modelec/TCPSocketServer
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ackimixs
2024-05-03 12:17:58 +02:00
parent 2cf2a2d18a
commit 5ae399eaa4
1 changed files with 4 additions and 4 deletions
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8
TCPServer.cpp
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@@ -650,8 +650,9 @@ void TCPServer::startGameTest() {
void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double robotPosX = this->robotPose.pos.x;
double robotPosY = this->robotPose.pos.y;
auto [robotPosX, robotPosY] = this->robotPose.pos;
double theta = this->robotPose.theta;
double decalage;
if (pince < 0 || pince > 2) {
@@ -676,8 +677,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
this->baisserBras();
this->openPince(pince);
double xPrime = arucoTag.pos()[0];
double yPrime = arucoTag.pos()[1];
auto [xPrime, yPrime] = arucoTag.pos();
double roll = arucoTag.rot()[1];
auto centerPlantX = (20 * std::cos(roll)) + xPrime;