modelec/TCPSocketServer
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aruco pos

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ackimixs
2024-04-11 15:17:12 +02:00
parent 359dde3272
commit 7b699ef673
1 changed files with 6 additions and 6 deletions
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12
TCPServer.cpp
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@@ -364,12 +364,12 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
this->broadcastMessage(toSend);
double xPrime = arucoTagPos.pos.first[0] - 95;
double yPrime = arucoTagPos.pos.first[1];
double yPrime = arucoTagPos.pos.first[1] - decalage;
std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
double posV200X = (xPrime * std::cos(theta) + (yPrime - decalage) * std::sin(theta)) + robotPosX;
double posV200Y = (-xPrime * std::sin(theta) + (yPrime - decalage) * std::cos(theta)) + robotPosY;
double posV200X = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double posV200Y = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(posV200X)) + "," + std::to_string(static_cast<int>(posV200Y)) + "\n";
this->broadcastMessage(toSend);
@@ -377,10 +377,10 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
this->broadcastMessage("strat;arduino;speed;150\n");
usleep(500'000);
xPrime += 95;
xPrime += 90;
double robotPosForPotX = (xPrime * std::cos(theta) + (yPrime - decalage) * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-xPrime * std::sin(theta) + (yPrime - decalage) * std::cos(theta)) + robotPosY;
double robotPosForPotX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
std::cout << "Aruco position " << robotPosForPotX << " " << robotPosForPotY << std::endl;