modelec/TCPSocketServer
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strat

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This commit is contained in:
ackimixs
2024-05-03 20:17:48 +02:00
parent ad0dea302b
commit d0e17df652
1 changed files with 8 additions and 11 deletions
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19
TCPServer.cpp
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@@ -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);