modelec/TCPSocketServer
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add test for the angle

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ackimixs
2024-04-15 20:12:18 +02:00
parent 93de0d8334
commit a077bfb922
1 changed files with 1 additions and 1 deletions
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TCPServer.cpp
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@@ -477,7 +477,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
// calculate the angle to be in front of the tag
std::cout << "Tag pos relative : " << xPrime << " " << yPrime << std::endl;
double thetaPrime = std::atan2(yPrime, xPrime);
double thetaPrime = std::atan2(xPrime, yPrime);
toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>((this->robotPose.theta + rotate + thetaPrime) * 100)) + "\n";
canMove = false;