modelec/TCPSocketServer
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add test for the angle

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ackimixs
2024-04-15 20:15:04 +02:00
parent a077bfb922
commit 23e5f06965
1 changed files with 2 additions and 2 deletions
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TCPServer.cpp
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@@ -475,9 +475,9 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double yPrime = arucoTag.pos().first[1] - decalage;
// calculate the angle to be in front of the tag
std::cout << "Tag pos relative : " << xPrime << " " << yPrime << std::endl;
std::cout << "Tag pos relative : " << xPrime << " " << yPrime << " " << this->robotPose.theta << std::endl;
double thetaPrime = std::atan2(xPrime, yPrime);
double thetaPrime = std::atan2(yPrime, xPrime);
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>((this->robotPose.theta + rotate + thetaPrime) * 100)) + "\n";
canMove = false;