modelec/TCPSocketServer
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ackimixs
2024-05-03 18:42:06 +02:00
parent 9a6dcac36a
commit ed3bbcdd7c
1 changed files with 4 additions and 3 deletions
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7
TCPServer.cpp
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@@ -1294,7 +1294,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
double angle;
if (sp == TAKE_3_PLANT_TOP_1) {
checkpoint = {700, 700};
plantPosition = {900, 700};
plantPosition = {950, 700};
angle = 0;
}
else if (sp == TAKE_3_PLANT_TOP_2) {
@@ -1304,7 +1304,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
else if (sp == TAKE_3_PLANT_BOTTOM_1) {
checkpoint = {700, 1300};
plantPosition = {900, 1300};
plantPosition = {950, 1300};
angle = 0;
} else if (sp == TAKE_3_PLANT_BOTTOM_2) {
checkpoint = {700, 1300};
@@ -1330,12 +1330,13 @@ void TCPServer::go3Plants(const StratPattern sp) {
this->go(plantPosition);
awaitRobotIdle();
usleep(500'000);
for (int i = 0; i < 3; i++) {
this->closePince(i);
pinceState[i] = FLOWER;
}
usleep(200'000);
usleep(1'000'000);
this->go(checkpoint);
awaitRobotIdle();