From e9ecc7ce413263ce8716b6be8b464bc1b2876000 Mon Sep 17 00:00:00 2001 From: ackimixs Date: Tue, 9 Apr 2024 13:49:31 +0200 Subject: [PATCH] only receive x and z coordinate --- TCPServer.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/TCPServer.cpp b/TCPServer.cpp index e2e3cf6..49798ff 100644 --- a/TCPServer.cpp +++ b/TCPServer.cpp @@ -177,7 +177,7 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket) std::cout << "Aruco tags received" << std::endl; std::vector arucoArgs = split(aruco, ","); int x = static_cast(std::stof(arucoArgs[2])) - 70; - int y = static_cast(std::stof(arucoArgs[4])); + int y = static_cast(std::stof(arucoArgs[3])); std::string toSend = "strat;arduino;go;" + std::to_string(x) + "," + std::to_string(y); this->broadcastMessage(toSend.c_str()); usleep(3'000'000); @@ -194,8 +194,8 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket) this->broadcastMessage("strat;servo_moteur;baisser bras;1"); this->broadcastMessage("strat;servo_moteur;ouvrir pince;1"); std::vector arucoArgs = split(aruco, ","); - int x = static_cast(std::stof(arucoArgs[2])) - 70; - int y = static_cast(std::stof(arucoArgs[4])); + int x = static_cast(std::stof(arucoArgs[2])); + int y = static_cast(std::stof(arucoArgs[3])); std::string toSend = "strat;arduino;go;" + std::to_string(x) + "," + std::to_string(y); this->broadcastMessage(toSend.c_str()); usleep(6'000'000); @@ -213,7 +213,6 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket) this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n"); usleep(1'000'000); this->broadcastMessage("strat;arduino;go;500,500\n"); - } } std::cout << "Received: " << message << std::endl;