modelec/TCPSocketServer
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This commit is contained in:
ackimixs
2024-04-29 17:29:02 +02:00
parent 2965488f17
commit e36afc0d2a
1 changed files with 9 additions and 6 deletions
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15
TCPServer.cpp
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@@ -197,7 +197,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
finishPoint[2] = 0;*/
finishPoint[0] = 400;
finishPoint[1] = 400;
finishPoint[1] = 550;
finishPoint[2] = 3.1415;
break;
case 6:
@@ -205,8 +205,9 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
spawnPoint[0] = 1750;
spawnPoint[1] = 1790;
spawnPoint[2] = 3.1415;
finishPoint[0] = 2600;
finishPoint[1] = 400;
finishPoint[1] = 550;
finishPoint[2] = 0;
break;
@@ -824,20 +825,22 @@ void TCPServer::goEnd() {
awaitRobotIdle();
this->rotate(this->endRobotPose.theta);
awaitRobotIdle();
this->broadcastMessage("strat;all;end;1");
}
void TCPServer::findAndGoFlower(StratPattern sp) {
this->setSpeed(200);
if (team == BLUE) {
if (sp == TAKE_FLOWER_TOP) {
this->go(1000, 200);
this->go(1000, 250);
awaitRobotIdle();
this->rotate(-PI/2);
awaitRobotIdle();
}
else if (sp == TAKE_FLOWER_BOTTOM) {
this->go(1000, 1800);
this->go(1000, 1750);
awaitRobotIdle();
this->rotate(PI / 2);
@@ -847,14 +850,14 @@ void TCPServer::findAndGoFlower(StratPattern sp) {
}
} else if (team == YELLOW) {
if (sp == TAKE_FLOWER_TOP) {
this->go(2000, 200);
this->go(2000, 250);
awaitRobotIdle();
this->rotate(-PI/2);
awaitRobotIdle();
}
else if (sp == TAKE_FLOWER_BOTTOM) {
this->go(2000, 1800);
this->go(2000, 1750);
awaitRobotIdle();
this->rotate(PI / 2);