From b35361ea36a897788ace0c93b0a26b95e7356f79 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Thu, 11 Apr 2024 10:58:22 +0200
Subject: [PATCH] forgot to wait

---
 TCPServer.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index a79d41c..46893f5 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -277,6 +277,7 @@ void TCPServer::startGame() {
     this->broadcastMessage("strat;servo_moteur;fermer pince;1\n");
     this->broadcastMessage("strat;servo_moteur;fermer pince;2\n");
     this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
+    this->broadcastMessage("strat;arduino;speed;120\n");
 
     waitForAruco = true;
     this->broadcastMessage("strat;aruco;get aruco;1\n");
@@ -294,8 +295,10 @@ void TCPServer::startGame() {
 
     // pi/4
     this->broadcastMessage("strat;arduino;angle;0");
-    usleep(1'000'000);
+    usleep(4'000'000);
     this->broadcastMessage("strat;aruco;get aruco;1\n");
+
+    waitForAruco = true;
     while (this->waitForAruco) {
         usleep(100'000);
     }
@@ -314,7 +317,6 @@ void TCPServer::startGame() {
 }
 
 void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
-    this->broadcastMessage("strat;arduino;speed;120\n");
     float decalage;
     if (pince < 0 || pince > 2) {
         return;
@@ -358,7 +360,6 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
     this->broadcastMessage(toSend);
     this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
     havePot[pince] = true;
-    this->broadcastMessage("strat;arduino;speed;200\n");
 }
 
 void TCPServer::askArduinoPos() {