modelec/TCPSocketServer
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ackimixs
2024-04-11 11:17:58 +02:00
parent f3d89f7680
commit cc80886be8
1 changed files with 5 additions and 0 deletions
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5
TCPServer.cpp
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@@ -293,14 +293,17 @@ void TCPServer::startGame() {
// TODO maybe rotate the robot but handle that here
}
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
std::cout << "Aruco found" << std::endl;
goToAruco(this->arucoTags[0], 1);
std::cout << "I'm on aruco" << std::endl;
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
// pi/4
this->broadcastMessage("strat;arduino;angle;0");
usleep(1'000'000);
this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
usleep(4'000'000);
std::cout << "An other aruco" << std::endl;
@@ -314,9 +317,11 @@ void TCPServer::startGame() {
return;
}
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
std::cout << "Aruco found" << std::endl;
goToAruco(this->arucoTags[0], 0);
std::cout << "I'm on aruco" << std::endl;
std::cout << "Position " << this->robotPose.pos.x << " " << this->robotPose.pos.y << " " << this->robotPose.theta << std::endl;
this->broadcastMessage("strat;arduino;go;500,500\n");
usleep(2'000'000);