modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-04-11 10:58:22 +02:00
parent 3a84db378f
commit b35361ea36
1 changed files with 4 additions and 3 deletions
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7
TCPServer.cpp
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@@ -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() {