modelec/TCPSocketServer
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remove aruco

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This commit is contained in:
ackimixs
2024-05-10 13:49:31 +02:00
parent 5bfc49a495
commit d6a008aac7
1 changed files with 9 additions and 0 deletions
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9
TCPServer.cpp
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@@ -486,6 +486,7 @@ void TCPServer::startGame() {
break;
case GET_LIDAR_POS:
getLidarPos();
usleep(200'000);
break;
case CHECKPOINT_MIDDLE:
checkpoint(CHECKPOINT_MIDDLE);
@@ -1424,17 +1425,20 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
void TCPServer::dropBaseFlowers(StratPattern sp) {
std::array<int, 2> dropPosition{};
double angle;
double Positioningangle;
float distance;
if (team == BLUE) {
if (sp == DROP_FLOWER_BASE_1) {
dropPosition = {300, 400};
angle = PI / 2;
Positioningangle = 0;
distance = 150;
}
else if (sp == DROP_FLOWER_BASE_2) {
dropPosition = {300, 1600};
angle = -PI / 2;
Positioningangle = 0;
distance = -150;
}
else {
@@ -1445,11 +1449,13 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
if (sp == DROP_FLOWER_BASE_1) {
dropPosition = {2700, 400};
angle = PI / 2;
Positioningangle = PI;
distance = 150;
}
else if (sp == DROP_FLOWER_BASE_2) {
dropPosition = {2700, 1600};
angle = -PI / 2;
Positioningangle = PI;
distance = -150;
} else {
return;
@@ -1461,6 +1467,9 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->setMaxSpeed();
this->rotate(Positioningangle);
if (awaitRobotIdle() < 0) return;
this->go(dropPosition);
if (awaitRobotIdle() < 0) return;