modelec/TCPSocketServer
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update

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This commit is contained in:
bap-0-1
2024-05-28 17:49:39 +02:00
parent 810dfd3108
commit b2e8971369
1 changed files with 6 additions and 4 deletions
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10
TCPServer.cpp
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@@ -173,8 +173,10 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
if (args[0] == "0") {
if (!handleEmergecnyFlag) {
if (value < -23000) value = -23000;
if (value > 23000) value = 23000;
if (value < -15000) value = -15000;
if (value > 15000) value = 15000;
if (value > -5000 && value < 5000) value = 0;
int angle;
if (value < 0) {
@@ -182,7 +184,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
angle = -PI * 100 / 2;
}
else {
angle = static_cast<int>(Modelec::mapValue(value, -23000.0, -2000.0, -PI / 2, 0.0) * 100);
angle = static_cast<int>(Modelec::mapValue(value, -15000.0, -5000.0, -PI / 2, 0.0) * 100);
}
}
else if (value == 0) {
@@ -193,7 +195,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
angle = PI * 100 / 2;
}
else {
angle = static_cast<int>(Modelec::mapValue(value, 2000.0, 23000.0, 0.0, PI / 2) * 100);
angle = static_cast<int>(Modelec::mapValue(value, 5000.0, 15000.0, 0.0, PI / 2) * 100);
}
}