modelec/TCPSocketServer
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ackimixs
2024-04-18 18:29:48 +02:00
parent 574f5a68a1
commit db552869ee
1 changed files with 21 additions and 4 deletions
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25
TCPServer.cpp
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@@ -397,8 +397,10 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;0");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;servo_moteur;check panneau;7\n");
@@ -408,10 +410,10 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;servo_moteur;uncheck panneau;7\n");
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
usleep(1'000'000);
@@ -455,8 +457,10 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;1000,1700");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
usleep(1'000'000);
@@ -499,8 +503,10 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;1000,1700");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
usleep(1'000'000);
@@ -543,8 +549,10 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;1000,1700");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;314\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
usleep(1'000'000);
@@ -592,8 +600,10 @@ void TCPServer::startGameBlueTeam() {
this->broadcastMessage("strat;arduino;go;762,300\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage("strat;arduino;angle;157\n");
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
@@ -1018,9 +1028,12 @@ void TCPServer::startGameBlueTeam() {
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->endRobotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->endRobotPose.pos.y)) + "\n";
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;150\n");
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>(this->endRobotPose.theta * 100));
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;servo_moteur;clear;1");
}
@@ -1038,8 +1051,10 @@ void TCPServer::startGameYellowTeam() {
this->broadcastMessage(toSend);
awaitRobotIdle();
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>(this->endRobotPose.theta * 100));
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
this->broadcastMessage("strat;servo_moteur;clear;1");
}
@@ -1232,7 +1247,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
switch (pince) {
case 0:
decalage = 60;
rotate = -0.1;
rotate = -0.07;
break;
case 1:
decalage = 0;
@@ -1240,7 +1255,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
break;
case 2:
decalage = -60;
rotate = 0.1;
rotate = 0.07;
break;
default:
decalage = 0;
@@ -1259,8 +1274,10 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double thetaPrime = std::atan2(yPrime, xPrime);
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>((this->robotPose.theta + rotate - thetaPrime) * 100)) + "\n";
this->broadcastMessage("strat;arduino;speed;150\n");
this->broadcastMessage(toSend);
awaitRobotIdle();
this->broadcastMessage("strat;arduino;speed;200\n");
double robotPosForPotX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;