modelec/TCPSocketServer
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update

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This commit is contained in:
ackimixs
2024-05-10 01:38:36 +02:00
parent e1dd5f363a
commit bd11b213bb
1 changed files with 9 additions and 5 deletions
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14
TCPServer.cpp
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@@ -1361,7 +1361,7 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
this->setMaxSpeed();
this->go(whiteDropSetup);
this->transit(whiteDropSetup, 170);
awaitRobotIdle();
this->rotate(angle);
@@ -1597,7 +1597,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
this->setSpeed(160);
this->go(this->robotPose.pos.x - (300 * direction), this->robotPose.pos.y);
this->go(this->robotPose.pos.x - (200 * direction), this->robotPose.pos.y);
awaitRobotIdle();
for (int i = 0; i < 3; i++) {
@@ -1606,7 +1606,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
usleep(200'000);
this->setSpeed(150);
this->go(this->robotPose.pos.x + (200 * direction), this->robotPose.pos.y);
this->go(this->robotPose.pos.x + (75 * direction), this->robotPose.pos.y);
awaitRobotIdle();
for (int i = 0; i < 3; i++) {
@@ -1636,9 +1636,9 @@ void TCPServer::removePot(StratPattern sp) {
this->transit(2750, 1100, 150);
awaitRobotIdle();
this->setMaxSpeed();
this->go(2790, 900);
this->go(2780, 900);
awaitRobotIdle();
this->go(2800, 400);
this->go(2790, 400);
awaitRobotIdle();
this->go(2750, 650);
awaitRobotIdle();
@@ -1688,6 +1688,8 @@ void TCPServer::checkpoint(const StratPattern sp) {
this->awaitRobotIdle();
break;
case CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER:
this->go(800, 1800);
awaitRobotIdle();
this->go(500, 1700);
usleep(500'000);
break;
@@ -1701,6 +1703,8 @@ void TCPServer::checkpoint(const StratPattern sp) {
this->awaitRobotIdle();
break;
case CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER:
this->go(2200, 1800);
awaitRobotIdle();
this->go(2500, 1700);
usleep(500'000);
break;