modelec/TCPSocketServer
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aruco things

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This commit is contained in:
ackimixs
2024-04-16 18:15:29 +02:00
parent 60882350ab
commit 2756286bbe
1 changed files with 5 additions and 5 deletions
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10
TCPServer.cpp
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@@ -452,10 +452,10 @@ void TCPServer::startGame() {
usleep(200'000);
this->broadcastMessage("strat;arduino;get state;1\n");
}
usleep(500'000);
usleep(5'000'000);
// toSend = "start;arduino;angle;" + std::to_string(this->endRobotPose.theta * 100) + "\n";
// this->broadcastMessage(toSend);
toSend = "start;arduino;angle;" + std::to_string(this->endRobotPose.theta * 100) + "\n";
this->broadcastMessage(toSend);
this->broadcastMessage("strat;servo_moteur;baisser bras;1");
this->broadcastMessage("strat;servo_moteur;clear;1");
@@ -498,8 +498,8 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double xPrime = arucoTag.pos().first[0] + 20;
double yPrime = arucoTag.pos().first[1] + decalage;
xPrime *= 1.05;
yPrime *= 1.05;
xPrime *= 1.1;
yPrime *= 1.1;
double thetaPrime = std::atan2(yPrime, xPrime);