modelec/TCPSocketServer
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lidar patch

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ackimixs
2024-05-07 20:44:54 +02:00
parent a1c394d937
commit f8328879d3
1 changed files with 12 additions and 11 deletions
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23
TCPServer.cpp
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@@ -1307,8 +1307,8 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
whiteDropPosition = std::array{762, 0};
angle = PI / 2;
} else if (sp == DROP_FLOWER_J2) {
whiteDropSetup = std::array{300, 612};
whiteDropPosition = std::array{0, 612};
whiteDropSetup = std::array{300, 607};
whiteDropPosition = std::array{0, 607};
angle = -PI;
}
} else if (team == YELLOW) {
@@ -1317,8 +1317,8 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
whiteDropPosition = std::array{2237, 0};
angle = PI / 2;
} else if (sp == DROP_FLOWER_J2) {
whiteDropSetup = std::array{1700, 612};
whiteDropPosition = std::array{0, 612};
whiteDropSetup = std::array{1700, 607};
whiteDropPosition = std::array{0, 607};
angle = 0;
}
}
@@ -1491,13 +1491,13 @@ void TCPServer::go3Plants(const StratPattern sp) {
plantPosition = {2100, 700};
}
else if (sp == TAKE_3_PLANT_TOP_2) {
plantPosition = {1800, 700};
plantPosition = {1900, 700};
}
else if (sp == TAKE_3_PLANT_BOTTOM_1) {
plantPosition = {2100, 1300};
}
else if (sp == TAKE_3_PLANT_BOTTOM_2) {
plantPosition = {1800, 1300};
plantPosition = {1900, 1300};
}
else {
return;
@@ -1564,7 +1564,7 @@ void TCPServer::go3Plants(const StratPattern sp) {
this->setMaxSpeed();
this->go(this->robotPose.pos.x-300, this->robotPose.pos.y);
this->go(this->robotPose.pos.x - (300 * direction), this->robotPose.pos.y);
awaitRobotIdle();
for (int i = 0; i < 3; i++) {
@@ -1599,13 +1599,14 @@ void TCPServer::removePot(StratPattern sp) {
}
} else if (team == YELLOW) {
if (sp == REMOVE_POT_J2) {
this->go(2800, 1000);
this->transit(2770, 1100, 150);
awaitRobotIdle();
this->setSpeed(150);
this->go(2820, 400);
this->go(2810, 900);
awaitRobotIdle();
this->go(2810, 400);
awaitRobotIdle();
this->setMaxSpeed();
this->go(2780, 650);
this->go(2770, 650);
awaitRobotIdle();
}
}