From a077bfb9221ab25d3930c2de2569a08d19f075c3 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Mon, 15 Apr 2024 20:12:18 +0200
Subject: [PATCH] add test for the angle

---
 TCPServer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/TCPServer.cpp b/TCPServer.cpp
index bd6bbba..a13fbc8 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -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;