modelec/TCPSocketServer
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add test for the angle

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ackimixs
2024-04-15 20:00:48 +02:00
parent f9033b5205
commit 9f7a2078a2
1 changed files with 3 additions and 3 deletions
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6
TCPServer.cpp
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@@ -474,12 +474,12 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double xPrime = arucoTag.pos().first[0]/* - 5*/;
double yPrime = arucoTag.pos().first[1] - decalage;
double testX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
double testY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
double testX = (xPrime * std::cos(theta) + yPrime * std::sin(theta));
double testY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta));
// calculate the angle to be in front of the tag
double thetaPrime = std::atan2(testX, testY);
double thetaPrime = std::atan2(testY, testX);
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>((this->robotPose.theta + rotate + thetaPrime) * 100)) + "\n";
canMove = false;