From 524005c4a5f3b57dde25949af060c9b95344dafb Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Wed, 15 May 2024 19:23:55 +0200
Subject: [PATCH] angle

---
 TCPServer.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 03f674b..0d938fb 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -177,14 +177,14 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
                 if (!handleEmergecnyFlag) {
                     this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
                 }
-                /*else {
-                    if (speed > 0 && !(this->lidarDectectionAngle > PI / 2 || this->lidarDectectionAngle < 3 * PI / 2)) {
+                else {
+                    if (speed > 0 && (this->lidarDectectionAngle > PI / 2 || this->lidarDectectionAngle < 3 * PI / 2)) {
                         this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
                     }
-                    else if (speed < 0 && !(this->lidarDectectionAngle < PI / 2 && this->lidarDectectionAngle > 3 *PI / 2)) {
-                        this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
-                    }
-                }*/
+                    // else if (speed < 0 && !(this->lidarDectectionAngle < PI / 2 && this->lidarDectectionAngle > 3 *PI / 2)) {
+                    //     this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
+                    // }
+                }
             }
             else if (args[0] == "2") {
                 int speed = static_cast<int>((value * 3.1) / 327.670f);