modelec/TCPSocketServer
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ackimixs
2024-05-15 20:40:37 +02:00
parent 7bc8aad3f2
commit dc1cd37ddf
1 changed files with 4 additions and 2 deletions
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6
TCPServer.cpp
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@@ -175,12 +175,14 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
else if (args[0] == "1") {
int speed;
value = -value;
if (value < 0) {
speed = static_cast<int>((-value * (70 + 370) / 32767) - 370); // Maps [-32767, 0] to [-370, -70]
speed = static_cast<int>((value * (70 + 370) / 32767) - 370); // Maps [-32767, 0] to [-370, -70]
} else if (value == 0) {
speed = 0; // Maps 0 to 0
} else {
speed = static_cast<int>((-value * (70 + 310) / 32768) + 70); // Maps [0, 32768] to [70, 310]
speed = static_cast<int>((value * (70 + 310) / 32768) + 70); // Maps [0, 32768] to [70, 310]
}
if (!handleEmergecnyFlag) {