modelec/TCPSocketServer
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points | pince

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This commit is contained in:
ackimixs
2024-05-03 15:35:19 +02:00
parent 93a3cff323
commit 4e19bef4f3
1 changed files with 3 additions and 5 deletions
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8
TCPServer.cpp
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@@ -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) {