modelec/TCPSocketServer
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patch

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This commit is contained in:
ackimixs
2024-05-10 13:56:07 +02:00
parent d6a008aac7
commit f34b21556d
1 changed files with 3 additions and 8 deletions
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11
TCPServer.cpp
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@@ -1425,20 +1425,17 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
void TCPServer::dropBaseFlowers(StratPattern sp) { void TCPServer::dropBaseFlowers(StratPattern sp) {
std::array<int, 2> dropPosition{}; std::array<int, 2> dropPosition{};
double angle; double angle;
double Positioningangle;
float distance; float distance;
if (team == BLUE) { if (team == BLUE) {
if (sp == DROP_FLOWER_BASE_1) { if (sp == DROP_FLOWER_BASE_1) {
dropPosition = {300, 400}; dropPosition = {300, 400};
angle = PI / 2; angle = PI / 2;
Positioningangle = 0;
distance = 150; distance = 150;
} }
else if (sp == DROP_FLOWER_BASE_2) { else if (sp == DROP_FLOWER_BASE_2) {
dropPosition = {300, 1600}; dropPosition = {300, 1600};
angle = -PI / 2; angle = -PI / 2;
Positioningangle = 0;
distance = -150; distance = -150;
} }
else { else {
@@ -1449,13 +1446,14 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
if (sp == DROP_FLOWER_BASE_1) { if (sp == DROP_FLOWER_BASE_1) {
dropPosition = {2700, 400}; dropPosition = {2700, 400};
angle = PI / 2; angle = PI / 2;
Positioningangle = PI;
distance = 150; distance = 150;
this->rotate(0);
awaitRobotIdle();
} }
else if (sp == DROP_FLOWER_BASE_2) { else if (sp == DROP_FLOWER_BASE_2) {
dropPosition = {2700, 1600}; dropPosition = {2700, 1600};
angle = -PI / 2; angle = -PI / 2;
Positioningangle = PI;
distance = -150; distance = -150;
} else { } else {
return; return;
@@ -1467,9 +1465,6 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
this->setMaxSpeed(); this->setMaxSpeed();
this->rotate(Positioningangle);
if (awaitRobotIdle() < 0) return;
this->go(dropPosition); this->go(dropPosition);
if (awaitRobotIdle() < 0) return; if (awaitRobotIdle() < 0) return;