modelec/TCPSocketServer
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test the math

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This commit is contained in:
ackimixs
2024-04-16 11:03:01 +02:00
parent 5e06df32d8
commit f8c6983db2
1 changed files with 8 additions and 6 deletions
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14
TCPServer.cpp
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@@ -374,7 +374,9 @@ void TCPServer::startGame() {
}
}
if (pinceState[1] == NONE) {
goToAruco(tag, 1);
/* if (pinceState[1] == NONE) {
goToAruco(tag, 1);
} else if (pinceState[2] == NONE) {
goToAruco(tag, 2);
@@ -382,10 +384,10 @@ void TCPServer::startGame() {
goToAruco(tag, 0);
} else {
return;
}
}*/
// pi/4
this->broadcastMessage("strat;arduino;angle;314\n");
/* this->broadcastMessage("strat;arduino;angle;314\n");
isRobotMoving = true;
while (this->isRobotMoving) {
usleep(500'000);
@@ -440,7 +442,7 @@ void TCPServer::startGame() {
// -pi/2
// ReSharper disable once CppDFAUnreachableCode
this->broadcastMessage("strat;arduino;angle;-157");
this->broadcastMessage("strat;servo_moteur;baisser bras;1");
this->broadcastMessage("strat;servo_moteur;baisser bras;1");*/
this->broadcastMessage("strat;servo_moteur;clear;1");
}
@@ -490,7 +492,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(10'000'000);
double x30Percent = xPrime * 0.3;
double y30Percent = yPrime * 0.3;
@@ -508,7 +510,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
usleep(500'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(1'000'000);
// ReSharper disable once CppDFAUnreachableCode
// TODO set to 150 when the robot is ready