From e663fbf33ceb9fb8ebaa686b149dea8d1588cc50 Mon Sep 17 00:00:00 2001 From: ackimixs Date: Tue, 30 Apr 2024 16:51:44 +0200 Subject: [PATCH] test --- TCPServer.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/TCPServer.cpp b/TCPServer.cpp index 62cdafb..c33cdcf 100644 --- a/TCPServer.cpp +++ b/TCPServer.cpp @@ -670,7 +670,9 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) { double yPrime = arucoTag.pos()[1]; double roll = arucoTag.rot()[1]; - auto centerPlantX = (20 * std::cos(roll)) + xPrime; + double test = (xPrime - 500) * 0.1; + + auto centerPlantX = (20 * std::cos(roll)) + xPrime + test; auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage; double thetaPrime = std::atan2(centerPlantY, centerPlantX);