modelec/TCPSocketServer
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strat

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This commit is contained in:
ackimixs
2024-05-03 20:23:35 +02:00
parent d0e17df652
commit f35801facb
1 changed files with 7 additions and 12 deletions
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19
TCPServer.cpp
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@@ -1366,33 +1366,28 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
}
void TCPServer::go3Plants(const StratPattern sp) {
std::array<int, 2> checkpoint{};
std::array<int, 2> plantPosition{};
double angle;
if (sp == TAKE_3_PLANT_TOP_1) {
checkpoint = {600, 700};
plantPosition = {950, 700};
plantPosition = {1000, 700};
angle = 0;
}
else if (sp == TAKE_3_PLANT_TOP_2) {
checkpoint = {600, 700};
plantPosition = {1100, 700};
plantPosition = {1200, 700};
angle = 0;
}
else if (sp == TAKE_3_PLANT_BOTTOM_1) {
checkpoint = {600, 1300};
plantPosition = {950, 1300};
plantPosition = {1000, 1300};
angle = 0;
} else if (sp == TAKE_3_PLANT_BOTTOM_2) {
checkpoint = {600, 1300};
plantPosition = {1100, 1300};
plantPosition = {1200, 1300};
angle = 0;
} else {
return;
}
this->go(checkpoint);
this->go(plantPosition[0]-400, plantPosition[1]);
awaitRobotIdle();
this->setSpeed(170);
@@ -1406,7 +1401,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
usleep(200'000);
this->go(plantPosition);
this->go(plantPosition[0], this->robotPose.pos.y);
awaitRobotIdle();
usleep(500'000);
@@ -1416,7 +1411,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
}
usleep(500'000);
this->go(checkpoint);
this->go(plantPosition[0]-400, plantPosition[1]);
awaitRobotIdle();
this->transportBras();