modelec/TCPSocketServer
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speed when rotate

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ackimixs
2024-04-30 11:15:12 +02:00
parent 5b97c7f48d
commit e0fe2ac98c
1 changed files with 5 additions and 4 deletions
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9
TCPServer.cpp
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@@ -966,13 +966,14 @@ void TCPServer::dropFlowers() {
if (!pinceHavePurpleFlower.empty()) {
this->go(purpleDropPosition);
awaitRobotIdle();
this->setSpeed(150);
this->rotate(PI / 2);
awaitRobotIdle();
this->leverBras();
this->setSpeed(150);
for (auto & toDrop : pinceHavePurpleFlower) {
this->openPince(toDrop);
usleep(500'000);
@@ -997,14 +998,14 @@ void TCPServer::dropFlowers() {
this->go(whiteDropPosition);
awaitRobotIdle();
this->setSpeed(130);
this->rotate(PI / 2);
awaitRobotIdle();
this->leverBras();
usleep(500'000);
this->setSpeed(130);
this->go(whiteDropPosition[0], 0);
usleep(2'000'000);