From ead17853e95163664b8fcdfc0bd2c779585a5b8d Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Tue, 16 Apr 2024 12:57:48 +0200
Subject: [PATCH] pince

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

diff --git a/TCPServer.cpp b/TCPServer.cpp
index 4c17a28..9f3491d 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -502,7 +502,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
 
     this->broadcastMessage(toSend);
 
-    double xPrime = arucoTag.pos().first[0] + 40/* - 5*/;
+    double xPrime = arucoTag.pos().first[0] + 30/* - 5*/ + (decalage * 0.2);
     double yPrime = arucoTag.pos().first[1] - decalage;
 
     double thetaPrime = std::atan2(yPrime, xPrime);