)) + "\n";