From d0e17df65269cde18bcb694ec29b240ce4a55972 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Fri, 3 May 2024 20:17:48 +0200
Subject: [PATCH] strat

---
 TCPServer.cpp | 19 ++++++++-----------
 1 file changed, 8 insertions(+), 11 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 9be8cee..2c4332e 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -1153,7 +1153,7 @@ void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
                 awaitRobotIdle();
 
                 this->checkPanneau(7);
-                usleep(150'000);
+                usleep(300'000);
                 this->uncheckPanneau(7);
                 break;
             case TURN_SOLAR_PANNEL_2:
@@ -1164,7 +1164,7 @@ void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
                 awaitRobotIdle();
 
                 this->checkPanneau(7);
-                usleep(150'000);
+                usleep(300'000);
                 this->uncheckPanneau(7);
                 break;
             case TURN_SOLAR_PANNEL_3:
@@ -1175,7 +1175,7 @@ void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
                 awaitRobotIdle();
 
                 this->checkPanneau(7);
-                usleep(150'000);
+                usleep(300'000);
                 this->uncheckPanneau(7);
                 break;
             default:
@@ -1191,29 +1191,29 @@ void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
                 awaitRobotIdle();
 
                 this->checkPanneau(6);
-                usleep(150'000);
+                usleep(300'000);
                 this->uncheckPanneau(6);
                 break;
             case TURN_SOLAR_PANNEL_2:
-                this->go(2525, 1790);
+                this->go(2530, 1790);
                 awaitRobotIdle();
 
                 this->rotate(PI);
                 awaitRobotIdle();
 
                 this->checkPanneau(6);
-                usleep(150'000);
+                usleep(300'000);
                 this->uncheckPanneau(6);
                 break;
             case TURN_SOLAR_PANNEL_3:
-                this->go(2300, 1790);
+                this->go(2325, 1790);
                 awaitRobotIdle();
 
                 this->rotate(PI);
                 awaitRobotIdle();
 
                 this->checkPanneau(6);
-                usleep(150'000);
+                usleep(300'000);
                 this->uncheckPanneau(6);
                 break;
             default:
@@ -1344,9 +1344,6 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
     this->closePince(2);
     usleep(200'000);
 
-    this->sendPoint(3);
-    this->sendPoint(3);
-
     this->fullyOpenPince(1);
 
     usleep(200'000);