From 4e19bef4f3971a17cb975c2041aa380a9e6cf87e Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Fri, 3 May 2024 15:35:19 +0200
Subject: [PATCH] points | pince

---
 TCPServer.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index d767deb..9bb9d63 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -664,13 +664,13 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
 
     switch (pince) {
         case 0:
-            decalage = 60;
+            decalage = 85;
             break;
         case 1:
             decalage = 0;
             break;
         case 2:
-            decalage = -60;
+            decalage = -85;
             break;
         default:
             decalage = 0;
@@ -683,7 +683,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
     auto [xPrime, yPrime] = arucoTag.pos();
     double roll = arucoTag.rot()[1];
 
-    auto centerPlantX = (20 * std::cos(roll)) + xPrime - 20;
+    auto centerPlantX = (20 * std::cos(roll)) + xPrime - 20 + (decalage / 10);
     auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage;
 
     double thetaPrime = std::atan2(centerPlantY, centerPlantX);
@@ -883,8 +883,6 @@ void TCPServer::goEnd() {
     this->sendPoint(10);
 
     this->broadcastMessage("strat;all;end;1");
-    this->sendPoint(10);
-    this->sendPoint(5);
 }
 
 void TCPServer::findAndGoFlower(const StratPattern sp) {