modelec/TCPSocketServer
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aruco pos

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ackimixs
2024-04-11 15:03:07 +02:00
parent 6e58f69d10
commit b0f09eb80f
1 changed files with 2 additions and 2 deletions
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4
TCPServer.cpp
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@@ -368,8 +368,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
double posV200X = ((xPrime - 100) * std::cos(theta) + (yPrime - (decalage / 2)) * std::sin(theta)) + robotPosX;
double posV200Y = (-(xPrime - 100) * std::sin(theta) + (yPrime - (decalage / 2)) * std::cos(theta)) + robotPosY;
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;
toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(posV200X)) + "," + std::to_string(static_cast<int>(posV200Y)) + "\n";
this->broadcastMessage(toSend);