modelec/TCPSocketServer
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remove aruco

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This commit is contained in:
ackimixs
2024-05-10 10:26:30 +02:00
parent d7880517e7
commit cc91d9c978
1 changed files with 8 additions and 10 deletions
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18
TCPServer.cpp
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@@ -1575,18 +1575,16 @@ void TCPServer::go3Plants(const StratPattern sp) {
this->setMaxSpeed(); this->setMaxSpeed();
this->arucoTags.clear(); // this->arucoTags.clear();
for (int i = 0; i < 5; i++) { // for (int i = 0; i < 5; i++) {
this->broadcastMessage("strat;aruco;get aruco;1\n"); // this->broadcastMessage("strat;aruco;get aruco;1\n");
usleep(110'000); // usleep(110'000);
} // }
std::vector<PinceState> pinceCanTakeFLower = getNotFallenFlowers(); // std::vector<PinceState> pinceCanTakeFLower = getNotFallenFlowers();
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
if (pinceCanTakeFLower[i] != NONE) { this->openPince(i);
this->openPince(i);
}
} }
usleep(200'000); usleep(200'000);
@@ -1599,7 +1597,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
this->closePince(i); this->closePince(i);
pinceState[i] = pinceCanTakeFLower[i]; pinceState[i] = FLOWER;
} }
usleep(500'000); usleep(500'000);