modelec/TCPSocketServer
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aruco pos

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ackimixs
2024-04-11 15:06:29 +02:00
parent b0f09eb80f
commit 9faee6e57e
1 changed files with 5 additions and 3 deletions
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8
TCPServer.cpp
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@@ -363,13 +363,13 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
this->broadcastMessage(toSend);
double xPrime = arucoTagPos.pos.first[0] - 5;
double xPrime = arucoTagPos.pos.first[0] - 105;
double yPrime = arucoTagPos.pos.first[1];
std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
double posV200X = ((xPrime - 100) * std::cos(theta) + (yPrime - decalage) * std::sin(theta)) + robotPosX;
double posV200Y = (-(xPrime - 100) * std::sin(theta) + (yPrime - decalage) * std::cos(theta)) + robotPosY;
double posV200X = (xPrime * std::cos(theta) + (yPrime - decalage) * std::sin(theta)) + robotPosX;
double posV200Y = (-xPrime * std::sin(theta) + (yPrime - decalage) * 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);
@@ -377,6 +377,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
this->broadcastMessage("strat;arduino;speed;150\n");
usleep(500'000);
xPrime += 100;
double robotPosForPotX = (xPrime * std::cos(theta) + (yPrime - decalage) * std::sin(theta)) + robotPosX;
double robotPosForPotY = (-xPrime * std::sin(theta) + (yPrime - decalage) * std::cos(theta)) + robotPosY;