modelec/TCPSocketServer
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ackimixs
2024-04-30 12:02:11 +02:00
parent 7128ce7799
commit 25eb3b2bbb
1 changed files with 0 additions and 2 deletions
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TCPServer.cpp
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@@ -675,10 +675,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double thetaPrime = std::atan2(centerPlantY, centerPlantX);
this->setSpeed(150);
this->rotate(this->robotPose.theta /*+ rotate*/ - thetaPrime);
awaitRobotIdle();
this->setSpeed(200);
double robotPosForPotX = (centerPlantX * std::cos(theta) + centerPlantY * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-centerPlantX * std::sin(theta) + centerPlantY * std::cos(theta)) + robotPosY;